version: 66.06
glider: 523
mission: 4
dive: 610
start: 7 1 113 5 39 48
data:
$ID,523
$MISSION,4
$DIVE,610
$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,-48214.812
$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,26
$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
$GPS1,053305,2057.202,-15746.607,50,0.9,50,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.2
$GPS2,053929,2057.218,-15746.619,15,1.1,15,9.8
$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,273.2,5753,-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,-77.65,0.000,6,0.000,0.000,41,1967,3397,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.9,-6.6,13,118,9.62,2.20,0.00,0.000,4,0.225,0.048,2382,3366,3398,0,0,0,0,0,0
$GC,279,-0.74,-146.0,38.0,-15.3,45,285,0.00,2.22,0.00,0.000,6,0.000,0.043,2382,1948,3399,0,0,0,0,0,0
$GC,610,-0.74,-146.0,80.3,-10.6,106,614,0.00,2.25,0.00,0.000,4,0.000,0.060,2381,539,3401,0,0,0,0,0,0
$GC,861,-0.74,-146.0,109.9,-11.8,128,872,0.00,2.20,0.00,0.000,6,0.000,0.038,2372,1952,3401,0,0,0,0,0,0
$GC,1189,-0.74,-146.0,141.6,-9.5,159,1194,0.10,2.28,0.00,0.000,4,0.171,0.057,2398,544,3402,0,0,0,0,0,0
$GC,1444,-0.74,-146.0,166.7,-9.5,182,1448,0.00,2.20,0.00,0.000,6,0.000,0.038,2390,1969,3403,0,0,0,0,0,0
$GC,1772,-0.74,-146.0,190.4,-6.8,212,1776,0.00,2.35,0.00,0.000,4,0.000,0.057,2390,538,3403,0,0,0,0,0,0
$GC,2025,-0.74,-146.0,213.7,-9.8,228,2031,0.00,2.17,0.00,0.000,6,0.000,0.038,2380,1958,3404,0,0,0,0,0,0
$GC,2344,-0.74,-146.0,237.2,-6.3,244,2348,0.00,2.30,0.00,0.000,4,0.000,0.057,2380,539,3404,0,0,0,0,0,0
$GC,2546,-0.74,-146.0,254.2,-8.7,253,2551,0.12,2.17,0.00,0.000,6,0.160,0.038,2403,1960,3403,0,0,0,0,0,0
$GC,2867,-0.74,-146.0,274.2,-5.8,269,2871,0.00,2.30,0.00,0.000,4,0.000,0.056,2404,545,3403,0,0,0,0,0,0
$GC,2981,-0.74,-146.0,281.9,-7.6,274,2985,0.00,2.15,0.00,0.000,6,0.000,0.038,2396,1955,3403,0,0,0,0,0,0
$GC,3330,-0.74,-146.0,305.1,-6.2,289,3334,0.00,2.30,0.00,0.000,4,0.000,0.057,2395,542,3403,0,0,0,0,0,0
$GC,3498,-0.74,-146.0,312.9,-3.5,292,3503,0.00,2.20,0.00,0.000,6,0.000,0.039,2386,1961,3403,0,0,0,0,0,0
$GC,3830,-0.74,-146.0,325.4,-4.6,301,3834,0.00,2.33,0.00,0.000,4,0.000,0.058,2386,548,3401,0,0,0,0,0,0
$GC,3925,-0.74,-146.0,330.7,-5.0,303,3929,0.00,2.17,0.00,0.000,6,0.000,0.039,2377,1962,3401,0,0,0,0,0,0
$GC,4239,-0.74,-146.0,344.6,-4.4,311,4243,0.00,2.30,0.00,0.000,4,0.000,0.058,2377,549,3400,0,0,0,0,0,0
$GC,4353,-0.74,-146.0,349.6,-4.9,313,4358,0.12,2.17,0.00,0.000,6,0.157,0.040,2400,1959,3398,0,0,0,0,0,0
$GC,4703,-0.74,-146.0,369.8,-6.4,322,4708,0.00,2.30,0.00,0.000,4,0.000,0.058,2401,544,3397,0,0,0,0,0,0
$GC,4835,-0.74,-146.0,378.8,-7.6,324,4840,0.00,2.20,0.00,0.000,6,0.000,0.040,2393,1959,3396,0,0,0,0,0,0
$GC,5168,-0.74,-146.0,398.9,-5.9,333,5172,0.00,2.30,0.00,0.000,4,0.000,0.058,2393,548,3394,0,0,0,0,0,0
$GC,5313,-0.74,-146.0,408.8,-6.7,336,5317,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1956,3393,0,0,0,0,0,0
$STATE,5416,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5416,begin apogee
$GC,5422,-0.17,0.0,415.3,6.1,339,5547,0.62,0.00,122.15,0.724,6,0.117,0.000,2582,1956,2800,0,0,0,0,0,0
