version: 66.06
glider: 523
mission: 4
dive: 563
start: 6 25 113 16 59 45
data:
$ID,523
$MISSION,4
$DIVE,563
$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,-47256.207
$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,20
$R_STBD_OVSHOOT,25
$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
$GPS1,164958,2100.932,-15744.699,39,0.8,39,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.5
$GPS2,165929,2100.926,-15744.705,24,0.9,24,9.8
$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,228.2,10513,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.93,0.000,2,0.000,0.000,29,1966,3380,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.4,12,113,9.65,2.20,-0.25,0.000,4,0.222,0.060,2386,3368,3393,0,0,0,0,0,0
$GC,354,-0.74,-146.0,47.6,-14.0,59,359,0.00,2.25,0.00,0.000,6,0.000,0.044,2386,1948,3395,0,0,0,0,0,0
$GC,690,-0.74,-146.0,82.4,-10.0,119,694,0.00,2.20,0.00,0.000,4,0.000,0.055,2386,548,3395,0,0,0,0,0,0
$GC,938,-0.74,-146.0,112.7,-11.7,141,945,0.00,2.17,0.00,0.000,6,0.000,0.035,2377,1962,3396,0,0,0,0,0,0
$GC,1266,-0.74,-146.0,143.2,-7.9,172,1270,0.00,2.28,0.00,0.000,4,0.000,0.051,2377,537,3396,0,0,0,0,0,0
$GC,1350,-0.74,-146.0,150.9,-8.9,179,1355,0.12,2.15,0.00,0.000,6,0.164,0.034,2399,1963,3397,0,0,0,0,0,0
$GC,1682,-0.74,-146.0,177.1,-7.5,210,1686,0.00,2.25,0.00,0.000,4,0.000,0.052,2400,544,3397,0,0,0,0,0,0
$GC,1933,-0.74,-146.0,199.1,-7.9,232,1941,0.00,2.17,0.00,0.000,6,0.000,0.034,2391,1962,3397,0,0,0,0,0,0
$GC,2262,-0.74,-146.0,223.2,-7.9,249,2266,0.00,2.25,0.00,0.000,4,0.000,0.052,2391,541,3397,0,0,0,0,0,0
$GC,2521,-0.74,-146.0,244.6,-7.6,260,2526,0.00,2.17,0.00,0.000,6,0.000,0.035,2381,1969,3397,0,0,0,0,0,0
$GC,2839,-0.74,-146.0,268.6,-9.3,276,2843,0.00,2.28,0.00,0.000,4,0.000,0.053,2381,545,3397,0,0,0,0,0,0
$GC,3098,-0.74,-146.0,288.4,-7.8,287,3102,0.00,2.17,0.00,0.000,6,0.000,0.035,2372,1964,3397,0,0,0,0,0,0
$GC,3413,-0.74,-146.0,304.6,-4.7,300,3417,0.10,2.33,0.00,0.000,4,0.167,0.055,2398,541,3397,0,0,0,0,0,0
$GC,3569,-0.74,-146.0,313.2,-5.5,303,3574,0.00,2.17,0.00,0.000,6,0.000,0.036,2391,1955,3396,0,0,0,0,0,0
$GC,3909,-0.74,-146.0,332.5,-6.6,312,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1955,3395,0,0,0,0,0,0
$GC,4233,-0.74,-146.0,350.8,-3.4,320,4237,0.00,2.28,0.00,0.000,4,0.000,0.058,2390,549,3393,0,0,0,0,0,0
$GC,4395,-0.74,-146.0,359.0,-6.6,323,4399,0.00,2.15,0.00,0.000,6,0.000,0.038,2381,1956,3393,0,0,0,0,0,0
$GC,4727,-0.74,-146.0,379.7,-6.1,331,4732,0.00,2.30,0.00,0.000,4,0.000,0.059,2381,545,3391,0,0,0,0,0,0
$GC,4985,-0.74,-146.0,393.9,-5.8,336,4990,0.12,2.20,0.00,0.000,6,0.158,0.039,2405,1963,3389,0,0,0,0,0,0
$GC,5322,-0.74,-146.0,411.9,-6.4,345,5326,0.00,2.30,0.00,0.000,4,0.000,0.061,2405,551,3387,0,0,0,0,0,0
$STATE,5403,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5403,begin apogee
