version: 66.06
glider: 523
mission: 4
dive: 553
start: 6 24 113 11 51 35
data:
$ID,523
$MISSION,4
$DIVE,553
$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,-47048.656
$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,33
$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
$GPS1,114424,2107.757,-15744.519,32,0.8,32,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.1
$GPS2,115119,2107.768,-15744.562,29,0.9,29,9.8
$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,132.1,4600,-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,-76.15,0.000,2,0.000,0.000,35,1972,3385,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.4,-5.5,12,115,9.55,2.28,-0.22,0.000,4,0.221,0.061,2390,534,3397,0,0,0,0,0,0
$GC,270,-0.74,-146.0,38.4,-16.5,43,275,0.00,2.22,0.00,0.000,6,0.000,0.038,2381,1968,3398,0,0,0,0,0,0
$GC,605,-0.74,-146.0,84.4,-12.3,101,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1968,3399,0,0,0,0,0,0
$GC,932,-0.74,-146.0,119.9,-10.5,132,939,0.00,2.28,0.00,0.000,4,0.000,0.052,2381,543,3400,0,0,0,0,0,0
$GC,1093,-0.74,-146.0,137.8,-10.9,146,1098,0.12,2.15,0.00,0.000,6,0.159,0.035,2405,1958,3401,0,0,0,0,0,0
$GC,1421,-0.74,-146.0,164.9,-7.8,176,1425,0.00,2.22,0.00,0.000,4,0.000,0.055,2396,3360,3401,0,0,0,0,0,0
$GC,1553,-0.74,-146.0,176.2,-9.2,188,1557,0.00,2.22,0.00,0.000,6,0.000,0.042,2396,1950,3402,0,0,0,0,0,0
$GC,1886,-0.74,-146.0,210.5,-9.8,214,1890,0.00,2.20,0.00,0.000,4,0.000,0.054,2396,545,3402,0,0,0,0,0,0
$GC,2133,-0.74,-146.0,233.6,-8.3,225,2138,0.00,2.17,0.00,0.000,6,0.000,0.035,2386,1966,3402,0,0,0,0,0,0
$GC,2455,-0.74,-146.0,262.8,-8.1,241,2459,0.00,2.25,0.00,0.000,4,0.000,0.054,2386,548,3402,0,0,0,0,0,0
$GC,2600,-0.74,-146.0,273.4,-6.6,247,2606,0.00,2.15,0.00,0.000,6,0.000,0.036,2377,1958,3402,0,0,0,0,0,0
$GC,2917,-0.74,-146.0,289.6,-5.6,263,2921,0.00,2.25,0.00,0.000,4,0.000,0.058,2366,3361,3402,0,0,0,0,0,0
$GC,3008,-0.74,-146.0,296.0,-7.4,267,3012,0.12,2.22,0.00,0.000,6,0.146,0.042,2399,1949,3402,0,0,0,0,0,0
$GC,3354,-0.74,-146.0,316.3,-5.8,277,3358,0.00,2.22,0.00,0.000,4,0.000,0.057,2400,545,3402,0,0,0,0,0,0
$GC,3612,-0.74,-146.0,331.4,-5.6,282,3616,0.00,2.17,0.00,0.000,6,0.000,0.036,2392,1958,3401,0,0,0,0,0,0
$GC,3946,-0.74,-146.0,352.3,-6.8,290,3950,0.00,2.25,0.00,0.000,4,0.000,0.057,2392,551,3399,0,0,0,0,0,0
$GC,4203,-0.74,-146.0,370.4,-7.8,295,4209,0.00,2.15,0.00,0.000,6,0.000,0.037,2382,1955,3398,0,0,0,0,0,0
$GC,4535,-0.74,-146.0,393.8,-7.3,304,4539,0.00,2.28,0.00,0.000,4,0.000,0.058,2382,541,3396,0,0,0,0,0,0
$GC,4630,-0.74,-146.0,401.5,-7.7,306,4634,0.00,2.17,0.00,0.000,6,0.000,0.038,2373,1957,3396,0,0,0,0,0,0
$GC,4943,-0.74,-146.0,424.1,-7.3,314,4947,0.00,2.30,0.00,0.000,4,0.000,0.060,2373,551,3394,0,0,0,0,0,0
$GC,4983,-0.74,-146.0,426.9,-6.9,315,4988,0.15,2.20,0.00,0.000,6,0.150,0.040,2404,1960,3394,0,0,0,0,0,0
$GC,5309,-0.74,-146.0,442.4,-4.4,323,5313,0.00,2.30,0.00,0.000,4,0.000,0.060,2405,549,3393,0,0,0,0,0,0
$STATE,5407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5416,-0.17,0.0,447.4,4.8,325,5542,0.55,0.00,122.20,0.753,6,0.116,0.000,2578,1976,2800,0,0,0,0,0,0
