version: 66.06
glider: 523
mission: 4
dive: 632
start: 7 3 113 21 59 46
data:
$ID,523
$MISSION,4
$DIVE,632
$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,-48732.629
$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,29
$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
$GPS1,215328,2109.938,-15758.908,38,0.8,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.0
$GPS2,215929,2109.933,-15758.955,14,1.3,14,9.8
$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,95.6,28741,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.93,0.000,2,0.000,0.000,24,1977,3358,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.5,12,113,9.38,2.25,-0.90,0.000,4,0.212,0.064,2387,3361,3397,0,0,0,0,0,0
$GC,139,-0.74,-146.0,12.7,-22.6,18,146,0.00,2.30,0.00,0.000,6,0.000,0.049,2387,1957,3398,0,0,0,0,0,0
$GC,307,-0.74,-146.0,36.3,-14.0,49,313,0.00,2.33,0.00,0.000,4,0.000,0.063,2387,541,3399,0,0,0,0,0,0
$GC,451,-0.74,-146.0,58.1,-15.1,75,457,0.00,2.22,0.00,0.000,6,0.000,0.044,2378,1954,3399,0,0,0,0,0,0
$GC,782,-0.74,-146.0,99.0,-10.3,119,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1954,3400,0,0,0,0,0,0
$GC,1109,-0.74,-146.0,133.0,-9.9,150,1113,0.00,2.30,0.00,0.000,4,0.000,0.061,2378,542,3401,0,0,0,0,0,0
$GC,1361,-0.74,-146.0,161.4,-11.8,172,1369,0.08,2.22,0.00,0.000,6,0.134,0.042,2393,1951,3402,0,0,0,0,0,0
$GC,1688,-0.74,-146.0,186.0,-7.6,203,1692,0.00,2.33,0.00,0.000,4,0.000,0.061,2393,543,3403,0,0,0,0,0,0
$GC,1807,-0.74,-146.0,195.8,-7.6,213,1811,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1967,3402,0,0,0,0,0,0
$GC,2138,-0.74,-146.0,218.9,-7.1,231,2142,0.00,2.33,0.00,0.000,4,0.000,0.060,2385,545,3403,0,0,0,0,0,0
$GC,2397,-0.74,-146.0,241.1,-8.9,242,2403,0.00,2.20,0.00,0.000,6,0.000,0.042,2376,1966,3403,0,0,0,0,0,0
$GC,2715,-0.74,-146.0,269.4,-7.9,258,2719,0.00,2.35,0.00,0.000,4,0.000,0.060,2375,544,3403,0,0,0,0,0,0
$GC,2883,-0.74,-146.0,283.2,-7.8,265,2888,0.12,2.20,0.00,0.000,6,0.148,0.042,2400,1962,3402,0,0,0,0,0,0
$GC,3204,-0.74,-146.0,301.3,-5.8,280,3208,0.00,2.28,0.00,0.000,4,0.000,0.061,2391,3369,3402,0,0,0,0,0,0
$GC,3249,-0.74,-146.0,304.7,-7.0,281,3253,0.00,2.28,0.00,0.000,6,0.000,0.050,2391,1949,3403,0,0,0,0,0,0
$GC,3577,-0.74,-146.0,326.5,-6.7,289,3581,0.00,2.28,0.00,0.000,4,0.000,0.061,2391,544,3402,0,0,0,0,0,0
$GC,3723,-0.74,-146.0,336.9,-6.9,292,3727,0.00,2.20,0.00,0.000,6,0.000,0.042,2381,1964,3402,0,0,0,0,0,0
$GC,4072,-0.74,-146.0,359.2,-6.5,301,4075,0.00,2.35,0.00,0.000,4,0.000,0.061,2381,544,3400,0,0,0,0,0,0
$GC,4307,-0.74,-146.0,374.8,-6.4,306,4313,0.12,2.17,0.00,0.000,6,0.149,0.041,2406,1960,3399,0,0,0,0,0,0
$GC,4631,-0.74,-146.0,391.0,-5.1,314,4635,0.00,2.22,0.00,0.000,4,0.000,0.056,2397,3365,3398,0,0,0,0,0,0
$GC,4676,-0.74,-146.0,394.2,-6.6,315,4680,0.00,2.28,0.00,0.000,6,0.000,0.048,2397,1950,3398,0,0,0,0,0,0
$GC,4999,-0.74,-146.0,417.5,-7.6,323,5003,0.00,2.25,0.00,0.000,4,0.000,0.061,2397,541,3396,0,0,0,0,0,0
$GC,5230,-0.74,-146.0,433.6,-5.7,328,5234,0.00,2.20,0.00,0.000,6,0.000,0.043,2388,1962,3394,0,0,0,0,0,0
$STATE,5418,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5418,begin apogee
$GC,5425,-0.17,0.0,444.4,5.7,333,5551,0.60,0.00,122.85,0.748,6,0.110,0.000,2582,1962,2800,0,0,0,0,0,0
$STATE,5552,end apogee,CONTROL_FINISHED_OK
