version: 66.06
glider: 523
mission: 4
dive: 564
start: 6 25 113 19 48 35
data:
$ID,523
$MISSION,4
$DIVE,564
$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,-47272.922
$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,30
$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
$GPS1,194148,2100.287,-15745.051,15,1.3,15,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.2
$GPS2,194818,2100.293,-15745.116,15,1.0,15,9.8
$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,232.0,9309,-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,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-80.22,0.000,6,0.000,0.000,27,1971,3396,0,0,0,0,0,0
$GC,105,-0.74,-146.0,3.4,-5.0,13,120,9.65,2.20,0.00,0.000,4,0.223,0.046,2384,3370,3398,0,0,0,0,0,0
$GC,359,-0.74,-146.0,48.1,-16.6,60,366,0.00,2.28,0.00,0.000,6,0.000,0.044,2384,1954,3400,0,0,0,0,0,0
$GC,693,-0.74,-146.0,92.4,-12.7,112,697,0.00,2.25,0.00,0.000,4,0.000,0.057,2384,539,3401,0,0,0,0,0,0
$GC,950,-0.74,-146.0,125.1,-9.9,135,954,0.00,2.15,0.00,0.000,6,0.000,0.034,2375,1960,3401,0,0,0,0,0,0
$GC,1283,-0.74,-146.0,156.5,-9.5,166,1287,0.00,2.28,0.00,0.000,4,0.000,0.053,2375,541,3402,0,0,0,0,0,0
$GC,1534,-0.74,-146.0,179.2,-6.9,188,1542,0.10,2.17,0.00,0.000,6,0.139,0.034,2397,1958,3403,0,0,0,0,0,0
$GC,1861,-0.74,-146.0,197.6,-6.5,219,1865,0.00,2.28,0.00,0.000,4,0.000,0.053,2398,547,3403,0,0,0,0,0,0
$GC,2117,-0.74,-146.0,219.5,-9.6,231,2122,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1956,3403,0,0,0,0,0,0
$GC,2436,-0.74,-146.0,247.1,-7.5,247,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1956,3403,0,0,0,0,0,0
$GC,2743,-0.74,-146.0,265.1,-4.5,262,2747,0.00,2.33,0.00,0.000,4,0.000,0.054,2390,538,3403,0,0,0,0,0,0
$GC,2833,-0.74,-146.0,269.3,-4.6,266,2837,0.00,2.17,0.00,0.000,6,0.000,0.036,2380,1954,3403,0,0,0,0,0,0
$GC,3156,-0.74,-146.0,283.7,-5.8,282,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1955,3403,0,0,0,0,0,0
$GC,3484,-0.74,-146.0,310.3,-8.1,295,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1955,3402,0,0,0,0,0,0
$GC,3807,-0.74,-146.0,332.2,-6.1,303,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1955,3400,0,0,0,0,0,0
$GC,4132,-0.74,-146.0,351.2,-6.5,311,4137,0.00,2.33,0.00,0.000,4,0.000,0.057,2380,547,3398,0,0,0,0,0,0
$GC,4374,-0.74,-146.0,371.6,-7.8,316,4379,0.12,2.17,0.00,0.000,6,0.163,0.038,2403,1957,3396,0,0,0,0,0,0
$GC,4721,-0.74,-146.0,395.1,-6.9,325,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1957,3394,0,0,0,0,0,0
$GC,5041,-0.74,-146.0,415.6,-6.0,333,5045,0.00,2.35,0.00,0.000,4,0.000,0.060,2404,547,3393,0,0,0,0,0,0
$GC,5131,-0.74,-146.0,421.5,-7.7,335,5136,0.00,2.20,0.00,0.000,6,0.000,0.040,2396,1964,3392,0,0,0,0,0,0
$STATE,5412,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5412,begin apogee
$GC,5419,-0.17,0.0,438.8,5.8,342,5544,0.57,0.00,122.28,0.754,6,0.114,0.000,2581,1964,2800,0,0,0,0,0,0
$STATE,5545,end apogee,CONTROL_FINISHED_OK
$STATE,5545,begin climb
$GC,5548,0.74,146.0,439.2,0.0,345,5686,0.82,2.40,127.22,0.727,4,0.077,0.058,2869,3399,2203,0,0,0,0,0,0