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5546,0.74,146.0,446.8,0.0,328,5684,0.85,2.35,127.38,0.727,4,0.075,0.058,2872,3386,2202,0,0,0,0,0,0
$GC,5768,0.74,146.0,418.7,14.4,333,5772,0.00,2.30,0.00,0.000,6,0.000,0.046,2882,1981,2199,0,0,0,0,0,0
$GC,6082,0.74,146.0,377.0,12.9,341,6086,0.00,2.28,0.00,0.000,4,0.000,0.058,2882,3389,2196,0,0,0,0,0,0
$GC,6137,0.74,146.0,369.9,13.1,342,6141,0.00,2.28,0.00,0.000,6,0.000,0.047,2891,1970,2195,0,0,0,0,0,0
$GC,6484,0.74,146.0,331.4,10.4,351,6488,0.00,2.28,0.00,0.000,4,0.000,0.067,2902,565,2194,0,0,0,0,0,0
$GC,6512,0.74,146.0,328.0,12.0,351,6517,0.00,2.25,0.00,0.000,6,0.000,0.041,2902,1992,2193,0,0,0,0,0,0
$GC,6824,0.74,146.0,290.4,11.7,360,6828,0.00,2.20,0.00,0.000,4,0.000,0.052,2901,3392,2192,0,0,0,0,0,0
$GC,6911,0.74,146.0,280.6,11.5,364,6915,0.12,2.22,0.00,0.000,6,0.153,0.048,2877,1978,2191,0,0,0,0,0,0
$GC,7237,0.74,146.0,247.8,9.9,380,7242,0.00,2.28,0.00,0.000,4,0.000,0.056,2877,3389,2191,0,0,0,0,0,0
$GC,7333,0.74,146.0,238.5,9.5,384,7337,0.00,2.22,0.00,0.000,6,0.000,0.046,2884,1975,2190,0,0,0,0,0,0
$GC,7649,0.74,146.0,207.5,10.3,399,7653,0.00,2.25,0.00,0.000,4,0.000,0.059,2894,566,2190,0,0,0,0,0,0
$GC,7682,0.74,146.0,203.8,10.9,400,7686,0.00,2.22,0.00,0.000,6,0.000,0.041,2894,1982,2189,0,0,0,0,0,0
$GC,8008,0.78,182.9,174.5,7.5,428,8043,0.00,2.22,30.15,0.583,4,0.000,0.050,2894,3397,2054,0,0,0,0,0,0
$GC,8137,0.78,182.9,161.0,10.9,439,8145,0.00,2.30,0.00,0.000,6,0.000,0.047,2903,1979,2052,0,0,0,0,0,0
$GC,8466,0.78,182.9,128.2,9.6,470,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1979,2050,0,0,0,0,0,0
$GC,8794,0.78,182.9,98.8,9.4,501,8798,0.00,2.30,0.00,0.000,4,0.000,0.055,2903,3389,2051,0,0,0,0,0,0
$GC,8946,0.78,182.9,84.6,9.3,514,8950,0.00,2.22,0.00,0.000,6,0.000,0.044,2911,1978,2051,0,0,0,0,0,0
$GC,9279,0.82,215.3,55.6,7.7,569,9313,0.00,2.25,28.83,0.479,4,0.000,0.055,2921,563,1921,0,0,0,0,0,0
$GC,9394,0.89,273.8,47.3,6.6,589,9453,0.00,2.22,51.28,0.473,6,0.000,0.039,2921,1981,1682,0,0,0,0,0,0
$GC,9776,0.90,282.5,17.5,8.7,659,9791,0.00,2.22,8.77,0.394,4,0.000,0.051,2921,3392,1646,0,0,0,0,0,0
$GC,9867,0.90,282.5,8.0,11.2,675,9874,0.00,2.25,0.00,0.000,6,0.000,0.043,2930,1986,1645,0,0,0,0,0,0
$STATE,9927,end climb,SURFACE_DEPTH_REACHED
$STATE,9927,begin surface coast
$FINISH,0.6,1.000437
$STATE,9960,end surface coast,CONTROL_FINISHED_OK
$STATE,9960,begin surface
$SM_CCo,9978,9.93,0.387,0,0,1575,300.24
$SM_GC,1.19,0.00,0.00,9.93,0.000,0.000,0.387,35,1978,1575,-8.14,0.57,300.24
$IRIDIUM_FIX,2101.76,-15743.60,180902,090925
$TT8_MAMPS,0.027612
$HUMID,65.79
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.4,47.078
$10V_AH,10.3,51.340
$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,18.850,94.075,368.600,9.925,0.000,24.912,40.998,196.996,18.750,0.000,30.198,1277.473,5759.057,397.161,2423.580,541.376,0.000,1272.993,0.000,2357.529,0.000,118.116,0.000
$DEVICE_MAMPS,220.896,67.496,753.194,386.568,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,469.108,395.495,1355.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38084,692
$CAP_FILE_SIZE,110813,0
$CFSIZE,260165632,228339712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240613,143922,2106.838,-15744.686,39,1.0,39,9.8