version: 66.06
glider: 523
mission: 4
dive: 599
start: 6 30 113 1 20 15
data:
$ID,523
$MISSION,4
$DIVE,599
$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,-48008.871
$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,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
$GPS1,011021,2105.519,-15741.777,26,0.9,26,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.6
$GPS2,011959,2105.499,-15741.801,18,1.3,18,9.8
$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,215.0,19784,-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,-78.90,0.000,6,0.000,0.000,32,1973,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.5,13,118,9.57,2.33,0.00,0.000,4,0.220,0.050,2390,535,3397,0,0,0,0,0,0
$GC,356,-0.74,-146.0,47.4,-13.1,60,363,0.00,2.25,0.00,0.000,6,0.000,0.041,2382,1953,3398,0,0,0,0,0,0
$GC,694,-0.74,-146.0,85.9,-12.4,117,698,0.00,2.30,0.00,0.000,4,0.000,0.057,2381,541,3399,0,0,0,0,0,0
$GC,943,-0.74,-146.0,116.0,-10.7,139,950,0.00,2.22,0.00,0.000,6,0.000,0.041,2373,1958,3399,0,0,0,0,0,0
$GC,1270,-0.74,-146.0,148.9,-10.2,170,1275,0.10,2.30,0.00,0.000,4,0.170,0.058,2398,544,3401,0,0,0,0,0,0
$GC,1431,-0.74,-146.0,163.9,-9.0,184,1435,0.00,2.20,0.00,0.000,6,0.000,0.040,2390,1958,3401,0,0,0,0,0,0
$GC,1758,-0.74,-146.0,192.3,-9.5,214,1762,0.00,2.30,0.00,0.000,4,0.000,0.057,2390,537,3401,0,0,0,0,0,0
$GC,1977,-0.74,-146.0,211.2,-8.1,227,1981,0.00,2.20,0.00,0.000,6,0.000,0.040,2380,1962,3401,0,0,0,0,0,0
$GC,2309,-0.74,-146.0,238.6,-6.6,243,2313,0.00,2.28,0.00,0.000,4,0.000,0.061,2370,3365,3401,0,0,0,0,0,0
$GC,2405,-0.74,-146.0,245.3,-6.6,247,2410,0.12,2.25,0.00,0.000,6,0.146,0.047,2403,1953,3401,0,0,0,0,0,0
$GC,2723,-0.74,-146.0,267.2,-6.9,262,2727,0.00,2.28,0.00,0.000,4,0.000,0.061,2403,544,3401,0,0,0,0,0,0
$GC,2880,-0.74,-146.0,279.5,-7.7,269,2884,0.00,2.17,0.00,0.000,6,0.000,0.038,2396,1968,3401,0,0,0,0,0,0
$GC,3210,-0.74,-146.0,301.2,-6.7,285,3214,0.00,2.33,0.00,0.000,4,0.000,0.061,2396,536,3400,0,0,0,0,0,0
$GC,3378,-0.74,-146.0,314.7,-7.5,288,3384,0.00,2.20,0.00,0.000,6,0.000,0.039,2385,1958,3399,0,0,0,0,0,0
$GC,3711,-0.74,-146.0,335.4,-6.3,297,3715,0.00,2.33,0.00,0.000,4,0.000,0.061,2387,546,3398,0,0,0,0,0,0
$GC,3789,-0.74,-146.0,340.8,-7.2,298,3794,0.00,2.20,0.00,0.000,6,0.000,0.040,2377,1957,3398,0,0,0,0,0,0
$GC,4121,-0.74,-146.0,364.4,-7.0,307,4125,0.00,2.30,0.00,0.000,4,0.000,0.063,2366,3370,3396,0,0,0,0,0,0
$GC,4246,-0.74,-146.0,371.6,-5.7,309,4253,0.12,2.28,0.00,0.000,6,0.143,0.049,2399,1957,3395,0,0,0,0,0,0
$GC,4579,-0.74,-146.0,384.7,-4.0,318,4583,0.00,2.35,0.00,0.000,4,0.000,0.067,2399,534,3393,0,0,0,0,0,0
$GC,4837,-0.74,-146.0,400.5,-7.3,323,4842,0.00,2.22,0.00,0.000,6,0.000,0.040,2392,1965,3392,0,0,0,0,0,0
$GC,5170,-0.74,-146.0,418.3,-5.1,332,5175,0.00,2.33,0.00,0.000,4,0.000,0.063,2391,544,3390,0,0,0,0,0,0
$GC,5256,-0.74,-146.0,423.3,-5.6,334,5260,0.00,2.22,0.00,0.000,6,0.000,0.042,2381,1965,3389,0,0,0,0,0,0
$STATE,5420,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5420,begin apogee
$GC,5427,-0.17,0.0,432.4,5.5,338,5552,0.62,0.00,122.28,0.738,6,0.113,0.000,2584,1965,2800,0,0,0,0,0,0
$STATE,5553,end apogee,CONTROL_FINISHED_OK
