version: 66.06
glider: 523
mission: 4
dive: 547
start: 6 23 113 18 19 12
data:
$ID,523
$MISSION,4
$DIVE,547
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46923.754
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,181234,2109.355,-15752.026,35,0.8,35,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.6
$GPS2,181853,2109.371,-15752.042,18,0.9,18,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,102.9,17086,-16.7,-9.036
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,98,0.00,0.00,-77.78,0.000,6,0.000,0.000,51,1951,3392,0,0,0,0,0,0
$GC,102,-0.74,-146.0,3.9,-6.2,13,117,9.52,2.22,0.00,0.000,4,0.223,0.051,2391,551,3394,0,0,0,0,0,0
$GC,186,-0.74,-146.0,22.7,-16.0,28,194,0.00,2.22,0.00,0.000,6,0.000,0.038,2383,1965,3394,0,0,0,0,0,0
$GC,359,-0.74,-146.0,50.5,-13.5,59,364,0.00,2.30,0.00,0.000,4,0.000,0.056,2383,544,3395,0,0,0,0,0,0
$GC,438,-0.74,-146.0,61.2,-13.7,73,444,0.00,2.17,0.00,0.000,6,0.000,0.036,2374,1968,3395,0,0,0,0,0,0
$GC,773,-0.74,-146.0,102.8,-12.4,118,777,0.00,2.28,0.00,0.000,4,0.000,0.054,2374,545,3396,0,0,0,0,0,0
$GC,911,-0.74,-146.0,119.5,-11.6,130,917,0.15,2.15,0.00,0.000,6,0.160,0.035,2403,1963,3397,0,0,0,0,0,0
$GC,1244,-0.74,-146.0,149.6,-9.1,161,1251,0.00,2.25,0.00,0.000,4,0.000,0.052,2404,547,3398,0,0,0,0,0,0
$GC,1314,-0.74,-146.0,156.7,-10.3,167,1318,0.00,2.15,0.00,0.000,6,0.000,0.035,2396,1955,3397,0,0,0,0,0,0
$GC,1641,-0.74,-146.0,182.5,-8.0,197,1645,0.00,2.25,0.00,0.000,4,0.000,0.053,2396,551,3398,0,0,0,0,0,0
$GC,1895,-0.74,-146.0,207.4,-11.2,216,1900,0.00,2.12,0.00,0.000,6,0.000,0.035,2386,1958,3398,0,0,0,0,0,0
$GC,2213,-0.74,-146.0,234.5,-6.7,232,2218,0.00,2.25,0.00,0.000,4,0.000,0.052,2386,551,3397,0,0,0,0,0,0
$GC,2326,-0.74,-146.0,241.3,-5.6,237,2330,0.00,2.15,0.00,0.000,6,0.000,0.035,2377,1964,3397,0,0,0,0,0,0
$GC,2661,-0.74,-146.0,264.9,-6.8,253,2668,0.00,2.28,0.00,0.000,4,0.000,0.053,2377,548,3397,0,0,0,0,0,0
$GC,2760,-0.74,-146.0,271.8,-6.2,257,2765,0.12,2.17,0.00,0.000,6,0.163,0.037,2399,1964,3397,0,0,0,0,0,0
$GC,3083,-0.74,-146.0,291.7,-7.0,273,3087,0.00,2.28,0.00,0.000,4,0.000,0.055,2400,553,3398,0,0,0,0,0,0
$GC,3264,-0.74,-146.0,304.9,-8.0,280,3268,0.00,2.15,0.00,0.000,6,0.000,0.038,2392,1962,3398,0,0,0,0,0,0
$GC,3596,-0.74,-146.0,322.9,-4.5,288,3600,0.00,2.25,0.00,0.000,4,0.000,0.058,2381,3361,3397,0,0,0,0,0,0
$GC,3662,-0.74,-146.0,325.8,-4.0,289,3667,0.00,2.20,0.00,0.000,6,0.000,0.046,2381,1962,3397,0,0,0,0,0,0
$GC,4006,-0.74,-146.0,346.8,-6.9,298,4011,0.00,2.28,0.00,0.000,4,0.000,0.061,2381,547,3395,0,0,0,0,0,0
$GC,4265,-0.74,-146.0,366.7,-8.3,303,4271,0.12,2.15,0.00,0.000,6,0.160,0.038,2404,1962,3393,0,0,0,0,0,0
$GC,4599,-0.74,-146.0,392.0,-7.4,312,4603,0.00,2.28,0.00,0.000,4,0.000,0.058,2405,545,3391,0,0,0,0,0,0
$GC,4744,-0.74,-146.0,402.9,-7.5,315,4748,0.00,2.20,0.00,0.000,6,0.000,0.041,2397,1958,3391,0,0,0,0,0,0
$GC,5092,-0.74,-146.0,424.5,-5.9,324,5096,0.00,2.30,0.00,0.000,4,0.000,0.059,2397,545,3388,0,0,0,0,0,0
$GC,5282,-0.74,-146.0,436.3,-5.8,328,5286,0.00,2.17,0.00,0.000,6,0.000,0.041,2388,1955,3387,0,0,0,0,0,0
$STATE,5425,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5425,begin apogee
$GC,5431,-0.17,0.0,444.6,5.8,332,5555,0.62,0.00,121.22,0.753,6,0.117,0.000,2587,1955,2800,0,0,0,0,0,0
