version: 66.06
glider: 523
mission: 4
dive: 600
start: 6 30 113 4 12 11
data:
$ID,523
$MISSION,4
$DIVE,600
$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,-48025.375
$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,24
$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
$GPS1,040604,2104.588,-15741.811,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.7
$GPS2,041154,2104.574,-15741.873,15,1.5,15,9.8
$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,218.5,18513,-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,-77.45,0.000,6,0.000,0.000,38,1934,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.7,13,118,9.52,2.28,0.00,0.000,4,0.220,0.047,2380,3379,3397,0,0,0,0,0,0
$GC,346,-0.74,-146.0,46.1,-13.1,57,352,0.00,2.28,0.00,0.000,6,0.000,0.044,2380,1943,3399,0,0,0,0,0,0
$GC,677,-0.74,-146.0,87.2,-12.6,113,681,0.00,2.22,0.00,0.000,4,0.000,0.059,2380,538,3400,0,0,0,0,0,0
$GC,924,-0.74,-146.0,116.0,-10.7,135,931,0.08,2.20,0.00,0.000,6,0.153,0.038,2394,1953,3400,0,0,0,0,0,0
$GC,1252,-0.74,-146.0,144.6,-8.5,166,1257,0.00,2.28,0.00,0.000,4,0.000,0.056,2394,542,3402,0,0,0,0,0,0
$GC,1508,-0.74,-146.0,168.2,-9.0,189,1512,0.00,2.17,0.00,0.000,6,0.000,0.036,2386,1970,3402,0,0,0,0,0,0
$GC,1836,-0.74,-146.0,197.2,-9.0,219,1840,0.00,2.30,0.00,0.000,4,0.000,0.055,2386,548,3403,0,0,0,0,0,0
$GC,2094,-0.74,-146.0,220.6,-8.8,231,2099,0.00,2.17,0.00,0.000,6,0.000,0.037,2377,1960,3403,0,0,0,0,0,0
$GC,2413,-0.74,-146.0,245.5,-8.2,247,2417,0.00,2.30,0.00,0.000,4,0.000,0.054,2377,537,3403,0,0,0,0,0,0
$GC,2621,-0.74,-146.0,261.6,-7.2,256,2626,0.12,2.20,0.00,0.000,6,0.158,0.038,2401,1962,3403,0,0,0,0,0,0
$GC,2942,-0.74,-146.0,283.0,-7.2,272,2946,0.00,2.30,0.00,0.000,4,0.000,0.054,2401,544,3403,0,0,0,0,0,0
$GC,3199,-0.74,-146.0,301.2,-6.3,283,3203,0.00,2.20,0.00,0.000,6,0.000,0.038,2393,1963,3402,0,0,0,0,0,0
$GC,3532,-0.74,-146.0,320.8,-6.4,291,3536,0.00,2.30,0.00,0.000,4,0.000,0.057,2393,542,3402,0,0,0,0,0,0
$GC,3790,-0.74,-146.0,338.9,-5.1,296,3795,0.00,2.20,0.00,0.000,6,0.000,0.039,2383,1958,3401,0,0,0,0,0,0
$GC,4122,-0.74,-146.0,354.6,-4.4,305,4126,0.00,2.30,0.00,0.000,4,0.000,0.058,2383,540,3399,0,0,0,0,0,0
$GC,4380,-0.74,-146.0,371.0,-7.6,310,4384,0.00,2.20,0.00,0.000,6,0.000,0.040,2374,1959,3397,0,0,0,0,0,0
$GC,4718,-0.74,-146.0,400.0,-8.9,319,4722,0.00,2.33,0.00,0.000,4,0.000,0.058,2374,539,3396,0,0,0,0,0,0
$GC,4976,-0.74,-146.0,421.3,-8.3,324,4982,0.15,2.22,0.00,0.000,6,0.150,0.041,2405,1961,3395,0,0,0,0,0,0
$GC,5308,-0.74,-146.0,441.5,-5.7,333,5311,0.00,2.30,0.00,0.000,4,0.000,0.058,2406,545,3393,0,0,0,0,0,0
$STATE,5406,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5406,begin apogee
$GC,5415,-0.17,0.0,447.7,5.7,335,5541,0.55,0.00,122.55,0.748,6,0.112,0.000,2580,1985,2799,0,0,0,0,0,0
$STATE,5542,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5545,0.74,146.0,448.4,0.0,338,5683,0.82,2.35,127.50,0.724,4,0.071,0.061,2872,3386,2203,0,0,0,0,0,0
