version: 66.06
glider: 523
mission: 4
dive: 548
start: 6 23 113 21 21 16
data:
$ID,523
$MISSION,4
$DIVE,548
$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,-46947.957
$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,22
$R_STBD_OVSHOOT,29
$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
$GPS1,210728,2109.333,-15750.042,22,1.0,22,9.8
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.9
$GPS2,212058,2109.290,-15750.034,21,0.9,21,9.8
$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,107.8,13880,-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,15,-0.74,-146.0,0.0,0.0,0,99,0.00,0.00,-76.78,0.000,6,0.000,0.000,29,1973,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.7,13,118,9.65,2.30,0.00,0.000,4,0.223,0.046,2389,533,3396,0,0,0,0,0,0
$GC,167,-0.74,-146.0,21.1,-16.9,24,175,0.00,2.25,0.00,0.000,6,0.000,0.038,2381,1960,3398,0,0,0,0,0,0
$GC,340,-0.74,-146.0,46.7,-15.2,55,346,0.00,2.28,0.00,0.000,4,0.000,0.052,2382,541,3398,0,0,0,0,0,0
$GC,429,-0.74,-146.0,60.5,-15.1,71,436,0.12,2.20,0.00,0.000,6,0.164,0.038,2404,1968,3398,0,0,0,0,0,0
$GC,766,-0.74,-146.0,96.1,-9.5,117,770,0.00,2.30,0.00,0.000,4,0.000,0.051,2404,537,3399,0,0,0,0,0,0
$GC,928,-0.74,-146.0,112.9,-11.1,131,935,0.00,2.20,0.00,0.000,6,0.000,0.036,2396,1952,3399,0,0,0,0,0,0
$GC,1256,-0.74,-146.0,144.7,-9.2,162,1260,0.00,2.25,0.00,0.000,4,0.000,0.051,2396,545,3399,0,0,0,0,0,0
$GC,1509,-0.74,-146.0,167.7,-8.8,185,1514,0.00,2.15,0.00,0.000,6,0.000,0.035,2386,1964,3400,0,0,0,0,0,0
$GC,1837,-0.74,-146.0,195.3,-5.9,215,1842,0.00,2.33,0.00,0.000,4,0.000,0.051,2386,535,3400,0,0,0,0,0,0
$GC,1996,-0.74,-146.0,205.6,-6.9,225,2000,0.00,2.17,0.00,0.000,6,0.000,0.037,2377,1955,3400,0,0,0,0,0,0
$GC,2315,-0.74,-146.0,229.3,-8.6,240,2319,0.00,2.25,0.00,0.000,4,0.000,0.058,2366,3365,3400,0,0,0,0,0,0
$GC,2377,-0.74,-146.0,234.7,-8.1,243,2385,0.12,2.22,0.00,0.000,6,0.150,0.045,2398,1947,3400,0,0,0,0,0,0
$GC,2713,-0.74,-146.0,256.8,-6.8,259,2717,0.00,2.22,0.00,0.000,4,0.000,0.057,2399,544,3399,0,0,0,0,0,0
$GC,2970,-0.74,-146.0,276.1,-7.5,270,2974,0.00,2.15,0.00,0.000,6,0.000,0.036,2391,1961,3399,0,0,0,0,0,0
$GC,3289,-0.74,-146.0,297.6,-7.7,285,3292,0.00,2.28,0.00,0.000,4,0.000,0.056,2391,540,3398,0,0,0,0,0,0
$GC,3412,-0.74,-146.0,309.3,-9.6,288,3416,0.00,2.20,0.00,0.000,6,0.000,0.038,2381,1966,3398,0,0,0,0,0,0
$GC,3745,-0.74,-146.0,334.6,-6.6,296,3750,0.00,2.22,0.00,0.000,4,0.000,0.059,2371,3365,3396,0,0,0,0,0,0
$GC,3823,-0.74,-146.0,339.5,-6.3,297,3828,0.12,2.20,0.00,0.000,6,0.148,0.044,2404,1954,3396,0,0,0,0,0,0
$GC,4157,-0.74,-146.0,359.1,-6.4,305,4161,0.00,2.28,0.00,0.000,4,0.000,0.062,2404,542,3394,0,0,0,0,0,0
$GC,4294,-0.74,-146.0,368.7,-7.5,308,4299,0.00,2.17,0.00,0.000,6,0.000,0.041,2396,1954,3393,0,0,0,0,0,0
$GC,4614,-0.74,-146.0,384.8,-4.5,316,4618,0.00,2.28,0.00,0.000,4,0.000,0.060,2396,545,3391,0,0,0,0,0,0
$GC,4669,-0.74,-146.0,387.3,-4.8,317,4673,0.00,2.20,0.00,0.000,6,0.000,0.040,2387,1969,3391,0,0,0,0,0,0
$GC,4983,-0.74,-146.0,403.6,-5.4,325,4987,0.00,2.28,0.00,0.000,4,0.000,0.060,2377,3373,3389,0,0,0,0,0,0
$GC,5034,-0.74,-146.0,406.7,-6.3,326,5038,0.00,2.28,0.00,0.000,6,0.000,0.046,2376,1946,3389,0,0,0,0,0,0
$GC,5348,-0.74,-146.0,427.7,-7.0,334,5352,0.00,2.25,0.00,0.000,4,0.000,0.064,2376,547,3387,0,0,0,0,0,0
$STATE,5406,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5406,begin apogee
