version: 66.06
glider: 523
mission: 4
dive: 559
start: 6 25 113 5 18 33
data:
$ID,523
$MISSION,4
$DIVE,559
$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,-47178.68
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,051204,2104.685,-15743.200,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.8
$GPS2,051817,2104.733,-15743.181,19,1.0,19,9.8
$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,212.7,17110,-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,-76.18,0.000,2,0.000,0.000,51,1977,3365,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.3,-4.7,12,115,9.52,2.30,-0.65,0.000,4,0.223,0.061,2396,541,3396,0,0,0,0,0,0
$GC,357,-0.74,-146.0,48.9,-13.5,59,363,0.00,2.20,0.00,0.000,6,0.000,0.036,2387,1964,3397,0,0,0,0,0,0
$GC,692,-0.74,-146.0,89.3,-11.9,114,699,0.00,2.28,0.00,0.000,4,0.000,0.054,2388,548,3399,0,0,0,0,0,0
$GC,868,-0.74,-146.0,109.4,-10.4,130,875,0.00,2.17,0.00,0.000,6,0.000,0.036,2378,1962,3399,0,0,0,0,0,0
$GC,1204,-0.74,-146.0,141.7,-10.3,161,1208,0.00,2.30,0.00,0.000,4,0.000,0.052,2378,539,3400,0,0,0,0,0,0
$GC,1284,-0.74,-146.0,151.5,-12.1,168,1293,0.08,2.17,0.00,0.000,6,0.146,0.035,2393,1949,3400,0,0,0,0,0,0
$GC,1613,-0.74,-146.0,180.5,-6.8,199,1617,0.00,2.25,0.00,0.000,4,0.000,0.053,2393,542,3401,0,0,0,0,0,0
$GC,1830,-0.74,-146.0,197.4,-7.6,218,1838,0.00,2.20,0.00,0.000,6,0.000,0.035,2385,1962,3401,0,0,0,0,0,0
$GC,2160,-0.74,-146.0,225.6,-8.9,236,2164,0.00,2.28,0.00,0.000,4,0.000,0.053,2385,547,3401,0,0,0,0,0,0
$GC,2245,-0.74,-146.0,233.6,-8.8,239,2250,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1969,3401,0,0,0,0,0,0
$GC,2563,-0.74,-146.0,256.6,-7.6,255,2567,0.00,2.25,0.00,0.000,4,0.000,0.057,2365,3366,3401,0,0,0,0,0,0
$GC,2580,-0.74,-146.0,258.1,-7.6,256,2585,0.12,2.25,0.00,0.000,6,0.145,0.044,2398,1947,3401,0,0,0,0,0,0
$GC,2912,-0.74,-146.0,281.7,-7.3,272,2916,0.00,2.25,0.00,0.000,4,0.000,0.057,2398,547,3401,0,0,0,0,0,0
$GC,3172,-0.74,-146.0,300.1,-6.2,283,3176,0.00,2.15,0.00,0.000,6,0.000,0.036,2390,1963,3401,0,0,0,0,0,0
$GC,3504,-0.74,-146.0,320.1,-6.8,291,3508,0.00,2.30,0.00,0.000,4,0.000,0.057,2390,545,3400,0,0,0,0,0,0
$GC,3672,-0.74,-146.0,332.9,-7.3,294,3677,0.00,2.17,0.00,0.000,6,0.000,0.038,2380,1954,3398,0,0,0,0,0,0
$GC,4003,-0.74,-146.0,353.2,-5.9,303,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1954,3396,0,0,0,0,0,0
$GC,4330,-0.74,-146.0,372.3,-6.0,311,4334,0.00,2.30,0.00,0.000,4,0.000,0.058,2381,545,3395,0,0,0,0,0,0
$GC,4419,-0.74,-146.0,378.0,-5.8,313,4424,0.12,2.20,0.00,0.000,6,0.156,0.039,2405,1959,3395,0,0,0,0,0,0
$GC,4743,-0.74,-146.0,395.0,-5.7,321,4747,0.00,2.30,0.00,0.000,4,0.000,0.058,2405,547,3392,0,0,0,0,0,0
$GC,4928,-0.74,-146.0,407.9,-7.3,325,4932,0.00,2.20,0.00,0.000,6,0.000,0.041,2397,1963,3391,0,0,0,0,0,0
$GC,5242,-0.74,-146.0,427.3,-6.2,333,5246,0.00,2.28,0.00,0.000,4,0.000,0.061,2387,3361,3389,0,0,0,0,0,0
$GC,5297,-0.74,-146.0,430.4,-5.5,334,5302,0.00,2.25,0.00,0.000,6,0.000,0.048,2387,1953,3389,0,0,0,0,0,0
$STATE,5441,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5441,begin apogee
