version: 66.06
glider: 523
mission: 4
dive: 551
start: 6 24 113 6 4 41
data:
$ID,523
$MISSION,4
$DIVE,551
$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,-47001.664
$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,26
$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
$GPS1,055758,2108.375,-15747.349,37,0.9,37,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.3
$GPS2,060424,2108.402,-15747.356,14,1.3,14,9.8
$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,112.2,9044,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-75.95,0.000,2,0.000,0.000,52,1990,3365,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.2,-4.3,12,115,9.57,2.38,-0.65,0.000,4,0.227,0.066,2393,540,3396,0,0,0,0,0,0
$GC,174,-0.74,-146.0,19.4,-15.4,25,182,0.00,2.22,0.00,0.000,6,0.000,0.037,2385,1955,3398,0,0,0,0,0,0
$GC,345,-0.74,-146.0,41.9,-11.4,56,353,0.00,2.30,0.00,0.000,4,0.000,0.058,2385,552,3399,0,0,0,0,0,0
$GC,585,-0.74,-146.0,78.2,-14.6,100,593,0.00,2.20,0.00,0.000,6,0.000,0.036,2376,1962,3399,0,0,0,0,0,0
$GC,922,-0.74,-146.0,115.6,-9.0,132,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1962,3401,0,0,0,0,0,0
$GC,1249,-0.74,-146.0,147.6,-10.2,163,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1962,3402,0,0,0,0,0,0
$GC,1567,-0.74,-146.0,178.8,-9.4,193,1571,0.00,2.30,0.00,0.000,4,0.000,0.054,2376,536,3403,0,0,0,0,0,0
$GC,1793,-0.74,-146.0,201.4,-9.3,212,1798,0.12,2.17,0.00,0.000,6,0.161,0.035,2398,1963,3403,0,0,0,0,0,0
$GC,2109,-0.74,-146.0,224.2,-7.1,227,2113,0.00,2.28,0.00,0.000,4,0.000,0.055,2399,545,3403,0,0,0,0,0,0
$GC,2367,-0.74,-146.0,246.0,-8.3,238,2372,0.00,2.12,0.00,0.000,6,0.000,0.035,2391,1957,3403,0,0,0,0,0,0
$GC,2684,-0.74,-146.0,268.4,-6.6,254,2688,0.00,2.22,0.00,0.000,4,0.000,0.055,2380,3356,3403,0,0,0,0,0,0
$GC,2746,-0.74,-146.0,272.5,-5.9,256,2752,0.00,2.22,0.00,0.000,6,0.000,0.043,2380,1948,3403,0,0,0,0,0,0
$GC,3064,-0.74,-146.0,291.8,-6.2,272,3068,0.00,2.25,0.00,0.000,4,0.000,0.058,2380,542,3403,0,0,0,0,0,0
$GC,3325,-0.74,-146.0,310.3,-7.5,280,3330,0.12,2.17,0.00,0.000,6,0.163,0.036,2403,1959,3402,0,0,0,0,0,0
$GC,3657,-0.74,-146.0,328.5,-5.4,288,3661,0.00,2.28,0.00,0.000,4,0.000,0.058,2404,541,3402,0,0,0,0,0,0
$GC,3876,-0.74,-146.0,341.8,-5.5,293,3880,0.00,2.20,0.00,0.000,6,0.000,0.038,2396,1964,3400,0,0,0,0,0,0
$GC,4204,-0.74,-146.0,360.0,-5.5,301,4208,0.00,2.33,0.00,0.000,4,0.000,0.058,2396,542,3398,0,0,0,0,0,0
$GC,4372,-0.74,-146.0,370.9,-6.7,304,4377,0.00,2.20,0.00,0.000,6,0.000,0.040,2386,1957,3397,0,0,0,0,0,0
$GC,4704,-0.74,-146.0,394.9,-7.5,313,4709,0.00,2.22,0.00,0.000,4,0.000,0.058,2376,3361,3396,0,0,0,0,0,0
$GC,4804,-0.74,-146.0,402.1,-7.4,315,4809,0.00,2.22,0.00,0.000,6,0.000,0.044,2376,1958,3395,0,0,0,0,0,0
$GC,5121,-0.74,-146.0,421.0,-5.9,323,5125,0.00,2.30,0.00,0.000,4,0.000,0.064,2376,548,3393,0,0,0,0,0,0
$GC,5379,-0.74,-146.0,441.3,-8.1,328,5385,0.12,2.20,0.00,0.000,6,0.161,0.041,2398,1955,3391,0,0,0,0,0,0
$STATE,5425,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5425,begin apogee
$GC,5432,-0.17,0.0,444.4,6.9,330,5558,0.57,0.00,122.68,0.757,6,0.114,0.000,2585,1955,2799,0,0,0,0,0,0
