version: 66.06
glider: 523
mission: 4
dive: 552
start: 6 24 113 8 56 58
data:
$ID,523
$MISSION,4
$DIVE,552
$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,-47017.828
$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,32
$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
$GPS1,085035,2108.301,-15745.610,32,1.1,32,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.7
$GPS2,085641,2108.287,-15745.594,15,1.3,15,9.8
$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,124.9,6508,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-80.05,0.000,6,0.000,0.000,29,1971,3396,0,0,0,0,0,0
$GC,105,-0.74,-146.0,3.8,-5.5,13,120,9.68,2.28,0.00,0.000,4,0.225,0.051,2394,545,3398,0,0,0,0,0,0
$GC,231,-0.74,-146.0,28.9,-16.5,36,238,0.00,2.20,0.00,0.000,6,0.000,0.038,2386,1949,3399,0,0,0,0,0,0
$GC,406,-0.74,-146.0,52.2,-12.2,67,411,0.00,2.28,0.00,0.000,4,0.000,0.054,2386,537,3399,0,0,0,0,0,0
$GC,517,-0.74,-146.0,66.3,-13.1,87,522,0.00,2.20,0.00,0.000,6,0.000,0.037,2377,1961,3399,0,0,0,0,0,0
$GC,852,-0.74,-146.0,108.9,-13.1,128,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1961,3400,0,0,0,0,0,0
$GC,1170,-0.74,-146.0,145.1,-11.0,158,1174,0.00,2.25,0.00,0.000,4,0.000,0.052,2377,535,3401,0,0,0,0,0,0
$GC,1243,-0.74,-146.0,153.5,-10.8,164,1248,0.12,2.17,0.00,0.000,6,0.164,0.035,2399,1962,3402,0,0,0,0,0,0
$GC,1571,-0.74,-146.0,181.3,-8.4,194,1575,0.00,2.25,0.00,0.000,4,0.000,0.052,2399,542,3403,0,0,0,0,0,0
$GC,1692,-0.74,-146.0,192.3,-9.1,204,1700,0.00,2.17,0.00,0.000,6,0.000,0.034,2392,1951,3403,0,0,0,0,0,0
$GC,2011,-0.74,-146.0,219.7,-8.5,224,2018,0.00,2.25,0.00,0.000,4,0.000,0.053,2392,534,3403,0,0,0,0,0,0
$GC,2271,-0.74,-146.0,240.0,-8.1,235,2276,0.00,2.20,0.00,0.000,6,0.000,0.035,2382,1970,3403,0,0,0,0,0,0
$GC,2596,-0.74,-146.0,263.8,-6.8,251,2600,0.00,2.22,0.00,0.000,4,0.000,0.054,2371,3365,3403,0,0,0,0,0,0
$GC,2618,-0.74,-146.0,265.9,-8.0,252,2623,0.12,2.25,0.00,0.000,6,0.147,0.044,2405,1946,3403,0,0,0,0,0,0
$GC,2947,-0.74,-146.0,288.5,-6.0,268,2951,0.00,2.22,0.00,0.000,4,0.000,0.057,2405,541,3403,0,0,0,0,0,0
$GC,3138,-0.74,-146.0,302.1,-7.5,276,3142,0.00,2.17,0.00,0.000,6,0.000,0.036,2397,1962,3403,0,0,0,0,0,0
$GC,3487,-0.74,-146.0,327.8,-7.8,285,3491,0.00,2.28,0.00,0.000,4,0.000,0.056,2397,541,3402,0,0,0,0,0,0
$GC,3612,-0.74,-146.0,336.9,-6.9,287,3618,0.00,2.20,0.00,0.000,6,0.000,0.038,2387,1966,3401,0,0,0,0,0,0
$GC,3945,-0.74,-146.0,356.6,-5.5,296,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1967,3399,0,0,0,0,0,0
$GC,4269,-0.74,-146.0,373.9,-6.0,304,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1966,3397,0,0,0,0,0,0
$GC,4594,-0.74,-146.0,398.4,-7.4,312,4598,0.00,2.30,0.00,0.000,4,0.000,0.060,2387,548,3395,0,0,0,0,0,0
$GC,4755,-0.74,-146.0,410.0,-7.3,315,4762,0.00,2.17,0.00,0.000,6,0.000,0.041,2378,1958,3394,0,0,0,0,0,0
$GC,5094,-0.74,-146.0,429.6,-5.4,324,5098,0.00,2.30,0.00,0.000,4,0.000,0.060,2378,541,3392,0,0,0,0,0,0
$GC,5318,-0.74,-146.0,442.4,-6.6,329,5323,0.12,2.22,0.00,0.000,6,0.162,0.041,2401,1964,3390,0,0,0,0,0,0
$STATE,5436,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5436,begin apogee
$GC,5443,-0.17,0.0,449.2,5.7,332,5568,0.55,0.00,122.55,0.763,6,0.114,0.000,2580,1965,2800,0,0,0,0,0,0