$GC,5703,0.74,146.0,423.5,11.6,348,5707,0.00,2.35,0.00,0.000,6,0.000,0.041,2879,1970,2201,0,0,0,0,0,0
$GC,6035,0.74,146.0,379.5,13.7,356,6039,0.00,2.28,0.00,0.000,4,0.000,0.063,2889,570,2197,0,0,0,0,0,0
$GC,6101,0.74,146.0,370.7,13.2,357,6105,0.00,2.22,0.00,0.000,6,0.000,0.039,2889,1983,2196,0,0,0,0,0,0
$GC,6437,0.74,146.0,326.5,12.2,366,6441,0.00,2.33,0.00,0.000,4,0.000,0.061,2898,570,2194,0,0,0,0,0,0
$GC,6465,0.74,146.0,323.0,11.7,366,6469,0.00,2.22,0.00,0.000,6,0.000,0.041,2898,1991,2194,0,0,0,0,0,0
$GC,6778,0.74,146.0,287.7,11.0,376,6782,0.00,2.25,0.00,0.000,4,0.000,0.059,2898,3392,2192,0,0,0,0,0,0
$GC,6840,0.74,146.0,279.8,12.6,379,6844,0.00,2.25,0.00,0.000,6,0.000,0.045,2907,1980,2191,0,0,0,0,0,0
$GC,7166,0.74,146.0,243.9,10.3,395,7170,0.00,2.30,0.00,0.000,4,0.000,0.066,2913,574,2191,0,0,0,0,0,0
$GC,7239,0.74,146.0,235.2,11.9,398,7244,0.12,2.20,0.00,0.000,6,0.138,0.040,2879,1982,2191,0,0,0,0,0,0
$GC,7555,0.74,146.0,205.3,10.1,413,7559,0.00,2.22,0.00,0.000,4,0.000,0.058,2879,3385,2190,0,0,0,0,0,0
$GC,7606,0.74,146.0,199.5,11.8,415,7610,0.00,2.25,0.00,0.000,6,0.000,0.045,2886,1973,2190,0,0,0,0,0,0
$GC,7940,0.74,147.1,167.7,9.0,446,7944,0.00,2.30,0.00,0.000,4,0.000,0.067,2897,569,2190,0,0,0,0,0,0
$GC,7983,0.74,147.1,163.7,9.2,449,7990,0.00,2.22,0.00,0.000,6,0.000,0.041,2897,1971,2189,0,0,0,0,0,0
$GC,8309,0.74,147.1,133.6,9.5,480,8313,0.00,2.28,0.00,0.000,4,0.000,0.063,2906,575,2189,0,0,0,0,0,0
$GC,8340,0.74,147.1,130.7,9.6,482,8344,0.00,2.20,0.00,0.000,6,0.000,0.041,2906,1981,2189,0,0,0,0,0,0
$GC,8667,0.80,194.0,100.9,7.1,512,8714,0.00,2.33,39.03,0.535,4,0.000,0.059,2913,579,2010,0,0,0,0,0,0
$GC,8765,0.84,232.3,93.7,7.4,520,8807,0.00,2.25,34.35,0.518,6,0.000,0.040,2913,1988,1852,0,0,0,0,0,0
$GC,9131,0.87,252.7,61.5,8.2,573,9155,0.00,0.00,18.80,0.478,6,0.000,0.000,2913,1988,1768,0,0,0,0,0,0
$GC,9485,0.89,269.1,32.8,8.4,637,9509,0.00,0.00,15.60,0.446,6,0.000,0.000,2913,1988,1701,0,0,0,0,0,0
$GC,9826,0.94,310.0,4.2,7.3,701,9840,0.00,0.00,12.62,0.415,2,0.000,0.000,2912,1988,1648,0,0,0,0,0,0
$STATE,9841,end climb,SURFACE_DEPTH_REACHED
$STATE,9841,begin surface coast
$FINISH,0.5,1.023225
$STATE,9879,end surface coast,CONTROL_FINISHED_OK
$STATE,9879,begin surface
$SM_CCo,9897,10.27,0.395,0,0,1575,300.24
$SM_GC,1.16,0.00,0.00,10.27,0.000,0.000,0.395,40,1913,1575,-8.13,-1.24,300.24
$IRIDIUM_FIX,2050.21,-15745.35,190902,171710
$TT8_MAMPS,0.027612
$HUMID,66.69
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,401.0,43.2
$24V_AH,24.4,48.059
$10V_AH,10.2,52.458
$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,18.700,72.225,369.900,10.275,0.000,30.910,33.439,167.531,16.750,0.000,16.084,1261.669,5805.129,389.177,2326.321,512.272,0.000,1205.606,0.000,2280.610,0.000,107.263,0.000
$DEVICE_MAMPS,223.197,102.778,753.961,395.005,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,482.466,416.055,1417.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38140,710
$CAP_FILE_SIZE,102262,0
$CFSIZE,260165632,227770368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250613,223458,2100.262,-15745.509,35,0.8,35,9.8