version: 66.06
glider: 523
mission: 4
dive: 565
start: 6 25 113 22 47 34
data:
$ID,523
$MISSION,4
$DIVE,565
$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,-47288.504
$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,55
$R_STBD_OVSHOOT,27
$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
$GPS1,223458,2100.262,-15745.509,35,0.8,35,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.5
$GPS2,224718,2100.301,-15745.513,14,2.0,14,9.8
$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,229.8,8719,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.15,0.000,6,0.000,0.000,40,1914,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.3,13,118,9.60,2.33,0.00,0.000,4,0.222,0.049,2387,3372,3397,0,0,0,0,0,0
$GC,343,-0.74,-146.0,41.7,-12.7,57,348,0.00,2.17,0.00,0.000,6,0.000,0.045,2387,1992,3398,0,0,0,0,0,0
$GC,673,-0.74,-146.0,76.7,-9.2,118,680,0.00,2.35,0.00,0.000,4,0.000,0.058,2387,549,3399,0,0,0,0,0,0
$GC,929,-0.74,-146.0,106.1,-11.8,144,933,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1966,3399,0,0,0,0,0,0
$GC,1261,-0.74,-146.0,137.7,-8.7,175,1265,0.00,2.35,0.00,0.000,4,0.000,0.054,2378,534,3400,0,0,0,0,0,0
$GC,1465,-0.74,-146.0,157.1,-10.4,193,1469,0.12,2.17,0.00,0.000,6,0.163,0.035,2401,1961,3401,0,0,0,0,0,0
$GC,1792,-0.74,-146.0,182.2,-6.3,223,1796,0.00,2.28,0.00,0.000,4,0.000,0.053,2401,538,3401,0,0,0,0,0,0
$GC,2016,-0.74,-146.0,199.8,-7.2,243,2023,0.00,2.17,0.00,0.000,6,0.000,0.034,2393,1964,3401,0,0,0,0,0,0
$GC,2343,-0.74,-146.0,226.5,-9.2,259,2347,0.00,2.20,0.00,0.000,4,0.000,0.054,2382,3360,3401,0,0,0,0,0,0
$GC,2416,-0.74,-146.0,234.0,-9.5,262,2420,0.00,2.22,0.00,0.000,6,0.000,0.044,2382,1952,3401,0,0,0,0,0,0
$GC,2735,-0.74,-146.0,261.7,-8.8,277,2739,0.00,2.28,0.00,0.000,4,0.000,0.056,2382,538,3401,0,0,0,0,0,0
$GC,2936,-0.74,-146.0,276.9,-7.0,286,2941,0.00,2.17,0.00,0.000,6,0.000,0.035,2373,1962,3400,0,0,0,0,0,0
$GC,3260,-0.74,-146.0,296.6,-6.3,302,3265,0.10,2.28,0.00,0.000,4,0.171,0.054,2398,549,3400,0,0,0,0,0,0
$GC,3518,-0.74,-146.0,312.5,-6.8,309,3524,0.00,2.17,0.00,0.000,6,0.000,0.036,2390,1963,3399,0,0,0,0,0,0
$GC,3852,-0.74,-146.0,338.2,-8.0,318,3856,0.00,2.25,0.00,0.000,4,0.000,0.056,2379,3368,3398,0,0,0,0,0,0
$GC,3937,-0.74,-146.0,345.7,-7.9,320,3941,0.00,2.22,0.00,0.000,6,0.000,0.043,2379,1958,3398,0,0,0,0,0,0
$GC,4266,-0.74,-146.0,370.4,-7.4,328,4270,0.00,2.28,0.00,0.000,4,0.000,0.059,2379,547,3395,0,0,0,0,0,0
$GC,4350,-0.74,-146.0,377.4,-8.4,330,4355,0.12,2.17,0.00,0.000,6,0.165,0.037,2402,1962,3394,0,0,0,0,0,0
$GC,4680,-0.74,-146.0,400.2,-6.3,338,4684,0.00,2.30,0.00,0.000,4,0.000,0.058,2403,549,3393,0,0,0,0,0,0
$GC,4752,-0.74,-146.0,404.8,-6.1,339,4756,0.00,2.17,0.00,0.000,6,0.000,0.038,2395,1959,3392,0,0,0,0,0,0
$GC,5090,-0.74,-146.0,419.7,-4.1,348,5094,0.00,2.30,0.00,0.000,4,0.000,0.060,2395,544,3390,0,0,0,0,0,0
$GC,5210,-0.74,-146.0,425.4,-5.3,350,5214,0.00,2.20,0.00,0.000,6,0.000,0.039,2386,1956,3389,0,0,0,0,0,0
$STATE,5422,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5422,begin apogee
$GC,5429,-0.17,0.0,436.7,5.4,356,5554,0.62,0.00,121.78,0.748,6,0.117,0.000,2585,1956,2800,0,0,0,0,0,0
$STATE,5555,end apogee,CONTROL_FINISHED_OK