$STATE,5556,end apogee,CONTROL_FINISHED_OK
$STATE,5556,begin climb
$GC,5560,0.74,146.0,444.7,0.0,335,5697,0.82,2.35,127.05,0.729,4,0.076,0.054,2874,3382,2202,0,0,0,0,0,0
$GC,5748,0.74,146.0,424.7,13.7,339,5753,0.00,2.33,0.00,0.000,6,0.000,0.048,2883,1975,2200,0,0,0,0,0,0
$GC,6091,0.74,146.0,385.6,11.3,348,6095,0.00,2.30,0.00,0.000,4,0.000,0.057,2883,3389,2196,0,0,0,0,0,0
$GC,6130,0.74,146.0,380.6,12.9,349,6134,0.00,2.28,0.00,0.000,6,0.000,0.047,2893,1970,2195,0,0,0,0,0,0
$GC,6454,0.74,146.0,340.6,12.0,357,6458,0.00,2.25,0.00,0.000,4,0.000,0.059,2903,569,2193,0,0,0,0,0,0
$GC,6482,0.74,146.0,337.1,12.2,357,6486,0.00,2.20,0.00,0.000,6,0.000,0.039,2903,1981,2193,0,0,0,0,0,0
$GC,6813,0.74,146.0,295.3,12.5,365,6817,0.00,2.22,0.00,0.000,4,0.000,0.051,2903,3396,2192,0,0,0,0,0,0
$GC,6953,0.74,146.0,277.5,11.8,371,6957,0.12,2.20,0.00,0.000,6,0.157,0.041,2879,1980,2191,0,0,0,0,0,0
$GC,7273,0.74,146.0,248.2,9.2,387,7277,0.00,2.28,0.00,0.000,4,0.000,0.061,2888,562,2191,0,0,0,0,0,0
$GC,7301,0.74,146.0,245.6,9.8,388,7305,0.00,2.22,0.00,0.000,6,0.000,0.042,2888,1980,2189,0,0,0,0,0,0
$GC,7617,0.74,146.0,215.3,9.3,403,7621,0.00,2.20,0.00,0.000,4,0.000,0.054,2889,3392,2189,0,0,0,0,0,0
$GC,7816,0.74,146.0,193.1,11.8,414,7820,0.00,2.22,0.00,0.000,6,0.000,0.042,2898,1978,2188,0,0,0,0,0,0
$GC,8143,0.74,146.0,158.0,11.3,444,8147,0.00,2.25,0.00,0.000,4,0.000,0.057,2908,568,2188,0,0,0,0,0,0
$GC,8207,0.74,146.0,150.6,11.7,449,8215,0.08,2.20,0.00,0.000,6,0.114,0.037,2882,1975,2188,0,0,0,0,0,0
$GC,8534,0.77,174.2,123.5,7.9,480,8562,0.00,2.22,22.92,0.540,4,0.000,0.052,2882,3387,2087,0,0,0,0,0,0
$GC,8654,0.77,174.2,113.1,10.0,490,8658,0.00,2.22,0.00,0.000,6,0.000,0.041,2890,1976,2086,0,0,0,0,0,0
$GC,8981,0.78,179.9,84.0,8.8,520,8994,0.00,2.28,6.00,0.418,4,0.000,0.051,2889,3391,2065,0,0,0,0,0,0
$GC,9009,0.78,184.9,81.5,8.8,522,9022,0.00,2.20,5.95,0.421,6,0.000,0.041,2899,1977,2045,0,0,0,0,0,0
$GC,9343,0.82,214.7,54.6,7.8,582,9378,0.00,2.30,26.85,0.479,4,0.000,0.058,2899,3376,1923,0,0,0,0,0,0
$GC,9441,0.83,221.1,46.4,8.8,599,9455,0.00,2.22,7.00,0.402,6,0.000,0.048,2905,1982,1897,0,0,0,0,0,0
$GC,9780,0.88,263.6,19.4,7.3,661,9820,0.00,0.00,37.40,0.449,6,0.000,0.000,2905,1982,1724,0,0,0,0,0,0
$STATE,9969,end climb,SURFACE_DEPTH_REACHED
$STATE,9970,begin surface coast
$FINISH,0.6,1.023217
$STATE,9997,end surface coast,CONTROL_FINISHED_OK
$STATE,9997,begin surface
$SM_CCo,10015,19.33,0.416,0,0,1576,300.24
$SM_GC,1.64,0.00,0.00,19.33,0.000,0.000,0.416,29,1977,1576,-8.16,0.59,300.24
$IRIDIUM_FIX,2057.14,-15751.76,170902,151553
$TT8_MAMPS,0.027612
$HUMID,66.61
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.5,46.518
$10V_AH,10.2,50.725
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.050,98.175,354.400,19.325,0.000,25.005,35.051,177.957,18.500,0.000,18.584,1297.147,5756.740,402.325,2436.697,519.176,0.000,1287.000,0.000,2378.558,0.000,116.603,0.000
$DEVICE_MAMPS,223.197,61.360,753.194,415.714,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,475.519,399.697,1372.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38099,701
$CAP_FILE_SIZE,113207,0
$CFSIZE,260165632,228655104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230613,210728,2109.333,-15750.042,22,1.0,22,9.8