$GC,5790,0.74,146.0,421.2,13.1,343,5794,0.00,2.30,0.00,0.000,6,0.000,0.046,2882,1981,2198,0,0,0,0,0,0
$GC,6122,0.74,146.0,380.5,12.3,351,6126,0.00,2.33,0.00,0.000,4,0.000,0.067,2892,567,2195,0,0,0,0,0,0
$GC,6161,0.74,146.0,375.3,13.8,352,6165,0.00,2.22,0.00,0.000,6,0.000,0.040,2892,1984,2195,0,0,0,0,0,0
$GC,6485,0.74,146.0,335.3,12.1,360,6489,0.00,2.28,0.00,0.000,4,0.000,0.061,2892,3392,2194,0,0,0,0,0,0
$GC,6591,0.74,146.0,321.4,12.9,362,6595,0.00,2.28,0.00,0.000,6,0.000,0.048,2902,1976,2193,0,0,0,0,0,0
$GC,6914,0.74,146.0,284.2,10.6,373,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1977,2192,0,0,0,0,0,0
$GC,7224,0.74,146.0,249.4,11.9,388,7228,0.00,2.30,0.00,0.000,4,0.000,0.069,2913,573,2191,0,0,0,0,0,0
$GC,7241,0.74,146.0,247.4,11.8,389,7246,0.12,2.22,0.00,0.000,6,0.137,0.044,2878,1981,2191,0,0,0,0,0,0
$GC,7567,0.74,146.0,216.8,9.4,405,7571,0.00,2.28,0.00,0.000,4,0.000,0.061,2877,3393,2190,0,0,0,0,0,0
$GC,7755,0.74,146.0,198.6,9.1,414,7759,0.00,2.28,0.00,0.000,6,0.000,0.050,2885,1978,2190,0,0,0,0,0,0
$GC,8082,0.80,193.4,173.8,7.1,444,8124,0.00,0.00,39.60,0.583,6,0.000,0.000,2885,1979,2011,0,0,0,0,0,0
$GC,8442,0.81,204.3,145.4,8.6,478,8458,0.00,2.33,10.60,0.509,4,0.000,0.061,2885,3383,1965,0,0,0,0,0,0
$GC,8553,0.81,204.3,135.6,9.6,488,8557,0.00,2.28,0.00,0.000,6,0.000,0.051,2892,1981,1964,0,0,0,0,0,0
$GC,8881,0.85,239.3,106.8,7.6,518,8919,0.00,2.35,31.35,0.518,4,0.000,0.061,2892,3384,1822,0,0,0,0,0,0
$GC,8950,0.89,269.1,101.6,7.8,524,8986,0.00,2.30,27.00,0.502,6,0.000,0.051,2898,1972,1703,0,0,0,0,0,0
$GC,9307,0.91,289.6,74.8,8.2,563,9332,0.10,2.30,19.50,0.475,4,0.085,0.058,2976,3385,1617,0,0,0,0,0,0
$GC,9402,0.91,289.6,62.6,16.0,579,9409,0.17,2.28,0.00,0.000,6,0.129,0.051,2935,1982,1615,0,0,0,0,0,0
$GC,9734,0.91,289.6,27.1,10.6,640,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1982,1616,0,0,0,0,0,0
$GC,9904,0.91,289.6,9.8,10.2,671,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1982,1615,0,0,0,0,0,0
$STATE,9973,end climb,SURFACE_DEPTH_REACHED
$STATE,9973,begin surface coast
$FINISH,0.6,1.010145
$STATE,10006,end surface coast,CONTROL_FINISHED_OK
$STATE,10006,begin surface
$SM_CCo,10024,5.95,0.353,0,0,1576,300.24
$SM_GC,1.99,0.00,0.00,5.95,0.000,0.000,0.353,37,1976,1576,-8.14,0.54,300.24
$IRIDIUM_FIX,2101.76,-15715.70,240902,010107
$TT8_MAMPS,0.028379
$HUMID,66.06
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,432.1,54.1
$24V_AH,24.4,51.289
$10V_AH,10.2,56.172
$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,19.050,81.700,378.100,5.950,0.000,33.845,33.155,145.851,18.500,0.000,15.876,1296.066,5691.019,393.783,2512.527,482.137,0.000,1300.615,0.000,2459.067,0.000,118.074,0.000
$DEVICE_MAMPS,220.129,69.030,747.825,352.820,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,468.494,408.715,1386.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38078,690
$CAP_FILE_SIZE,109987,0
$CFSIZE,260165632,225861632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300613,070018,2103.395,-15742.349,17,0.9,17,9.8