version: 66.06
glider: 523
mission: 4
dive: 628
start: 7 3 113 10 20 32
data:
$ID,523
$MISSION,4
$DIVE,628
$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,-48666.074
$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,22
$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
$GPS1,101404,2107.903,-15802.740,34,0.8,34,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.1
$GPS2,102013,2107.911,-15802.778,14,0.8,15,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,86.7,34535,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.60,0.000,2,0.000,0.000,27,1934,3346,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.1,-5.0,12,119,9.43,2.33,-1.17,0.000,4,0.215,0.074,2394,547,3399,0,0,0,0,0,0
$GC,158,-0.74,-146.0,17.8,-20.0,22,166,0.00,2.22,0.00,0.000,6,0.000,0.041,2386,1948,3399,0,0,0,0,0,0
$GC,328,-0.74,-146.0,41.6,-14.3,53,334,0.00,2.35,0.00,0.000,4,0.000,0.062,2386,545,3400,0,0,0,0,0,0
$GC,461,-0.74,-146.0,61.9,-16.1,77,467,0.00,2.20,0.00,0.000,6,0.000,0.040,2376,1960,3400,0,0,0,0,0,0
$GC,796,-0.74,-146.0,101.2,-10.8,120,800,0.00,2.30,0.00,0.000,4,0.000,0.061,2376,549,3402,0,0,0,0,0,0
$GC,855,-0.74,-146.0,107.3,-9.4,125,861,0.10,2.22,0.00,0.000,6,0.136,0.040,2398,1960,3402,0,0,0,0,0,0
$GC,1182,-0.74,-146.0,136.3,-9.0,156,1186,0.00,2.33,0.00,0.000,4,0.000,0.059,2399,544,3403,0,0,0,0,0,0
$GC,1436,-0.74,-146.0,163.4,-9.9,178,1444,0.00,2.22,0.00,0.000,6,0.000,0.039,2391,1962,3403,0,0,0,0,0,0
$GC,1764,-0.74,-146.0,189.0,-8.1,209,1768,0.00,2.33,0.00,0.000,4,0.000,0.060,2391,544,3404,0,0,0,0,0,0
$GC,1960,-0.74,-146.0,205.9,-8.2,223,1964,0.00,2.20,0.00,0.000,6,0.000,0.039,2381,1961,3404,0,0,0,0,0,0
$GC,2289,-0.74,-146.0,232.7,-9.1,239,2293,0.00,2.30,0.00,0.000,4,0.000,0.058,2381,541,3404,0,0,0,0,0,0
$GC,2456,-0.74,-146.0,248.9,-9.5,246,2463,0.12,2.20,0.00,0.000,6,0.153,0.040,2405,1960,3404,0,0,0,0,0,0
$GC,2772,-0.74,-146.0,271.5,-6.9,262,2776,0.00,2.30,0.00,0.000,4,0.000,0.058,2406,549,3404,0,0,0,0,0,0
$GC,2858,-0.74,-146.0,277.5,-7.3,266,2862,0.00,2.17,0.00,0.000,6,0.000,0.039,2398,1964,3403,0,0,0,0,0,0
$GC,3187,-0.74,-146.0,294.8,-5.2,282,3194,0.00,2.33,0.00,0.000,4,0.000,0.059,2398,548,3403,0,0,0,0,0,0
$GC,3262,-0.74,-146.0,299.0,-5.5,285,3266,0.00,2.20,0.00,0.000,6,0.000,0.041,2389,1961,3403,0,0,0,0,0,0
$GC,3581,-0.74,-146.0,317.5,-5.8,294,3585,0.00,2.35,0.00,0.000,4,0.000,0.058,2388,538,3402,0,0,0,0,0,0
$GC,3767,-0.74,-146.0,330.3,-6.9,298,3771,0.00,2.20,0.00,0.000,6,0.000,0.041,2379,1961,3401,0,0,0,0,0,0
$GC,4086,-0.74,-146.0,348.3,-5.8,306,4090,0.00,2.35,0.00,0.000,4,0.000,0.059,2379,544,3400,0,0,0,0,0,0
$GC,4211,-0.74,-146.0,356.5,-7.0,308,4217,0.12,2.20,0.00,0.000,6,0.154,0.041,2403,1967,3400,0,0,0,0,0,0
$GC,4543,-0.74,-146.0,375.0,-5.5,317,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1967,3398,0,0,0,0,0,0
$GC,4868,-0.74,-146.0,394.1,-6.0,325,4872,0.00,2.33,0.00,0.000,4,0.000,0.059,2404,542,3396,0,0,0,0,0,0
$GC,5025,-0.74,-146.0,404.1,-7.1,328,5029,0.00,2.20,0.00,0.000,6,0.000,0.041,2396,1960,3395,0,0,0,0,0,0
$GC,5362,-0.74,-146.0,424.8,-6.1,337,5366,0.00,2.30,0.00,0.000,4,0.000,0.059,2396,548,3393,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5405,begin apogee
