version: 66.06
glider: 523
mission: 4
dive: 633
start: 7 4 113 0 56 54
data:
$ID,523
$MISSION,4
$DIVE,633
$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,-48751.113
$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,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
$GPS1,005027,2110.041,-15757.814,34,0.9,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.6
$GPS2,005637,2110.083,-15757.861,17,0.9,17,9.8
$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,97.2,27003,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-77.75,0.000,6,0.000,0.000,26,1951,3395,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.8,-5.8,13,120,9.32,2.25,0.00,0.000,4,0.209,0.055,2390,538,3397,0,0,0,0,0,0
$GC,189,-0.74,-146.0,22.2,-14.2,28,197,0.00,2.22,0.00,0.000,6,0.000,0.038,2382,1949,3398,0,0,0,0,0,0
$GC,361,-0.74,-146.0,46.8,-14.7,59,367,0.00,2.30,0.00,0.000,4,0.000,0.061,2382,538,3398,0,0,0,0,0,0
$GC,487,-0.74,-146.0,66.9,-15.5,82,494,0.00,2.25,0.00,0.000,6,0.000,0.040,2373,1961,3398,0,0,0,0,0,0
$GC,825,-0.74,-146.0,106.0,-9.5,122,829,0.10,2.33,0.00,0.000,4,0.166,0.061,2398,546,3400,0,0,0,0,0,0
$GC,1075,-0.74,-146.0,130.5,-9.6,144,1082,0.00,2.20,0.00,0.000,6,0.000,0.038,2390,1952,3401,0,0,0,0,0,0
$GC,1402,-0.74,-146.0,157.4,-8.5,175,1406,0.00,2.28,0.00,0.000,4,0.000,0.060,2390,541,3402,0,0,0,0,0,0
$GC,1656,-0.74,-146.0,179.7,-8.6,197,1666,0.00,2.20,0.00,0.000,6,0.000,0.039,2380,1952,3402,0,0,0,0,0,0
$GC,1981,-0.74,-146.0,203.3,-7.4,226,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1952,3402,0,0,0,0,0,0
$GC,2289,-0.74,-146.0,224.9,-7.5,241,2294,0.00,2.30,0.00,0.000,4,0.000,0.058,2381,545,3403,0,0,0,0,0,0
$GC,2547,-0.74,-146.0,247.3,-8.3,252,2551,0.12,2.20,0.00,0.000,6,0.152,0.039,2405,1960,3402,0,0,0,0,0,0
$GC,2862,-0.74,-146.0,267.6,-5.9,267,2867,0.00,2.30,0.00,0.000,4,0.000,0.058,2405,547,3403,0,0,0,0,0,0
$GC,3054,-0.74,-146.0,281.8,-7.4,275,3059,0.00,2.20,0.00,0.000,6,0.000,0.039,2398,1963,3402,0,0,0,0,0,0
$GC,3369,-0.74,-146.0,303.1,-6.3,290,3373,0.00,2.25,0.00,0.000,4,0.000,0.062,2387,3362,3401,0,0,0,0,0,0
$GC,3409,-0.74,-146.0,305.7,-6.5,291,3413,0.00,2.22,0.00,0.000,6,0.000,0.047,2387,1958,3401,0,0,0,0,0,0
$GC,3735,-0.74,-146.0,326.1,-6.0,299,3739,0.00,2.30,0.00,0.000,4,0.000,0.061,2387,545,3400,0,0,0,0,0,0
$GC,3994,-0.74,-146.0,344.6,-7.0,304,4000,0.00,2.20,0.00,0.000,6,0.000,0.039,2378,1969,3398,0,0,0,0,0,0
$GC,4328,-0.74,-146.0,366.9,-7.1,313,4332,0.00,2.33,0.00,0.000,4,0.000,0.058,2378,542,3397,0,0,0,0,0,0
$GC,4552,-0.74,-146.0,381.3,-6.2,318,4557,0.12,2.20,0.00,0.000,6,0.154,0.040,2402,1958,3396,0,0,0,0,0,0
$GC,4874,-0.74,-146.0,398.3,-6.0,326,4878,0.00,2.25,0.00,0.000,4,0.000,0.064,2393,3365,3394,0,0,0,0,0,0
$GC,4930,-0.74,-146.0,402.0,-6.5,327,4934,0.00,2.25,0.00,0.000,6,0.000,0.048,2393,1947,3394,0,0,0,0,0,0
$GC,5279,-0.74,-146.0,426.2,-7.5,336,5283,0.00,2.25,0.00,0.000,4,0.000,0.064,2393,545,3392,0,0,0,0,0,0
$STATE,5408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5409,begin apogee
$GC,5418,-0.17,0.0,436.9,7.8,339,5543,0.62,0.00,122.43,0.744,6,0.114,0.000,2583,1980,2800,0,0,0,0,0,0
$STATE,5544,end apogee,CONTROL_FINISHED_OK
$STATE,5544,begin climb
$GC,5547,0.74,146.0,439.1,0.0,342,5685,0.82,2.33,127.22,0.720,4,0.076,0.060,2871,3385,2202,0,0,0,0,0,0