$STATE,5553,begin climb
$GC,5556,0.74,146.0,433.4,0.0,341,5691,0.80,2.42,128.15,0.715,4,0.073,0.060,2867,3403,2203,0,0,0,0,0,0
$GC,5724,0.74,146.0,417.2,12.6,345,5728,0.00,2.35,0.00,0.000,6,0.000,0.044,2878,1979,2200,0,0,0,0,0,0
$GC,6043,0.74,146.0,377.7,12.2,353,6047,0.00,2.30,0.00,0.000,4,0.000,0.057,2878,3393,2196,0,0,0,0,0,0
$GC,6116,0.74,146.0,367.7,14.3,354,6121,0.00,2.28,0.00,0.000,6,0.000,0.047,2886,1978,2195,0,0,0,0,0,0
$GC,6448,0.74,146.0,328.7,11.3,362,6452,0.00,2.30,0.00,0.000,4,0.000,0.059,2886,3395,2194,0,0,0,0,0,0
$GC,6554,0.74,146.0,316.5,12.1,364,6558,0.00,2.28,0.00,0.000,6,0.000,0.050,2895,1974,2193,0,0,0,0,0,0
$GC,6870,0.74,146.0,282.3,10.6,376,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1975,2192,0,0,0,0,0,0
$GC,7179,0.74,146.0,242.8,13.0,391,7183,0.00,2.30,0.00,0.000,4,0.000,0.061,2895,3386,2192,0,0,0,0,0,0
$GC,7326,0.74,146.0,225.6,12.0,397,7332,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,1976,2191,0,0,0,0,0,0
$GC,7647,0.76,162.7,192.4,8.3,416,7671,0.00,2.33,13.75,0.569,4,0.000,0.054,2905,3397,2135,0,0,0,0,0,0
$GC,7784,0.76,162.7,179.7,9.2,428,7792,0.08,2.28,0.00,0.000,6,0.122,0.042,2888,1979,2132,0,0,0,0,0,0
$GC,8111,0.78,183.4,152.4,8.2,459,8135,0.00,2.28,18.80,0.552,4,0.000,0.054,2888,3392,2051,0,0,0,0,0,0
$GC,8206,0.78,183.4,142.7,11.0,467,8213,0.00,2.28,0.00,0.000,6,0.000,0.042,2895,1974,2049,0,0,0,0,0,0
$GC,8533,0.80,194.5,109.7,8.6,498,8549,0.00,2.25,10.90,0.488,4,0.000,0.052,2896,3392,2006,0,0,0,0,0,0
$GC,8625,0.81,205.0,101.9,8.6,506,8644,0.00,2.25,10.82,0.480,6,0.000,0.041,2905,1982,1963,0,0,0,0,0,0
$GC,8961,0.85,241.9,78.3,7.5,540,9003,0.00,2.30,33.03,0.492,4,0.000,0.052,2905,3388,1812,0,0,0,0,0,0
$GC,9051,0.85,241.9,71.1,9.1,555,9057,0.00,2.25,0.00,0.000,6,0.000,0.043,2913,1976,1812,0,0,0,0,0,0
$GC,9383,0.90,281.8,40.9,7.4,616,9425,0.00,2.30,35.33,0.462,4,0.000,0.057,2913,3395,1650,0,0,0,0,0,0
$GC,9464,0.90,281.8,33.9,9.4,630,9471,0.00,2.33,0.00,0.000,6,0.000,0.054,2920,1991,1649,0,0,0,0,0,0
$GC,9793,0.90,281.8,4.7,9.2,691,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1991,1649,0,0,0,0,0,0
$STATE,9812,end climb,SURFACE_DEPTH_REACHED
$STATE,9812,begin surface coast
$FINISH,0.6,1.022676
$STATE,9844,end surface coast,CONTROL_FINISHED_OK
$STATE,9844,begin surface
$SM_CCo,9863,10.52,0.395,0,0,1575,300.24
$SM_GC,1.22,0.00,0.00,10.52,0.000,0.000,0.395,39,1934,1575,-8.13,-0.68,300.24
$IRIDIUM_FIX,2059.45,-15750.89,240902,010123
$TT8_MAMPS,0.028379
$HUMID,66.38
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,4
$24V_AH,24.4,51.203
$10V_AH,10.2,56.068
$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,18.750,91.175,373.050,10.525,0.000,63.999,76.678,227.956,18.750,0.000,18.831,1281.776,5663.806,433.021,2420.840,647.228,0.000,1296.059,0.000,2366.242,0.000,113.551,0.000
$DEVICE_MAMPS,220.129,131.924,737.854,395.005,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,474.777,402.993,1394.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,37994,700
$CAP_FILE_SIZE,112066,0
$CFSIZE,260165632,225910784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300613,040604,2104.588,-15741.811,36,0.9,36,9.8