$STATE,5569,end apogee,CONTROL_FINISHED_OK
$STATE,5569,begin climb
$GC,5572,0.74,146.0,450.5,0.0,335,5708,0.85,2.40,128.02,0.737,4,0.076,0.054,2876,3380,2203,0,0,0,0,0,0
$GC,5741,0.74,146.0,434.1,12.8,339,5745,0.00,2.33,0.00,0.000,6,0.000,0.050,2886,1973,2200,0,0,0,0,0,0
$GC,6060,0.74,146.0,395.3,12.3,347,6064,0.00,2.30,0.00,0.000,4,0.000,0.061,2896,562,2196,0,0,0,0,0,0
$GC,6087,0.74,146.0,391.6,12.6,347,6091,0.00,2.25,0.00,0.000,6,0.000,0.041,2897,1979,2195,0,0,0,0,0,0
$GC,6418,0.74,146.0,347.4,13.2,355,6422,0.00,2.25,0.00,0.000,4,0.000,0.054,2897,3393,2194,0,0,0,0,0,0
$GC,6582,0.74,146.0,323.1,15.0,358,6586,0.00,2.25,0.00,0.000,6,0.000,0.043,2907,1972,2192,0,0,0,0,0,0
$GC,6901,0.74,146.0,281.8,11.5,370,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1971,2192,0,0,0,0,0,0
$GC,7211,0.74,146.0,245.5,12.5,385,7215,0.00,2.30,0.00,0.000,4,0.000,0.052,2907,3392,2191,0,0,0,0,0,0
$GC,7271,0.74,146.0,237.9,12.3,387,7278,0.12,2.22,0.00,0.000,6,0.152,0.042,2880,1977,2190,0,0,0,0,0,0
$GC,7587,0.76,161.8,210.2,8.4,403,7608,0.00,2.33,12.52,0.585,4,0.000,0.052,2879,3395,2139,0,0,0,0,0,0
$GC,7626,0.76,161.8,206.6,9.6,404,7631,0.00,2.25,0.00,0.000,6,0.000,0.043,2887,1975,2139,0,0,0,0,0,0
$GC,7952,0.76,161.8,175.5,9.6,431,7956,0.00,2.22,0.00,0.000,4,0.000,0.056,2898,570,2137,0,0,0,0,0,0
$GC,7982,0.76,161.8,172.3,9.7,433,7986,0.00,2.20,0.00,0.000,6,0.000,0.036,2898,1994,2137,0,0,0,0,0,0
$GC,8310,0.76,168.0,141.1,8.8,463,8321,0.00,2.17,6.68,0.476,4,0.000,0.051,2898,3389,2114,0,0,0,0,0,0
$GC,8488,0.76,168.0,123.9,10.2,479,8492,0.00,2.20,0.00,0.000,6,0.000,0.040,2908,1977,2113,0,0,0,0,0,0
$GC,8817,0.77,174.1,93.3,8.8,509,8830,0.00,2.25,7.22,0.454,4,0.000,0.052,2908,3392,2089,0,0,0,0,0,0
$GC,8856,0.77,174.1,89.6,9.4,512,8860,0.00,2.22,0.00,0.000,6,0.000,0.040,2918,1969,2088,0,0,0,0,0,0
$GC,9182,0.77,174.1,61.3,9.1,562,9189,0.00,2.30,0.00,0.000,4,0.000,0.051,2918,3382,2088,0,0,0,0,0,0
$GC,9247,0.77,174.1,55.0,10.4,573,9253,0.15,2.25,0.00,0.000,6,0.130,0.051,2882,1980,2088,0,0,0,0,0,0
$GC,9576,0.87,252.9,32.7,5.8,634,9650,0.10,0.00,67.82,0.467,6,0.088,0.000,2960,1980,1766,0,0,0,0,0,0
$GC,9811,0.87,252.9,10.9,9.8,676,9819,0.15,0.00,0.00,0.000,6,0.130,0.000,2916,1980,1766,0,0,0,0,0,0
$STATE,9897,end climb,SURFACE_DEPTH_REACHED
$STATE,9897,begin surface coast
$FINISH,0.6,1.022145
$STATE,9931,end surface coast,CONTROL_FINISHED_OK
$STATE,9932,begin surface
$SM_CCo,9949,23.88,0.422,0,0,1574,300.24
$SM_GC,1.53,0.00,0.00,23.88,0.000,0.000,0.422,35,1975,1574,-8.15,0.51,300.24
$IRIDIUM_FIX,2106.38,-15315.76,180902,060622
$TT8_MAMPS,0.027612
$HUMID,66.61
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.4,46.991
$10V_AH,10.2,51.237
$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,19.300,85.300,344.825,23.875,0.000,23.840,40.711,164.357,18.750,0.000,15.534,1269.259,5835.959,427.899,2294.729,508.738,0.000,1236.971,0.000,2246.655,0.000,118.144,0.000
$DEVICE_MAMPS,224.731,60.593,763.165,421.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,473.646,396.053,1343.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38180,698
$CAP_FILE_SIZE,106658,0
$CFSIZE,260165632,228392960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240613,114424,2107.757,-15744.519,32,0.8,32,9.8