$GC,5842,0.74,146.0,407.9,12.0,348,5848,0.00,2.30,0.00,0.000,6,0.000,0.046,2880,1973,2197,0,0,0,0,0,0
$GC,6174,0.74,146.0,370.4,11.3,357,6178,0.00,2.30,0.00,0.000,4,0.000,0.057,2880,3386,2196,0,0,0,0,0,0
$GC,6280,0.74,146.0,357.1,12.2,359,6285,0.00,2.25,0.00,0.000,6,0.000,0.047,2890,1969,2195,0,0,0,0,0,0
$GC,6623,0.74,146.0,317.5,11.2,368,6627,0.00,2.30,0.00,0.000,4,0.000,0.058,2890,3385,2194,0,0,0,0,0,0
$GC,6713,0.74,146.0,305.6,13.1,370,6717,0.00,2.25,0.00,0.000,6,0.000,0.048,2900,1977,2192,0,0,0,0,0,0
$GC,7035,0.74,146.0,267.0,12.1,384,7039,0.00,2.30,0.00,0.000,4,0.000,0.061,2900,3385,2192,0,0,0,0,0,0
$GC,7102,0.74,146.0,258.6,12.1,387,7107,0.12,2.25,0.00,0.000,6,0.149,0.050,2874,1978,2192,0,0,0,0,0,0
$GC,7423,0.74,146.0,228.6,9.8,403,7427,0.00,2.28,0.00,0.000,4,0.000,0.061,2874,3388,2190,0,0,0,0,0,0
$GC,7512,0.74,146.0,218.7,11.4,407,7516,0.00,2.25,0.00,0.000,6,0.000,0.050,2881,1976,2189,0,0,0,0,0,0
$GC,7838,0.75,153.9,192.3,8.7,427,7850,0.00,2.33,5.53,0.477,4,0.000,0.061,2881,3385,2173,0,0,0,0,0,0
$GC,7921,0.75,153.9,183.9,10.0,434,7928,0.00,2.30,0.00,0.000,6,0.000,0.052,2890,1977,2172,0,0,0,0,0,0
$GC,8249,0.75,153.9,153.2,9.3,465,8253,0.00,2.30,0.00,0.000,4,0.000,0.061,2890,3386,2171,0,0,0,0,0,0
$GC,8345,0.75,153.9,143.6,9.6,473,8349,0.00,2.28,0.00,0.000,6,0.000,0.051,2896,1972,2171,0,0,0,0,0,0
$GC,8673,0.77,172.5,114.8,8.3,503,8696,0.00,2.25,17.65,0.522,4,0.000,0.059,2907,559,2096,0,0,0,0,0,0
$GC,8710,0.81,207.7,112.0,7.6,506,8749,0.00,2.22,31.42,0.528,6,0.000,0.041,2907,1995,1952,0,0,0,0,0,0
$GC,9077,0.83,218.2,82.8,8.6,540,9093,0.00,2.22,10.45,0.458,4,0.000,0.052,2907,3385,1909,0,0,0,0,0,0
$GC,9157,0.83,218.2,75.5,9.3,551,9163,0.00,2.25,0.00,0.000,6,0.000,0.044,2912,1965,1908,0,0,0,0,0,0
$GC,9487,0.86,249.2,49.6,7.7,612,9521,0.00,2.28,27.92,0.468,4,0.000,0.054,2912,3389,1782,0,0,0,0,0,0
$GC,9590,0.88,258.4,40.9,8.7,630,9609,0.00,2.28,9.62,0.423,6,0.000,0.047,2920,1979,1745,0,0,0,0,0,0
$GC,9933,0.94,313.6,13.7,6.7,693,9986,0.00,2.28,47.38,0.441,4,0.000,0.053,2919,3386,1521,0,0,0,0,0,0
$GC,10038,0.97,332.4,5.1,8.3,710,10060,0.00,2.30,16.95,0.412,6,0.000,0.051,2926,1987,1444,0,0,0,0,0,0
$STATE,10066,end climb,SURFACE_DEPTH_REACHED
$STATE,10066,begin surface coast
$FINISH,0.6,1.010709
$STATE,10104,end surface coast,CONTROL_FINISHED_OK
$STATE,10104,begin surface
$SM_CCo,10183,0.00,0.000,0,0,1439,333.85
$SM_GC,1.38,7.38,0.00,0.00,0.021,0.000,0.000,28,1953,1439,-8.01,-0.11,333.85
$IRIDIUM_FIX,2059.45,-15756.04,270902,222228
$TT8_MAMPS,0.027612
$HUMID,65.55
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.4,54.253
$10V_AH,10.1,59.591
$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,18.625,99.675,416.575,0.000,0.000,24.661,40.019,156.632,18.250,0.000,17.853,1320.897,5753.643,423.816,2533.842,512.834,0.000,1361.681,0.000,2479.634,0.000,114.569,0.000
$DEVICE_MAMPS,209.391,163.371,743.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,487.948,425.755,1444.608,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,41213,721
$CAP_FILE_SIZE,114674,0
$CFSIZE,260165632,224120832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040713,034752,2110.187,-15756.654,39,1.1,39,9.8