$STATE,5555,begin climb
$GC,5557,0.74,146.0,437.2,0.0,359,5695,0.82,2.35,127.20,0.723,4,0.077,0.056,2871,3383,2203,0,0,0,0,0,0
$GC,5746,0.74,146.0,416.0,14.4,363,5750,0.00,2.30,0.00,0.000,6,0.000,0.044,2880,1980,2200,0,0,0,0,0,0
$GC,6089,0.74,146.0,375.4,12.0,372,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1980,2196,0,0,0,0,0,0
$GC,6414,0.74,146.0,339.5,10.5,380,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1980,2194,0,0,0,0,0,0
$GC,6739,0.74,146.0,305.2,10.1,388,6743,0.00,2.28,0.00,0.000,4,0.000,0.065,2890,571,2192,0,0,0,0,0,0
$GC,6800,0.74,146.0,298.6,10.9,389,6804,0.00,2.20,0.00,0.000,6,0.000,0.039,2891,1986,2192,0,0,0,0,0,0
$GC,7132,0.74,146.0,264.3,11.6,405,7136,0.00,2.22,0.00,0.000,4,0.000,0.058,2891,3385,2191,0,0,0,0,0,0
$GC,7154,0.74,146.0,261.5,12.6,406,7158,0.00,2.25,0.00,0.000,6,0.000,0.046,2900,1969,2190,0,0,0,0,0,0
$GC,7480,0.74,146.0,221.3,9.4,422,7484,0.00,2.28,0.00,0.000,4,0.000,0.067,2910,567,2190,0,0,0,0,0,0
$GC,7496,0.75,152.7,220.0,8.8,422,7506,0.00,2.22,4.85,0.469,6,0.000,0.041,2910,1986,2177,0,0,0,0,0,0
$GC,7823,0.75,152.7,182.5,12.0,444,7827,0.00,2.25,0.00,0.000,4,0.000,0.059,2910,3395,2174,0,0,0,0,0,0
$GC,7897,0.75,152.7,174.2,10.6,450,7901,0.15,2.25,0.00,0.000,6,0.138,0.048,2876,1981,2173,0,0,0,0,0,0
$GC,8224,0.75,157.9,144.8,8.8,480,8237,0.00,2.30,5.72,0.459,4,0.000,0.064,2885,573,2155,0,0,0,0,0,0
$GC,8286,0.76,161.5,139.0,8.9,485,8296,0.00,2.22,5.12,0.436,6,0.000,0.040,2885,1980,2140,0,0,0,0,0,0
$GC,8624,0.77,171.3,111.1,8.6,517,8636,0.00,0.00,10.23,0.490,6,0.000,0.000,2885,1980,2101,0,0,0,0,0,0
$GC,8951,0.77,171.3,77.4,9.0,550,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1981,2099,0,0,0,0,0,0
$GC,9285,0.83,225.7,55.7,6.8,611,9343,0.00,2.33,47.20,0.486,4,0.000,0.058,2885,3398,1878,0,0,0,0,0,0
$GC,9381,0.87,255.9,49.0,7.8,627,9417,0.00,2.28,27.27,0.466,6,0.000,0.044,2891,1977,1754,0,0,0,0,0,0
$GC,9743,0.91,288.7,22.0,7.7,693,9777,0.12,2.28,28.80,0.442,4,0.071,0.060,2993,571,1623,0,0,0,0,0,0
$GC,9834,0.91,288.7,11.2,14.7,708,9842,0.17,2.22,0.00,0.000,6,0.106,0.037,2935,1976,1622,0,0,0,0,0,0
$STATE,9917,end climb,SURFACE_DEPTH_REACHED
$STATE,9917,begin surface coast
$FINISH,0.5,0.998257
$STATE,9958,end surface coast,CONTROL_FINISHED_OK
$STATE,9958,begin surface
$SM_CCo,9976,8.55,0.384,0,0,1575,300.24
$SM_GC,1.44,0.00,0.00,8.55,0.000,0.000,0.384,26,1978,1575,-8.17,0.59,300.24
$IRIDIUM_FIX,2050.21,-15740.20,190902,222249
$TT8_MAMPS,0.027612
$HUMID,65.31
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,395.1,49.6
$24V_AH,24.4,48.154
$10V_AH,10.2,52.566
$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,19.225,85.425,378.175,8.550,0.000,85.365,152.687,225.864,17.000,0.000,14.954,1303.481,5840.755,400.240,2411.535,765.265,0.000,1262.322,0.000,2366.736,0.000,113.433,0.000
$DEVICE_MAMPS,221.663,67.496,747.825,383.500,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,494.698,416.907,1436.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,41269,730
$CAP_FILE_SIZE,111240,0
$CFSIZE,260165632,227704832
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260613,013504,2059.563,-15746.130,25,1.7,25,9.8