$GC,5414,-0.17,0.0,427.4,5.9,338,5540,0.62,0.00,122.85,0.738,6,0.114,0.000,2587,1987,2799,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,428.0,0.0,341,5682,0.82,2.38,127.07,0.714,4,0.074,0.061,2877,3379,2203,0,0,0,0,0,0
$GC,5756,0.74,146.0,405.0,12.9,346,5760,0.00,2.28,0.00,0.000,6,0.000,0.046,2886,1981,2199,0,0,0,0,0,0
$GC,6081,0.74,146.0,363.1,12.9,354,6085,0.00,2.30,0.00,0.000,4,0.000,0.064,2896,565,2196,0,0,0,0,0,0
$GC,6114,0.74,146.0,359.0,12.3,354,6120,0.00,2.22,0.00,0.000,6,0.000,0.041,2896,1984,2195,0,0,0,0,0,0
$GC,6445,0.74,146.0,320.4,11.7,363,6449,0.00,2.28,0.00,0.000,4,0.000,0.064,2896,3388,2194,0,0,0,0,0,0
$GC,6620,0.74,146.0,301.4,11.5,367,6624,0.00,2.25,0.00,0.000,6,0.000,0.046,2906,1980,2193,0,0,0,0,0,0
$GC,6948,0.74,146.0,265.8,10.9,382,6952,0.00,2.28,0.00,0.000,4,0.000,0.060,2906,3392,2193,0,0,0,0,0,0
$GC,6988,0.74,146.0,261.7,10.1,384,6993,0.15,2.28,0.00,0.000,6,0.138,0.048,2873,1975,2193,0,0,0,0,0,0
$GC,7315,0.78,181.5,238.3,7.6,400,7350,0.00,2.30,29.90,0.626,4,0.000,0.067,2882,572,2058,0,0,0,0,0,0
$GC,7384,0.81,206.8,232.6,8.0,402,7415,0.00,2.22,23.60,0.604,6,0.000,0.041,2882,1990,1955,0,0,0,0,0,0
$GC,7727,0.81,206.8,201.0,9.7,419,7731,0.00,2.28,0.00,0.000,4,0.000,0.064,2881,3392,1951,0,0,0,0,0,0
$GC,7911,0.81,206.8,180.1,10.6,435,7915,0.00,2.25,0.00,0.000,6,0.000,0.048,2890,1977,1950,0,0,0,0,0,0
$GC,8238,0.81,206.8,147.9,10.1,465,8242,0.00,2.28,0.00,0.000,4,0.000,0.061,2890,3388,1950,0,0,0,0,0,0
$GC,8335,0.81,206.8,137.4,10.7,473,8342,0.00,2.28,0.00,0.000,6,0.000,0.050,2893,1984,1950,0,0,0,0,0,0
$GC,8662,0.83,222.9,107.3,8.4,504,8686,0.00,2.33,14.40,0.505,4,0.000,0.062,2893,3388,1889,0,0,0,0,0,0
$GC,8744,0.83,222.9,99.6,10.7,511,8748,0.00,2.25,0.00,0.000,6,0.000,0.049,2893,1973,1889,0,0,0,0,0,0
$GC,9072,0.85,236.6,68.8,8.5,553,9096,0.00,2.35,13.40,0.462,4,0.000,0.060,2893,3390,1834,0,0,0,0,0,0
$GC,9219,0.86,246.1,55.6,8.6,579,9236,0.00,2.28,9.95,0.433,6,0.000,0.050,2893,1971,1795,0,0,0,0,0,0
$GC,9563,0.94,315.0,33.4,6.2,642,9631,0.15,0.00,59.55,0.459,6,0.069,0.000,2999,1972,1514,0,0,0,0,0,0
$GC,9792,0.94,315.0,6.5,14.4,683,9800,0.17,2.35,0.00,0.000,4,0.121,0.059,2947,3383,1513,0,0,0,0,0,0
$STATE,9816,end climb,SURFACE_DEPTH_REACHED
$STATE,9816,begin surface coast
$FINISH,0.6,1.018428
$STATE,9839,end surface coast,CONTROL_FINISHED_OK
$STATE,9839,begin surface
$SM_CCo,9920,0.00,0.000,0,0,1509,316.68
$SM_GC,1.39,7.45,0.00,0.00,0.025,0.000,0.000,35,1954,1509,-8.01,-0.08,316.68
$IRIDIUM_FIX,2101.76,-15847.96,270902,070735
$TT8_MAMPS,0.028379
$HUMID,65.55
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.4,53.803
$10V_AH,10.1,59.066
$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,19.150,100.175,400.725,0.000,0.000,22.513,33.996,175.669,18.000,0.000,16.168,1252.968,5739.861,433.809,2348.985,507.939,0.000,1304.624,0.000,2296.590,0.000,113.951,0.000
$DEVICE_MAMPS,214.760,74.399,737.854,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,467.753,392.414,1317.030,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38126,691
$CAP_FILE_SIZE,110317,0
$CFSIZE,260165632,224403456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030713,130642,2108.395,-15802.291,14,1.5,14,9.8