$GC,5448,-0.17,0.0,438.1,5.2,338,5573,0.62,0.00,122.00,0.754,6,0.116,0.000,2587,1954,2800,0,0,0,0,0,0
$STATE,5574,end apogee,CONTROL_FINISHED_OK
$STATE,5574,begin climb
$GC,5577,0.74,146.0,436.7,0.0,341,5715,0.82,2.42,127.38,0.726,4,0.075,0.054,2874,3386,2202,0,0,0,0,0,0
$GC,5836,0.74,146.0,404.4,12.9,347,5840,0.00,2.30,0.00,0.000,6,0.000,0.045,2884,1976,2197,0,0,0,0,0,0
$GC,6166,0.74,146.0,364.1,12.7,355,6170,0.00,2.30,0.00,0.000,4,0.000,0.058,2883,3382,2195,0,0,0,0,0,0
$GC,6228,0.74,146.0,354.9,14.8,356,6232,0.00,2.25,0.00,0.000,6,0.000,0.045,2893,1978,2194,0,0,0,0,0,0
$GC,6570,0.74,146.0,313.0,11.8,365,6574,0.00,2.28,0.00,0.000,4,0.000,0.058,2893,3382,2193,0,0,0,0,0,0
$GC,6687,0.74,146.0,297.6,14.0,367,6691,0.00,2.25,0.00,0.000,6,0.000,0.049,2900,1980,2192,0,0,0,0,0,0
$GC,7003,0.74,146.0,261.5,10.8,382,7007,0.00,2.28,0.00,0.000,4,0.000,0.059,2900,3382,2191,0,0,0,0,0,0
$GC,7065,0.74,146.0,254.4,12.0,385,7070,0.12,2.25,0.00,0.000,6,0.149,0.051,2876,1982,2191,0,0,0,0,0,0
$GC,7394,0.74,146.0,225.9,9.0,401,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1982,2190,0,0,0,0,0,0
$GC,7704,0.74,146.0,195.1,9.7,418,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1982,2190,0,0,0,0,0,0
$GC,8024,0.74,146.0,164.5,9.5,448,8029,0.00,2.25,0.00,0.000,4,0.000,0.058,2875,3385,2189,0,0,0,0,0,0
$GC,8109,0.74,146.0,155.5,11.5,455,8113,0.00,2.28,0.00,0.000,6,0.000,0.051,2882,1971,2188,0,0,0,0,0,0
$GC,8436,0.76,165.0,125.3,8.2,485,8460,0.00,2.33,15.18,0.535,4,0.000,0.059,2882,3386,2125,0,0,0,0,0,0
$GC,8571,0.76,165.0,112.0,10.1,497,8576,0.00,2.28,0.00,0.000,6,0.000,0.051,2891,1975,2123,0,0,0,0,0,0
$GC,8899,0.82,217.3,83.9,6.9,527,8949,0.00,2.25,45.70,0.517,4,0.000,0.055,2895,564,1912,0,0,0,0,0,0
$GC,9004,0.84,233.4,75.8,8.4,539,9028,0.00,2.20,14.80,0.477,6,0.000,0.035,2895,1985,1849,0,0,0,0,0,0
$GC,9360,0.95,320.9,45.4,5.4,603,9442,0.15,2.25,75.60,0.479,4,0.062,0.051,2990,3385,1489,0,0,0,0,0,0
$GC,9585,0.95,320.9,14.2,16.6,643,9593,0.15,2.30,0.00,0.000,6,0.117,0.048,2950,1981,1487,0,0,0,0,0,0
$STATE,9680,end climb,SURFACE_DEPTH_REACHED
$STATE,9681,begin surface coast
$FINISH,0.5,1.010666
$STATE,9705,end surface coast,CONTROL_FINISHED_OK
$STATE,9705,begin surface
$SM_CCo,9784,0.00,0.000,0,0,1483,322.81
$SM_GC,1.51,7.53,0.00,0.00,0.029,0.000,0.000,44,1978,1483,-7.99,0.68,322.81
$IRIDIUM_FIX,2104.07,-15747.88,190902,020203
$TT8_MAMPS,0.028379
$HUMID,68.15
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.4,47.615
$10V_AH,10.2,51.948
$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,19.250,85.675,400.650,0.000,0.000,27.458,40.923,162.516,18.250,0.000,19.730,1211.244,5752.443,407.023,2270.946,507.687,0.000,1244.029,0.000,2221.067,0.000,112.608,0.000
$DEVICE_MAMPS,223.197,61.360,753.961,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,451.442,387.394,1291.955,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38065,665
$CAP_FILE_SIZE,105517,0
$CFSIZE,260165632,228028416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250613,080230,2104.212,-15742.935,17,1.2,17,9.8