version: 66.06
glider: 523
mission: 4
dive: 557
start: 6 24 113 23 32 10
data:
$ID,523
$MISSION,4
$DIVE,557
$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,-47139.047
$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,19
$R_STBD_OVSHOOT,24
$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
$GPS1,232542,2106.274,-15741.962,21,1.6,21,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.8
$GPS2,233154,2106.242,-15741.992,33,1.6,33,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,211.6,20562,-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,-75.93,0.000,2,0.000,0.000,31,1950,3362,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-4.4,12,115,9.55,2.30,-0.75,0.000,4,0.222,0.061,2382,3369,3397,0,0,0,0,0,0
$GC,312,-0.74,-146.0,41.4,-16.1,51,318,0.00,2.22,0.00,0.000,6,0.000,0.044,2382,1949,3399,0,0,0,0,0,0
$GC,648,-0.74,-146.0,86.6,-12.2,108,652,0.00,2.22,0.00,0.000,4,0.000,0.058,2382,541,3400,0,0,0,0,0,0
$GC,899,-0.74,-146.0,119.6,-13.1,130,909,0.00,2.20,0.00,0.000,6,0.000,0.035,2373,1959,3401,0,0,0,0,0,0
$GC,1227,-0.74,-146.0,154.9,-8.5,161,1233,0.10,2.22,0.00,0.000,4,0.174,0.054,2389,3378,3402,0,0,0,0,0,0
$GC,1479,-0.74,-146.0,177.6,-8.1,184,1483,0.00,2.25,0.00,0.000,6,0.000,0.044,2388,1948,3402,0,0,0,0,0,0
$GC,1802,-0.74,-146.0,204.1,-6.6,211,1806,0.00,2.28,0.00,0.000,4,0.000,0.052,2379,3368,3403,0,0,0,0,0,0
$GC,1835,-0.74,-146.0,206.6,-7.0,212,1840,0.00,2.20,0.00,0.000,6,0.000,0.044,2378,1954,3403,0,0,0,0,0,0
$GC,2154,-0.74,-146.0,226.0,-6.3,228,2158,0.00,2.22,0.00,0.000,4,0.000,0.058,2378,545,3403,0,0,0,0,0,0
$GC,2411,-0.74,-146.0,247.6,-9.2,239,2416,0.12,2.17,0.00,0.000,6,0.165,0.037,2401,1975,3403,0,0,0,0,0,0
$GC,2728,-0.74,-146.0,271.8,-6.7,254,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1975,3403,0,0,0,0,0,0
$GC,3036,-0.74,-146.0,288.1,-5.8,269,3040,0.00,2.20,0.00,0.000,4,0.000,0.058,2392,3358,3402,0,0,0,0,0,0
$GC,3064,-0.74,-146.0,289.9,-6.4,270,3069,0.00,2.20,0.00,0.000,6,0.000,0.044,2392,1952,3402,0,0,0,0,0,0
$GC,3408,-0.74,-146.0,312.7,-7.3,283,3412,0.00,2.22,0.00,0.000,4,0.000,0.059,2393,548,3402,0,0,0,0,0,0
$GC,3522,-0.74,-146.0,322.0,-8.1,285,3526,0.00,2.17,0.00,0.000,6,0.000,0.038,2382,1960,3401,0,0,0,0,0,0
$GC,3859,-0.74,-146.0,343.7,-5.4,294,3863,0.00,2.28,0.00,0.000,4,0.000,0.057,2383,545,3400,0,0,0,0,0,0
$GC,4073,-0.74,-146.0,357.3,-6.6,298,4079,0.00,2.20,0.00,0.000,6,0.000,0.038,2373,1965,3398,0,0,0,0,0,0
$GC,4406,-0.74,-146.0,379.0,-6.6,307,4411,0.10,2.28,0.00,0.000,4,0.169,0.063,2390,3364,3397,0,0,0,0,0,0
$GC,4563,-0.74,-146.0,388.0,-5.5,310,4567,0.00,2.25,0.00,0.000,6,0.000,0.047,2390,1955,3396,0,0,0,0,0,0
$GC,4900,-0.74,-146.0,408.0,-6.3,319,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1955,3394,0,0,0,0,0,0
$GC,5227,-0.74,-146.0,428.6,-5.9,327,5231,0.00,2.28,0.00,0.000,4,0.000,0.062,2389,548,3392,0,0,0,0,0,0
$STATE,5403,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5403,begin apogee
$GC,5412,-0.17,0.0,438.8,5.7,331,5538,0.62,0.00,122.05,0.747,6,0.120,0.000,2582,1982,2800,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5542,0.74,146.0,439.2,0.0,334,5680,0.85,2.33,127.18,0.723,4,0.082,0.061,2873,3379,2202,0,0,0,0,0,0