$GC,5412,-0.17,0.0,418.1,7.4,346,5538,0.55,0.00,120.97,0.732,6,0.118,0.000,2577,1981,2799,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5542,0.74,146.0,420.7,0.0,350,5674,0.88,0.00,127.55,0.709,6,0.074,0.000,2877,1981,2203,0,0,0,0,0,0
$GC,5986,0.74,146.0,371.1,13.0,361,5990,0.00,2.25,0.00,0.000,4,0.000,0.057,2877,3392,2197,0,0,0,0,0,0
$GC,6071,0.74,146.0,358.1,14.6,363,6075,0.00,2.28,0.00,0.000,6,0.000,0.047,2885,1982,2195,0,0,0,0,0,0
$GC,6395,0.74,146.0,318.2,11.3,371,6399,0.00,2.30,0.00,0.000,4,0.000,0.067,2896,568,2194,0,0,0,0,0,0
$GC,6411,0.74,146.0,316.2,10.9,371,6415,0.00,2.22,0.00,0.000,6,0.000,0.040,2896,1989,2193,0,0,0,0,0,0
$GC,6735,0.74,146.0,280.7,10.9,383,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1989,2192,0,0,0,0,0,0
$GC,7044,0.74,146.0,242.3,13.0,398,7048,0.00,2.20,0.00,0.000,4,0.000,0.059,2896,3384,2191,0,0,0,0,0,0
$GC,7111,0.74,146.0,232.8,14.4,401,7115,0.00,2.22,0.00,0.000,6,0.000,0.046,2905,1980,2190,0,0,0,0,0,0
$GC,7436,0.74,146.0,194.3,9.9,419,7440,0.00,2.30,0.00,0.000,4,0.000,0.066,2915,567,2189,0,0,0,0,0,0
$GC,7466,0.74,146.0,191.2,10.1,421,7471,0.12,2.20,0.00,0.000,6,0.130,0.040,2880,1980,2189,0,0,0,0,0,0
$GC,7793,0.78,177.2,166.4,7.7,451,7829,0.00,2.28,25.50,0.576,4,0.000,0.061,2880,3379,2075,0,0,0,0,0,0
$GC,7875,0.78,177.2,158.6,10.9,458,7879,0.00,2.25,0.00,0.000,6,0.000,0.048,2886,1980,2074,0,0,0,0,0,0
$GC,8202,0.78,177.2,122.0,9.8,488,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1980,2072,0,0,0,0,0,0
$GC,8522,0.78,177.2,94.7,9.1,518,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1980,2071,0,0,0,0,0,0
$GC,8851,0.83,220.8,65.0,7.2,565,8898,0.00,2.30,37.72,0.495,4,0.000,0.057,2886,3384,1898,0,0,0,0,0,0
$GC,8948,0.84,233.2,57.7,8.5,581,8965,0.00,2.25,12.15,0.450,6,0.000,0.045,2893,1979,1848,0,0,0,0,0,0
$GC,9290,0.94,315.2,36.4,5.6,644,9369,0.15,0.00,70.12,0.464,6,0.064,0.000,2995,1979,1514,0,0,0,0,0,0
$GC,9532,0.94,315.2,6.6,10.9,687,9540,0.17,0.00,0.00,0.000,6,0.137,0.000,2945,1979,1512,0,0,0,0,0,0
$STATE,9566,end climb,SURFACE_DEPTH_REACHED
$STATE,9566,begin surface coast
$FINISH,0.5,1.023072
$STATE,9594,end surface coast,CONTROL_FINISHED_OK
$STATE,9594,begin surface
$SM_CCo,9672,0.00,0.000,0,0,1509,316.68
$SM_GC,1.35,7.47,0.00,0.00,0.026,0.000,0.000,35,1976,1509,-8.01,0.57,316.68
$IRIDIUM_FIX,2047.91,-15743.21,190902,171748
$TT8_MAMPS,0.027612
$HUMID,65.63
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,390.3,46.9
$24V_AH,24.5,47.973
$10V_AH,10.2,52.356
$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,19.350,71.600,394.025,0.000,0.000,51.610,68.017,240.728,16.250,0.000,25.316,1242.531,5606.748,418.980,2345.600,621.420,0.000,1239.639,0.000,2289.062,0.000,101.683,0.000
$DEVICE_MAMPS,222.430,66.729,732.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,472.637,398.307,1374.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,38004,698
$CAP_FILE_SIZE,105267,0
$CFSIZE,260165632,227815424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250613,194148,2100.287,-15745.051,15,1.3,15,9.8