version: 66.06
glider: 523
mission: 4
dive: 612
start: 7 1 113 11 24 30
data:
$ID,523
$MISSION,4
$DIVE,612
$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,-48329.641
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,111756,2056.415,-15748.791,29,0.8,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.9
$GPS2,112414,2056.420,-15748.885,43,0.8,43,9.8
$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,318.9,3247,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.20,0.000,2,0.000,0.000,28,1972,3375,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.8,-5.8,12,114,9.65,2.22,-0.43,0.000,4,0.222,0.063,2389,3368,3396,0,0,0,0,0,0
$GC,258,-0.74,-146.0,33.7,-15.6,41,264,0.00,2.25,0.00,0.000,6,0.000,0.048,2389,1960,3398,0,0,0,0,0,0
$GC,588,-0.74,-146.0,75.7,-12.2,102,595,0.00,2.30,0.00,0.000,4,0.000,0.061,2389,545,3399,0,0,0,0,0,0
$GC,844,-0.74,-146.0,106.7,-10.7,128,849,0.00,2.20,0.00,0.000,6,0.000,0.038,2379,1968,3400,0,0,0,0,0,0
$GC,1172,-0.74,-146.0,137.0,-9.7,158,1176,0.00,2.30,0.00,0.000,4,0.000,0.058,2379,544,3400,0,0,0,0,0,0
$GC,1425,-0.74,-146.0,162.9,-9.0,181,1430,0.12,2.17,0.00,0.000,6,0.166,0.038,2402,1957,3401,0,0,0,0,0,0
$GC,1753,-0.74,-146.0,185.6,-7.5,211,1757,0.00,2.33,0.00,0.000,4,0.000,0.056,2402,535,3402,0,0,0,0,0,0
$GC,1990,-0.74,-146.0,204.4,-7.4,230,1994,0.00,2.17,0.00,0.000,6,0.000,0.038,2394,1955,3402,0,0,0,0,0,0
$GC,2322,-0.74,-146.0,229.5,-7.0,246,2326,0.00,2.30,0.00,0.000,4,0.000,0.056,2394,541,3402,0,0,0,0,0,0
$GC,2581,-0.74,-146.0,246.7,-5.9,257,2585,0.00,2.20,0.00,0.000,6,0.000,0.039,2384,1964,3402,0,0,0,0,0,0
$GC,2899,-0.74,-146.0,267.7,-6.7,272,2903,0.00,2.30,0.00,0.000,4,0.000,0.056,2385,547,3401,0,0,0,0,0,0
$GC,3158,-0.74,-146.0,287.0,-7.2,283,3162,0.00,2.20,0.00,0.000,6,0.000,0.040,2375,1966,3401,0,0,0,0,0,0
$GC,3472,-0.74,-146.0,309.1,-7.2,295,3476,0.00,2.33,0.00,0.000,4,0.000,0.057,2375,545,3401,0,0,0,0,0,0
$GC,3732,-0.74,-146.0,329.9,-6.8,300,3739,0.12,2.20,0.00,0.000,6,0.157,0.041,2398,1958,3400,0,0,0,0,0,0
$GC,4064,-0.74,-146.0,349.0,-5.8,309,4068,0.00,2.30,0.00,0.000,4,0.000,0.058,2399,546,3398,0,0,0,0,0,0
$GC,4114,-0.74,-146.0,351.9,-5.5,310,4119,0.00,2.20,0.00,0.000,6,0.000,0.041,2391,1955,3398,0,0,0,0,0,0
$GC,4434,-0.74,-146.0,369.6,-5.5,318,4438,0.00,2.33,0.00,0.000,4,0.000,0.058,2390,540,3397,0,0,0,0,0,0
$GC,4519,-0.74,-146.0,375.0,-6.1,320,4523,0.00,2.22,0.00,0.000,6,0.000,0.041,2381,1961,3396,0,0,0,0,0,0
$GC,4847,-0.74,-146.0,395.2,-6.2,328,4851,0.00,2.33,0.00,0.000,4,0.000,0.058,2380,545,3395,0,0,0,0,0,0
$GC,4927,-0.74,-146.0,400.4,-5.9,329,4933,0.12,2.22,0.00,0.000,6,0.157,0.041,2405,1965,3394,0,0,0,0,0,0
$GC,5259,-0.74,-146.0,419.4,-5.8,338,5263,0.00,2.35,0.00,0.000,4,0.000,0.060,2405,542,3392,0,0,0,0,0,0
$STATE,5407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5416,-0.17,0.0,430.0,7.3,341,5541,0.55,0.00,122.10,0.739,6,0.115,0.000,2578,1978,2800,0,0,0,0,0,0
$STATE,5542,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5545,0.74,146.0,431.9,0.0,344,5684,0.85,2.38,127.40,0.714,4,0.075,0.062,2872,3396,2202,0,0,0,0,0,0