$GC,5714,0.74,146.0,420.5,13.2,338,5718,0.00,2.33,0.00,0.000,6,0.000,0.048,2882,1979,2200,0,0,0,0,0,0
$GC,6032,0.74,146.0,383.1,11.7,346,6036,0.00,2.30,0.00,0.000,4,0.000,0.057,2882,3390,2197,0,0,0,0,0,0
$GC,6098,0.74,146.0,374.8,12.7,347,6102,0.00,2.28,0.00,0.000,6,0.000,0.049,2892,1975,2195,0,0,0,0,0,0
$GC,6441,0.74,146.0,333.9,12.1,356,6445,0.00,2.30,0.00,0.000,4,0.000,0.059,2892,3392,2194,0,0,0,0,0,0
$GC,6474,0.74,146.0,329.4,13.0,356,6479,0.00,2.28,0.00,0.000,6,0.000,0.050,2901,1978,2193,0,0,0,0,0,0
$GC,6786,0.74,146.0,291.0,12.1,365,6790,0.00,2.30,0.00,0.000,4,0.000,0.067,2911,569,2192,0,0,0,0,0,0
$GC,6872,0.74,146.0,280.1,13.8,369,6876,0.12,2.22,0.00,0.000,6,0.146,0.041,2877,1988,2192,0,0,0,0,0,0
$GC,7198,0.74,146.0,243.6,11.2,385,7202,0.00,2.25,0.00,0.000,4,0.000,0.063,2878,3385,2191,0,0,0,0,0,0
$GC,7332,0.74,146.0,229.4,10.6,391,7336,0.00,2.22,0.00,0.000,6,0.000,0.048,2885,1977,2190,0,0,0,0,0,0
$GC,7653,0.74,146.0,198.8,11.0,407,7657,0.00,2.25,0.00,0.000,4,0.000,0.061,2895,567,2189,0,0,0,0,0,0
$GC,7674,0.74,146.0,196.0,12.1,408,7682,0.00,2.25,0.00,0.000,6,0.000,0.043,2895,1980,2189,0,0,0,0,0,0
$GC,8001,0.74,146.0,161.4,9.4,439,8005,0.00,2.20,0.00,0.000,4,0.000,0.054,2895,3393,2189,0,0,0,0,0,0
$GC,8075,0.74,146.0,154.1,9.8,445,8079,0.00,2.25,0.00,0.000,6,0.000,0.049,2904,1981,2189,0,0,0,0,0,0
$GC,8403,0.76,162.5,127.4,8.3,475,8426,0.00,2.33,13.10,0.521,4,0.000,0.058,2904,3391,2136,0,0,0,0,0,0
$GC,8462,0.76,162.5,122.2,9.2,480,8466,0.00,2.25,0.00,0.000,6,0.000,0.049,2913,1980,2135,0,0,0,0,0,0
$GC,8789,0.77,169.6,97.0,8.7,510,8799,0.00,0.00,7.35,0.456,6,0.000,0.000,2913,1980,2108,0,0,0,0,0,0
$GC,9117,0.77,176.8,70.6,8.7,552,9130,0.00,2.33,8.05,0.437,4,0.000,0.058,2913,3395,2078,0,0,0,0,0,0
$GC,9153,0.78,177.6,67.5,9.0,558,9161,0.08,2.28,0.00,0.000,6,0.116,0.048,2894,1981,2077,0,0,0,0,0,0
$GC,9488,0.83,223.5,44.2,7.1,619,9534,0.00,0.00,41.00,0.473,6,0.000,0.000,2893,1981,1887,0,0,0,0,0,0
$GC,9857,0.93,299.2,18.1,5.9,687,9929,0.12,2.33,64.38,0.448,4,0.073,0.055,2982,3383,1579,0,0,0,0,0,0
$STATE,9985,end climb,SURFACE_DEPTH_REACHED
$STATE,9985,begin surface coast
$FINISH,1.6,1.023117
$STATE,9991,end surface coast,CONTROL_FINISHED_OK
$STATE,9991,begin surface
$SM_CCo,10073,0.00,0.000,0,0,1575,300.49
$SM_GC,1.46,7.62,0.00,0.00,0.028,0.000,0.000,57,1948,1575,-7.98,-0.25,300.49
$IRIDIUM_FIX,2057.14,-15739.33,180902,202057
$TT8_MAMPS,0.027612
$HUMID,64.88
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.4,47.440
$10V_AH,10.3,51.749
$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,19.300,90.200,383.100,0.000,0.000,25.226,35.162,159.815,18.500,0.000,33.967,1286.037,5882.150,382.395,2395.905,490.605,0.000,1256.015,0.000,2326.847,0.000,112.615,0.000
$DEVICE_MAMPS,222.430,67.496,747.058,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,480.502,412.189,1371.030,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38157,709
$CAP_FILE_SIZE,108908,0
$CFSIZE,260165632,228130816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250613,022106,2105.480,-15742.514,27,1.0,27,9.8