$STATE,5558,end apogee,CONTROL_FINISHED_OK
$STATE,5559,begin climb
$GC,5561,0.74,146.0,446.1,0.0,333,5700,0.82,2.35,127.53,0.732,4,0.079,0.054,2869,3386,2202,0,0,0,0,0,0
$GC,5756,0.74,146.0,425.5,13.3,337,5760,0.00,2.33,0.00,0.000,6,0.000,0.051,2879,1982,2199,0,0,0,0,0,0
$GC,6098,0.74,146.0,379.6,13.5,346,6102,0.00,2.30,0.00,0.000,4,0.000,0.061,2889,563,2195,0,0,0,0,0,0
$GC,6137,0.74,146.0,374.4,12.6,346,6142,0.00,2.22,0.00,0.000,6,0.000,0.041,2889,1988,2195,0,0,0,0,0,0
$GC,6468,0.74,146.0,331.9,12.8,355,6472,0.00,2.22,0.00,0.000,4,0.000,0.054,2889,3390,2194,0,0,0,0,0,0
$GC,6579,0.74,146.0,315.8,14.3,357,6584,0.00,2.28,0.00,0.000,6,0.000,0.044,2899,1968,2192,0,0,0,0,0,0
$GC,6899,0.74,146.0,271.0,14.4,370,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1967,2192,0,0,0,0,0,0
$GC,7208,0.74,146.0,233.0,10.9,385,7212,0.00,2.28,0.00,0.000,4,0.000,0.052,2899,3389,2191,0,0,0,0,0,0
$GC,7297,0.74,146.0,223.8,10.4,389,7302,0.12,2.22,0.00,0.000,6,0.150,0.042,2874,1980,2190,0,0,0,0,0,0
$GC,7618,0.77,173.6,200.5,7.9,405,7651,0.00,2.30,22.80,0.607,4,0.000,0.057,2883,569,2090,0,0,0,0,0,0
$GC,7677,0.79,192.2,196.1,8.3,409,7701,0.00,2.20,17.20,0.585,6,0.000,0.036,2882,1983,2016,0,0,0,0,0,0
$GC,8021,0.79,192.2,163.8,10.4,441,8025,0.00,2.25,0.00,0.000,4,0.000,0.052,2883,3390,2013,0,0,0,0,0,0
$GC,8137,0.79,192.2,151.1,10.5,451,8141,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1980,2012,0,0,0,0,0,0
$GC,8465,0.82,212.7,121.9,8.2,481,8489,0.00,2.25,18.60,0.535,4,0.000,0.050,2892,3395,1932,0,0,0,0,0,0
$GC,8547,0.82,212.7,113.9,11.6,488,8551,0.00,2.25,0.00,0.000,6,0.000,0.041,2902,1975,1931,0,0,0,0,0,0
$GC,8875,0.82,213.2,81.5,9.0,518,8879,0.00,2.25,0.00,0.000,4,0.000,0.053,2902,3383,1930,0,0,0,0,0,0
$GC,8961,0.83,221.1,73.2,8.7,531,8974,0.00,2.20,8.75,0.451,6,0.000,0.040,2910,1979,1898,0,0,0,0,0,0
$GC,9302,0.91,284.3,45.0,6.4,593,9360,0.00,0.00,55.03,0.478,6,0.000,0.000,2910,1979,1640,0,0,0,0,0,0
$GC,9686,0.95,320.3,17.2,7.5,663,9726,0.10,2.33,31.38,0.443,4,0.086,0.058,2989,3380,1493,0,0,0,0,0,0
$GC,9766,0.95,320.3,6.6,14.4,676,9774,0.15,2.28,0.00,0.000,6,0.114,0.044,2949,1979,1491,0,0,0,0,0,0
$STATE,9790,end climb,SURFACE_DEPTH_REACHED
$STATE,9790,begin surface coast
$FINISH,0.5,1.023151
$STATE,9808,end surface coast,CONTROL_FINISHED_OK
$STATE,9808,begin surface
$SM_CCo,9886,0.00,0.000,0,0,1488,321.83
$SM_GC,1.50,7.45,0.00,0.00,0.021,0.000,0.000,37,1976,1488,-8.01,0.57,321.83
$IRIDIUM_FIX,2104.07,-15745.74,180902,030338
$TT8_MAMPS,0.027612
$HUMID,65.67
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.4,46.906
$10V_AH,10.3,51.137
$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,19.175,85.525,403.950,0.000,0.000,28.635,64.730,158.605,18.750,0.000,14.626,1251.261,5727.343,410.147,2352.182,524.376,0.000,1283.741,0.000,2302.647,0.000,118.074,0.000
$DEVICE_MAMPS,227.032,65.962,757.029,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,463.055,394.314,1320.734,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,38064,683
$CAP_FILE_SIZE,108171,0
$CFSIZE,260165632,228446208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240613,085035,2108.301,-15745.610,32,1.1,32,9.8