$GC,5734,0.74,146.0,412.6,13.2,348,5738,0.00,2.35,0.00,0.000,6,0.000,0.048,2882,1981,2199,0,0,0,0,0,0
$GC,6076,0.74,146.0,373.1,11.0,357,6081,0.00,2.33,0.00,0.000,4,0.000,0.064,2892,569,2196,0,0,0,0,0,0
$GC,6093,0.74,146.0,371.1,10.8,357,6097,0.00,2.25,0.00,0.000,6,0.000,0.041,2892,1991,2196,0,0,0,0,0,0
$GC,6435,0.74,146.0,334.2,11.2,366,6439,0.00,2.25,0.00,0.000,4,0.000,0.063,2893,3395,2194,0,0,0,0,0,0
$GC,6566,0.74,146.0,317.1,13.8,369,6570,0.00,2.28,0.00,0.000,6,0.000,0.048,2900,1980,2193,0,0,0,0,0,0
$GC,6892,0.74,146.0,276.2,10.5,381,6896,0.00,2.30,0.00,0.000,4,0.000,0.059,2901,3386,2192,0,0,0,0,0,0
$GC,6960,0.74,146.0,268.8,10.9,384,6964,0.12,2.28,0.00,0.000,6,0.147,0.049,2875,1972,2192,0,0,0,0,0,0
$GC,7286,0.74,146.0,236.3,10.1,400,7290,0.00,2.30,0.00,0.000,4,0.000,0.061,2875,3385,2191,0,0,0,0,0,0
$GC,7337,0.74,146.0,231.1,10.5,402,7341,0.00,2.28,0.00,0.000,6,0.000,0.051,2883,1978,2190,0,0,0,0,0,0
$GC,7658,0.78,182.9,203.2,7.5,418,7694,0.00,2.30,30.65,0.607,4,0.000,0.060,2883,3393,2053,0,0,0,0,0,0
$GC,7777,0.78,183.9,193.1,9.0,425,7784,0.00,2.33,0.00,0.000,6,0.000,0.052,2891,1982,2050,0,0,0,0,0,0
$GC,8104,0.78,183.9,165.5,9.9,456,8108,0.00,2.33,0.00,0.000,4,0.000,0.062,2891,3391,2049,0,0,0,0,0,0
$GC,8219,0.78,183.9,152.3,11.3,466,8224,0.00,2.30,0.00,0.000,6,0.000,0.051,2900,1976,2049,0,0,0,0,0,0
$GC,8548,0.78,183.9,122.2,9.2,496,8552,0.00,2.33,0.00,0.000,4,0.000,0.062,2900,3393,2048,0,0,0,0,0,0
$GC,8578,0.78,183.9,119.0,9.6,498,8582,0.00,2.28,0.00,0.000,6,0.000,0.053,2907,1980,2048,0,0,0,0,0,0
$GC,8905,0.82,215.0,90.4,7.7,528,8935,0.00,0.00,28.33,0.508,6,0.000,0.000,2907,1980,1923,0,0,0,0,0,0
$GC,9256,0.86,245.8,61.0,7.8,582,9292,0.00,2.33,27.55,0.479,4,0.000,0.061,2907,3378,1796,0,0,0,0,0,0
$GC,9389,0.93,306.5,49.8,6.5,606,9454,0.00,2.30,52.97,0.473,6,0.000,0.050,2907,1973,1548,0,0,0,0,0,0
$GC,9782,1.03,383.2,26.3,5.8,677,9855,0.17,2.38,62.30,0.446,4,0.065,0.060,2989,3382,1234,0,0,0,0,0,0
$GC,9873,1.03,383.2,17.4,12.7,690,9880,0.00,2.33,0.00,0.000,6,0.000,0.051,2998,1982,1233,0,0,0,0,0,0
$STATE,9968,end climb,SURFACE_DEPTH_REACHED
$STATE,9968,begin surface coast
$FINISH,0.7,1.023025
$STATE,9992,end surface coast,CONTROL_FINISHED_OK
$STATE,9992,begin surface
$SM_CCo,10071,0.00,0.000,0,0,1228,385.61
$SM_GC,1.52,7.57,0.00,0.00,0.021,0.000,0.000,53,1978,1228,-8.00,0.62,385.61
$IRIDIUM_FIX,2052.52,-15749.62,250902,080854
$TT8_MAMPS,0.027612
$HUMID,65.31
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.4,52.343
$10V_AH,10.2,57.394
$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,19.300,95.875,451.300,0.000,0.000,28.363,32.450,150.475,17.750,0.000,43.627,1296.683,5712.248,429.184,2507.908,494.697,0.000,1360.714,0.000,2428.824,0.000,116.544,0.000
$DEVICE_MAMPS,222.430,64.428,738.621,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,481.970,413.774,1387.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38101,712
$CAP_FILE_SIZE,112302,0
$CFSIZE,260165632,225259520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010713,141335,2056.854,-15749.762,38,0.9,38,9.8