version: 66.06
glider: 523
mission: 4
dive: 550
start: 6 24 113 3 14 43
data:
$ID,523
$MISSION,4
$DIVE,550
$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,-46986.41
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,030423,2108.500,-15748.246,37,0.9,37,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.9
$GPS2,031424,2108.514,-15748.352,17,1.9,17,9.8
$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,108.2,10637,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.03,0.000,2,0.000,0.000,29,1984,3339,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-5.2,12,119,9.57,2.38,-1.27,0.000,4,0.222,0.064,2394,549,3399,0,0,0,0,0,0
$GC,179,-0.74,-146.0,21.3,-17.4,26,186,0.00,2.20,0.00,0.000,6,0.000,0.035,2386,1957,3399,0,0,0,0,0,0
$GC,351,-0.74,-146.0,47.4,-14.4,57,356,0.00,2.30,0.00,0.000,4,0.000,0.054,2387,541,3400,0,0,0,0,0,0
$GC,411,-0.74,-146.0,57.5,-16.1,68,418,0.00,2.20,0.00,0.000,6,0.000,0.036,2377,1955,3400,0,0,0,0,0,0
$GC,743,-0.74,-146.0,99.3,-10.9,114,750,0.00,2.22,0.00,0.000,4,0.000,0.055,2366,3361,3401,0,0,0,0,0,0
$GC,769,-0.74,-146.0,102.7,-12.7,116,774,0.12,2.22,0.00,0.000,6,0.152,0.044,2398,1946,3401,0,0,0,0,0,0
$GC,1097,-0.74,-146.0,131.5,-8.0,146,1101,0.00,2.22,0.00,0.000,4,0.000,0.055,2399,544,3403,0,0,0,0,0,0
$GC,1173,-0.74,-146.0,138.6,-8.9,152,1181,0.00,2.17,0.00,0.000,6,0.000,0.034,2391,1955,3403,0,0,0,0,0,0
$GC,1501,-0.74,-146.0,166.9,-8.7,183,1505,0.00,2.25,0.00,0.000,4,0.000,0.053,2390,544,3403,0,0,0,0,0,0
$GC,1649,-0.74,-146.0,181.9,-10.8,196,1653,0.00,2.15,0.00,0.000,6,0.000,0.034,2381,1970,3403,0,0,0,0,0,0
$GC,1982,-0.74,-146.0,208.2,-7.3,222,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1970,3403,0,0,0,0,0,0
$GC,2291,-0.74,-146.0,234.8,-9.4,237,2295,0.00,2.30,0.00,0.000,4,0.000,0.052,2381,547,3403,0,0,0,0,0,0
$GC,2381,-0.74,-146.0,243.2,-8.2,241,2386,0.12,2.15,0.00,0.000,6,0.159,0.035,2404,1957,3403,0,0,0,0,0,0
$GC,2708,-0.74,-146.0,262.2,-5.2,257,2712,0.00,2.28,0.00,0.000,4,0.000,0.053,2405,541,3403,0,0,0,0,0,0
$GC,2864,-0.74,-146.0,273.5,-8.3,264,2868,0.00,2.15,0.00,0.000,6,0.000,0.035,2397,1957,3403,0,0,0,0,0,0
$GC,3194,-0.74,-146.0,295.6,-6.2,280,3198,0.00,2.22,0.00,0.000,4,0.000,0.055,2387,3361,3402,0,0,0,0,0,0
$GC,3234,-0.74,-146.0,298.2,-6.9,282,3238,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1948,3402,0,0,0,0,0,0
$GC,3556,-0.74,-146.0,317.1,-5.3,291,3560,0.00,2.22,0.00,0.000,4,0.000,0.058,2386,542,3402,0,0,0,0,0,0
$GC,3814,-0.74,-146.0,333.4,-6.9,296,3819,0.00,2.17,0.00,0.000,6,0.000,0.036,2377,1962,3400,0,0,0,0,0,0
$GC,4146,-0.74,-146.0,353.4,-6.5,305,4150,0.00,2.30,0.00,0.000,4,0.000,0.056,2377,542,3398,0,0,0,0,0,0
$GC,4370,-0.74,-146.0,371.3,-8.2,310,4375,0.12,2.17,0.00,0.000,6,0.160,0.038,2400,1965,3397,0,0,0,0,0,0
$GC,4691,-0.74,-146.0,393.9,-7.0,318,4695,0.00,2.30,0.00,0.000,4,0.000,0.058,2400,550,3395,0,0,0,0,0,0
$GC,4836,-0.74,-146.0,405.5,-7.4,321,4841,0.00,2.20,0.00,0.000,6,0.000,0.039,2392,1965,3393,0,0,0,0,0,0
$GC,5185,-0.74,-146.0,424.0,-4.5,330,5189,0.00,2.22,0.00,0.000,4,0.000,0.057,2381,3364,3391,0,0,0,0,0,0
$GC,5241,-0.74,-146.0,426.4,-4.2,331,5246,0.00,2.25,0.00,0.000,6,0.000,0.048,2381,1948,3391,0,0,0,0,0,0