$STATE,5552,begin climb
$GC,5555,0.74,146.0,445.0,0.0,336,5693,0.85,2.38,127.50,0.723,4,0.071,0.054,2876,3378,2202,0,0,0,0,0,0
$GC,5743,0.74,146.0,423.7,14.4,340,5749,0.00,2.30,0.00,0.000,6,0.000,0.048,2886,1979,2200,0,0,0,0,0,0
$GC,6074,0.74,146.0,382.2,12.3,349,6078,0.00,2.30,0.00,0.000,4,0.000,0.058,2886,3384,2195,0,0,0,0,0,0
$GC,6187,0.74,146.0,368.3,12.5,351,6191,0.00,2.28,0.00,0.000,6,0.000,0.048,2894,1972,2195,0,0,0,0,0,0
$GC,6523,0.74,146.0,326.8,12.2,360,6527,0.00,2.25,0.00,0.000,4,0.000,0.060,2905,568,2193,0,0,0,0,0,0
$GC,6562,0.74,146.0,322.1,11.9,361,6566,0.00,2.20,0.00,0.000,6,0.000,0.042,2905,1980,2193,0,0,0,0,0,0
$GC,6889,0.74,146.0,284.1,11.5,372,6893,0.00,2.20,0.00,0.000,4,0.000,0.054,2904,3391,2192,0,0,0,0,0,0
$GC,7036,0.74,146.0,267.3,11.0,378,7042,0.12,2.28,0.00,0.000,6,0.147,0.050,2880,1979,2191,0,0,0,0,0,0
$GC,7352,0.74,146.0,236.5,9.3,394,7356,0.00,2.28,0.00,0.000,4,0.000,0.060,2880,3391,2190,0,0,0,0,0,0
$GC,7392,0.74,146.0,232.6,10.3,396,7396,0.00,2.28,0.00,0.000,6,0.000,0.050,2888,1978,2190,0,0,0,0,0,0
$GC,7719,0.74,146.0,201.9,9.2,412,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1977,2189,0,0,0,0,0,0
$GC,8040,0.74,146.8,173.7,9.0,440,8044,0.00,2.30,0.00,0.000,4,0.000,0.060,2888,3394,2189,0,0,0,0,0,0
$GC,8259,0.75,152.9,152.5,8.8,459,8269,0.00,2.28,4.80,0.430,6,0.000,0.051,2896,1985,2176,0,0,0,0,0,0
$GC,8598,0.75,152.9,124.7,10.2,491,8602,0.00,2.28,0.00,0.000,4,0.000,0.060,2896,3387,2174,0,0,0,0,0,0
$GC,8725,0.75,152.9,111.3,9.9,502,8729,0.00,2.22,0.00,0.000,6,0.000,0.048,2905,1979,2173,0,0,0,0,0,0
$GC,9053,0.75,152.9,83.3,9.2,532,9057,0.00,2.28,0.00,0.000,4,0.000,0.058,2904,3386,2173,0,0,0,0,0,0
$GC,9084,0.77,173.6,80.6,8.2,534,9108,0.00,2.25,19.33,0.494,6,0.000,0.051,2910,1980,2091,0,0,0,0,0,0
$GC,9441,0.85,235.2,57.4,6.5,597,9501,0.00,2.30,53.40,0.482,4,0.000,0.057,2910,3386,1839,0,0,0,0,0,0
$GC,9550,0.86,243.6,49.3,8.7,615,9563,0.00,2.28,8.65,0.417,6,0.000,0.048,2918,1978,1806,0,0,0,0,0,0
$GC,9887,0.88,264.7,21.6,8.2,677,9915,0.00,2.30,19.58,0.432,4,0.000,0.057,2918,3378,1719,0,0,0,0,0,0
$GC,9924,0.92,297.5,18.6,7.7,682,9958,0.00,2.28,29.10,0.435,6,0.000,0.050,2925,1983,1586,0,0,0,0,0,0
$STATE,10099,end climb,SURFACE_DEPTH_REACHED
$STATE,10099,begin surface coast
$FINISH,0.8,0.998964
$STATE,10148,end surface coast,CONTROL_FINISHED_OK
$STATE,10148,begin surface
$SM_CCo,10167,0.28,0.108,0,0,1576,300.24
$SM_GC,1.86,0.00,0.00,0.28,0.000,0.000,0.108,26,1952,1576,-8.17,-0.14,300.24
$IRIDIUM_FIX,2059.45,-15803.33,270902,191954
$TT8_MAMPS,0.027612
$HUMID,65.23
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.90
$XPDR_PINGS,5
$24V_AH,24.4,54.164
$10V_AH,10.2,59.483
$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,18.575,95.225,385.200,0.275,0.000,30.565,35.497,157.104,19.500,0.000,15.223,1326.840,5774.850,399.428,2505.997,518.157,0.000,1298.628,0.000,2454.989,0.000,116.804,0.000
$DEVICE_MAMPS,211.692,229.333,747.825,108.147,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,490.072,415.181,1433.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41229,723
$CAP_FILE_SIZE,112624,0
$CFSIZE,260165632,224178176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040713,005027,2110.041,-15757.814,34,0.9,34,9.8