$GC,5416,-0.17,0.0,432.7,8.2,335,5540,0.65,0.00,121.12,0.747,6,0.123,0.000,2576,1987,2800,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,435.1,0.0,338,5682,0.85,2.38,127.15,0.724,4,0.078,0.059,2869,3384,2202,0,0,0,0,0,0
$GC,5738,0.74,146.0,415.0,13.6,342,5742,0.00,2.30,0.00,0.000,6,0.000,0.046,2878,1980,2199,0,0,0,0,0,0
$GC,6080,0.74,146.0,370.9,13.0,351,6084,0.00,2.30,0.00,0.000,4,0.000,0.059,2878,3391,2196,0,0,0,0,0,0
$GC,6138,0.74,146.0,362.7,14.2,352,6142,0.00,2.22,0.00,0.000,6,0.000,0.038,2888,1973,2195,0,0,0,0,0,0
$GC,6451,0.74,146.0,320.5,13.7,360,6455,0.00,2.22,0.00,0.000,4,0.000,0.054,2898,574,2193,0,0,0,0,0,0
$GC,6473,0.74,146.0,317.0,15.4,360,6477,0.00,2.20,0.00,0.000,6,0.000,0.035,2899,2001,2193,0,0,0,0,0,0
$GC,6792,0.74,146.0,275.1,11.8,373,6796,0.00,2.17,0.00,0.000,4,0.000,0.051,2899,3387,2192,0,0,0,0,0,0
$GC,6870,0.74,146.0,265.1,12.2,376,6876,0.12,2.20,0.00,0.000,6,0.150,0.037,2874,1968,2191,0,0,0,0,0,0
$GC,7186,0.77,169.4,239.4,8.1,392,7210,0.00,2.22,19.27,0.621,4,0.000,0.055,2882,579,2108,0,0,0,0,0,0
$GC,7314,0.77,169.4,223.5,12.7,397,7320,0.00,2.15,0.00,0.000,6,0.000,0.035,2883,1985,2105,0,0,0,0,0,0
$GC,7636,0.81,208.0,191.2,7.4,418,7675,0.00,2.22,34.08,0.603,4,0.000,0.048,2883,3388,1951,0,0,0,0,0,0
$GC,7811,0.81,208.0,175.5,9.1,433,7818,0.00,2.22,0.00,0.000,6,0.000,0.036,2892,1980,1947,0,0,0,0,0,0
$GC,8139,0.86,244.7,151.3,7.5,464,8177,0.00,2.28,32.40,0.564,4,0.000,0.054,2901,580,1801,0,0,0,0,0,0
$GC,8209,0.86,244.7,144.7,10.7,470,8213,0.00,2.15,0.00,0.000,6,0.000,0.033,2901,1983,1801,0,0,0,0,0,0
$GC,8536,0.86,244.7,108.3,11.4,500,8540,0.00,2.20,0.00,0.000,4,0.000,0.049,2901,3385,1800,0,0,0,0,0,0
$GC,8621,0.86,244.7,97.3,14.0,507,8625,0.00,2.20,0.00,0.000,6,0.000,0.038,2910,1973,1799,0,0,0,0,0,0
$GC,8949,0.86,244.7,64.4,9.8,552,8956,0.00,2.25,0.00,0.000,4,0.000,0.050,2910,3377,1799,0,0,0,0,0,0
$GC,9017,0.86,244.7,57.9,9.7,564,9024,0.00,2.20,0.00,0.000,6,0.000,0.038,2920,1976,1799,0,0,0,0,0,0
$GC,9352,0.88,260.2,32.5,8.4,625,9376,0.00,2.25,14.85,0.449,4,0.000,0.049,2920,3376,1737,0,0,0,0,0,0
$GC,9396,0.88,260.6,28.8,9.0,632,9403,0.00,2.25,0.00,0.000,6,0.000,0.050,2928,1983,1737,0,0,0,0,0,0
$GC,9564,0.90,280.4,14.9,8.2,663,9592,0.00,2.28,18.58,0.438,4,0.000,0.058,2936,574,1655,0,0,0,0,0,0
$GC,9632,0.90,280.4,8.4,9.8,674,9640,0.00,2.20,0.00,0.000,6,0.000,0.035,2936,1980,1655,0,0,0,0,0,0
$STATE,9687,end climb,SURFACE_DEPTH_REACHED
$STATE,9688,begin surface coast
$FINISH,0.7,1.021171
$STATE,9715,end surface coast,CONTROL_FINISHED_OK
$STATE,9715,begin surface
$SM_CCo,9733,11.25,0.403,0,0,1575,300.24
$SM_GC,1.25,0.00,0.00,11.25,0.000,0.000,0.403,38,1992,1575,-8.13,0.99,300.24
$IRIDIUM_FIX,2057.14,-15746.61,170902,212157
$TT8_MAMPS,0.027612
$HUMID,67.75
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.4,46.621
$10V_AH,10.3,50.831
$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,19.025,107.275,367.450,11.250,0.000,81.204,121.644,327.311,18.000,0.000,23.574,1270.738,5670.289,409.820,2369.119,832.016,0.000,1288.232,0.000,2318.875,0.000,111.074,0.000
$DEVICE_MAMPS,223.197,63.661,747.058,402.675,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,467.731,406.160,1371.057,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38043,689
$CAP_FILE_SIZE,119748,0
$CFSIZE,260165632,228593664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240613,000459,2109.088,-15748.747,39,0.9,39,9.8