$STATE,5548,end apogee,CONTROL_FINISHED_OK
$STATE,5548,begin climb
$GC,5551,0.74,146.0,415.3,0.0,342,5687,0.85,2.42,127.22,0.699,4,0.074,0.059,2874,3385,2203,0,0,0,0,0,0
$GC,5723,0.74,146.0,395.3,15.0,346,5727,0.00,2.33,0.00,0.000,6,0.000,0.046,2883,1980,2200,0,0,0,0,0,0
$GC,6065,0.74,146.0,350.2,12.2,355,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1980,2196,0,0,0,0,0,0
$GC,6390,0.74,146.0,314.9,11.3,363,6394,0.00,2.25,0.00,0.000,4,0.000,0.058,2883,3386,2194,0,0,0,0,0,0
$GC,6513,0.74,146.0,298.2,12.6,365,6519,0.00,2.22,0.00,0.000,6,0.000,0.046,2893,1979,2193,0,0,0,0,0,0
$GC,6830,0.75,153.7,269.1,8.7,381,6841,0.00,2.25,6.22,0.524,4,0.000,0.056,2893,3387,2171,0,0,0,0,0,0
$GC,6937,0.75,153.7,257.1,11.4,386,6941,0.00,2.22,0.00,0.000,6,0.000,0.048,2898,1978,2170,0,0,0,0,0,0
$GC,7264,0.75,153.7,221.5,12.5,402,7268,0.00,2.30,0.00,0.000,4,0.000,0.061,2898,3389,2168,0,0,0,0,0,0
$GC,7428,0.75,153.7,201.0,11.5,409,7432,0.00,2.25,0.00,0.000,6,0.000,0.048,2907,1980,2167,0,0,0,0,0,0
$GC,7755,0.75,153.7,168.5,9.9,438,7759,0.00,2.30,0.00,0.000,4,0.000,0.059,2907,3385,2167,0,0,0,0,0,0
$GC,7850,0.75,153.7,157.6,11.3,446,7854,0.12,2.22,0.00,0.000,6,0.141,0.050,2879,1980,2167,0,0,0,0,0,0
$GC,8178,0.76,168.5,131.2,8.4,476,8195,0.00,0.00,13.75,0.519,6,0.000,0.000,2878,1980,2112,0,0,0,0,0,0
$GC,8517,0.79,190.4,100.7,8.1,508,8544,0.00,2.35,20.23,0.508,4,0.000,0.060,2878,3391,2022,0,0,0,0,0,0
$GC,8607,0.79,190.4,93.0,9.0,516,8612,0.00,2.25,0.00,0.000,6,0.000,0.049,2885,1977,2020,0,0,0,0,0,0
$GC,8939,0.88,258.8,69.5,6.2,561,9009,0.10,2.35,59.53,0.490,4,0.086,0.060,2966,3378,1742,0,0,0,0,0,0
$GC,9055,0.88,258.8,57.0,11.1,581,9061,0.17,2.25,0.00,0.000,6,0.123,0.049,2923,1980,1742,0,0,0,0,0,0
$GC,9390,0.88,258.8,28.3,9.7,642,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1980,1741,0,0,0,0,0,0
$GC,9558,0.94,312.0,16.3,6.8,673,9611,0.00,2.33,45.60,0.440,4,0.000,0.058,2923,3381,1526,0,0,0,0,0,0
$GC,9646,0.94,312.0,7.5,11.0,687,9654,0.00,2.30,0.00,0.000,6,0.000,0.048,2929,1982,1526,0,0,0,0,0,0
$STATE,9690,end climb,SURFACE_DEPTH_REACHED
$STATE,9690,begin surface coast
$FINISH,0.7,1.003857
$STATE,9722,end surface coast,CONTROL_FINISHED_OK
$STATE,9723,begin surface
$SM_CCo,9801,0.00,0.000,0,0,1521,313.49
$SM_GC,1.32,7.47,0.00,0.00,0.026,0.000,0.000,32,1978,1521,-8.00,0.62,313.49
$IRIDIUM_FIX,2054.83,-15744.48,250902,020226
$TT8_MAMPS,0.027612
$HUMID,66.22
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.5,52.165
$10V_AH,10.2,57.187
$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,19.325,85.875,394.700,0.000,0.000,30.431,35.845,180.399,17.250,0.000,15.615,1269.130,5545.927,422.157,2417.232,525.273,0.000,1288.286,0.000,2371.547,0.000,108.371,0.000
$DEVICE_MAMPS,224.731,60.593,724.048,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,474.685,410.156,1397.064,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38127,701
$CAP_FILE_SIZE,107865,0
$CFSIZE,260165632,225370112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010713,082402,2056.506,-15747.619,17,0.9,17,9.8