$STATE,5426,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5426,begin apogee
$GC,5433,-0.17,0.0,433.0,3.6,336,5558,0.62,0.00,122.05,0.746,6,0.119,0.000,2581,1948,2799,0,0,0,0,0,0
$STATE,5559,end apogee,CONTROL_FINISHED_OK
$STATE,5559,begin climb
$GC,5562,0.74,146.0,431.3,0.0,339,5693,0.88,0.00,127.65,0.719,6,0.082,0.000,2873,1948,2204,0,0,0,0,0,0
$GC,5995,0.74,146.0,377.4,12.7,350,5999,0.00,2.35,0.00,0.000,4,0.000,0.054,2873,3386,2197,0,0,0,0,0,0
$GC,6083,0.74,146.0,365.6,12.5,352,6087,0.00,2.28,0.00,0.000,6,0.000,0.048,2882,1980,2194,0,0,0,0,0,0
$GC,6402,0.74,146.0,329.6,11.1,360,6406,0.00,2.25,0.00,0.000,4,0.000,0.059,2893,570,2193,0,0,0,0,0,0
$GC,6464,0.74,146.0,322.9,10.6,361,6468,0.00,2.20,0.00,0.000,6,0.000,0.039,2893,1982,2193,0,0,0,0,0,0
$GC,6787,0.74,146.0,286.1,12.6,372,6791,0.00,2.22,0.00,0.000,4,0.000,0.052,2893,3390,2192,0,0,0,0,0,0
$GC,6848,0.74,146.0,278.0,13.3,374,6853,0.00,2.28,0.00,0.000,6,0.000,0.049,2902,1976,2191,0,0,0,0,0,0
$GC,7164,0.74,146.0,241.8,11.3,390,7168,0.00,2.28,0.00,0.000,4,0.000,0.057,2902,3385,2191,0,0,0,0,0,0
$GC,7281,0.74,146.0,227.7,12.3,395,7285,0.12,2.25,0.00,0.000,6,0.150,0.049,2876,1980,2191,0,0,0,0,0,0
$GC,7597,0.75,156.6,199.3,8.6,410,7608,0.00,0.00,8.18,0.540,6,0.000,0.000,2876,1980,2161,0,0,0,0,0,0
$GC,7929,0.79,186.7,172.2,7.8,441,7965,0.00,2.30,27.25,0.583,4,0.000,0.061,2885,574,2037,0,0,0,0,0,0
$GC,7980,0.82,209.9,168.0,8.1,445,8007,0.00,2.22,21.50,0.564,6,0.000,0.041,2885,1985,1943,0,0,0,0,0,0
$GC,8335,0.82,209.9,133.2,9.5,478,8339,0.00,2.22,0.00,0.000,4,0.000,0.053,2885,3389,1940,0,0,0,0,0,0
$GC,8497,0.82,209.9,116.3,10.2,492,8501,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1966,1939,0,0,0,0,0,0
$GC,8824,0.82,216.4,85.9,8.8,522,8833,0.00,0.00,6.57,0.435,6,0.000,0.000,2895,1966,1917,0,0,0,0,0,0
$GC,9155,0.88,260.0,59.1,7.2,577,9202,0.00,2.33,38.60,0.489,4,0.000,0.055,2895,3381,1739,0,0,0,0,0,0
$GC,9221,0.92,297.3,54.4,7.5,588,9264,0.05,2.25,32.80,0.474,6,0.053,0.044,2966,1989,1589,0,0,0,0,0,0
$GC,9588,0.92,297.3,13.0,11.9,655,9596,0.00,2.28,0.00,0.000,4,0.000,0.054,2976,574,1588,0,0,0,0,0,0
$GC,9621,0.92,297.3,8.9,13.1,660,9627,0.12,2.20,0.00,0.000,6,0.102,0.035,2934,1980,1588,0,0,0,0,0,0
$STATE,9670,end climb,SURFACE_DEPTH_REACHED
$STATE,9670,begin surface coast
$FINISH,0.9,1.023157
$STATE,9698,end surface coast,CONTROL_FINISHED_OK
$STATE,9699,begin surface
$SM_CCo,9717,1.90,0.076,0,0,1575,300.24
$SM_GC,1.70,0.00,0.00,1.90,0.000,0.000,0.076,61,1992,1575,-8.06,0.99,300.24
$IRIDIUM_FIX,2104.07,-15753.03,180902,030314
$TT8_MAMPS,0.027612
$HUMID,67.64
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,24.5,46.815
$10V_AH,10.2,51.036
$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,19.150,89.600,384.600,1.900,0.000,49.113,74.779,269.954,18.250,0.000,17.496,1232.028,5727.389,430.263,2251.125,677.688,0.000,1243.425,0.000,2204.946,0.000,113.547,0.000
$DEVICE_MAMPS,222.430,63.661,746.291,75.933,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,456.974,392.585,1320.430,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38151,674
$CAP_FILE_SIZE,109202,0
$CFSIZE,260165632,228503552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240613,055758,2108.375,-15747.349,37,0.9,37,9.8