version: 66.06
glider: 523
mission: 4
dive: 634
start: 7 4 113 3 54 42
data:
$ID,523
$MISSION,4
$DIVE,634
$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,-48771.703
$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,31
$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
$GPS1,034752,2110.187,-15756.654,39,1.1,39,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.6
$GPS2,035424,2110.200,-15756.659,19,1.1,19,9.8
$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,99.1,25094,-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,-82.68,0.000,2,0.000,0.000,26,1950,3391,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.2,-5.0,13,119,9.35,2.25,0.00,0.000,4,0.210,0.053,2392,535,3393,0,0,0,0,0,0
$GC,218,-0.74,-146.0,24.7,-11.8,34,226,0.00,2.25,0.00,0.000,6,0.000,0.040,2384,1956,3395,0,0,0,0,0,0
$GC,391,-0.74,-146.0,47.6,-14.3,65,396,0.00,2.30,0.00,0.000,4,0.000,0.061,2384,543,3395,0,0,0,0,0,0
$GC,437,-0.74,-146.0,54.8,-14.8,73,443,0.00,2.20,0.00,0.000,6,0.000,0.040,2374,1965,3395,0,0,0,0,0,0
$GC,776,-0.74,-146.0,96.3,-9.6,121,780,0.00,2.28,0.00,0.000,4,0.000,0.062,2364,3371,3396,0,0,0,0,0,0
$GC,827,-0.74,-146.0,101.1,-9.1,125,832,0.12,2.22,0.00,0.000,6,0.146,0.046,2397,1953,3395,0,0,0,0,0,0
$GC,1160,-0.74,-146.0,127.8,-8.7,156,1164,0.00,2.28,0.00,0.000,4,0.000,0.064,2397,539,3397,0,0,0,0,0,0
$GC,1412,-0.74,-146.0,150.2,-8.2,178,1420,0.00,2.22,0.00,0.000,6,0.000,0.038,2390,1961,3397,0,0,0,0,0,0
$GC,1740,-0.74,-146.0,173.1,-8.0,209,1744,0.00,2.28,0.00,0.000,4,0.000,0.059,2389,541,3397,0,0,0,0,0,0
$GC,1981,-0.74,-146.0,196.0,-8.7,230,1985,0.00,2.20,0.00,0.000,6,0.000,0.038,2379,1963,3398,0,0,0,0,0,0
$GC,2301,-0.74,-146.0,216.2,-5.7,247,2305,0.00,2.28,0.00,0.000,4,0.000,0.058,2379,547,3398,0,0,0,0,0,0
$GC,2544,-0.74,-146.0,233.9,-8.9,258,2549,0.12,2.17,0.00,0.000,6,0.153,0.039,2404,1967,3397,0,0,0,0,0,0
$GC,2871,-0.74,-146.0,254.1,-6.3,274,2875,0.00,2.30,0.00,0.000,4,0.000,0.058,2405,538,3397,0,0,0,0,0,0
$GC,2921,-0.74,-146.0,257.8,-7.0,276,2926,0.00,2.17,0.00,0.000,6,0.000,0.040,2397,1955,3397,0,0,0,0,0,0
$GC,3240,-0.74,-146.0,280.7,-7.0,291,3244,0.00,2.28,0.00,0.000,4,0.000,0.059,2397,547,3397,0,0,0,0,0,0
$GC,3497,-0.74,-146.0,296.0,-5.4,302,3503,0.00,2.17,0.00,0.000,6,0.000,0.040,2387,1958,3396,0,0,0,0,0,0
$GC,3811,-0.74,-146.0,313.2,-6.3,313,3815,0.00,2.30,0.00,0.000,4,0.000,0.060,2387,539,3394,0,0,0,0,0,0
$GC,3991,-0.74,-146.0,326.8,-7.2,317,3995,0.00,2.20,0.00,0.000,6,0.000,0.040,2377,1957,3393,0,0,0,0,0,0
$GC,4310,-0.74,-146.0,349.7,-7.3,325,4315,0.00,2.28,0.00,0.000,4,0.000,0.064,2367,3363,3392,0,0,0,0,0,0
$GC,4356,-0.74,-146.0,353.2,-7.9,326,4360,0.12,2.25,0.00,0.000,6,0.141,0.048,2400,1953,3392,0,0,0,0,0,0
$GC,4682,-0.74,-146.0,369.8,-4.7,334,4686,0.00,2.28,0.00,0.000,4,0.000,0.064,2401,545,3390,0,0,0,0,0,0
$GC,4795,-0.74,-146.0,375.6,-5.4,336,4799,0.00,2.20,0.00,0.000,6,0.000,0.040,2393,1961,3389,0,0,0,0,0,0
$GC,5138,-0.74,-146.0,394.1,-5.6,345,5142,0.00,2.33,0.00,0.000,4,0.000,0.060,2393,535,3387,0,0,0,0,0,0
$GC,5240,-0.74,-146.0,400.8,-6.8,347,5244,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1955,3386,0,0,0,0,0,0
$STATE,5428,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5428,begin apogee
$GC,5435,-0.17,0.0,413.7,6.8,352,5559,0.62,0.00,120.93,0.723,6,0.111,0.000,2586,1956,2800,0,0,0,0,0,0
$STATE,5559,end apogee,CONTROL_FINISHED_OK
$STATE,5560,begin climb
$GC,5563,0.74,146.0,415.3,0.0,355,5697,0.82,0.00,127.12,0.700,6,0.074,0.000,2875,1956,2204,0,0,0,0,0,0
$GC,6010,0.74,146.0,364.9,12.2,366,6015,0.00,2.33,0.00,0.000,4,0.000,0.059,2875,3396,2196,0,0,0,0,0,0
$GC,6190,0.74,146.0,341.0,13.5,370,6194,0.00,2.28,0.00,0.000,6,0.000,0.047,2885,1974,2195,0,0,0,0,0,0
$GC,6509,0.74,146.0,303.5,12.0,378,6513,0.00,2.30,0.00,0.000,4,0.000,0.059,2885,3391,2195,0,0,0,0,0,0
$GC,6616,0.74,146.0,289.5,13.0,382,6620,0.00,2.25,0.00,0.000,6,0.000,0.049,2893,1980,2193,0,0,0,0,0,0
$GC,6942,0.74,146.0,254.4,9.9,398,6946,0.00,2.30,0.00,0.000,4,0.000,0.060,2893,3400,2192,0,0,0,0,0,0
$GC,7043,0.74,146.0,243.4,11.1,402,7048,0.00,2.22,0.00,0.000,6,0.000,0.042,2902,1978,2191,0,0,0,0,0,0
$GC,7359,0.75,153.4,215.3,8.7,418,7369,0.00,2.28,6.00,0.495,4,0.000,0.061,2902,3389,2172,0,0,0,0,0,0
$GC,7496,0.75,153.4,201.1,10.7,424,7501,0.12,2.17,0.00,0.000,6,0.142,0.039,2876,1972,2170,0,0,0,0,0,0
$GC,7828,0.79,193.2,173.9,7.4,455,7868,0.00,2.30,35.12,0.580,4,0.000,0.050,2876,3396,2010,0,0,0,0,0,0
$GC,7971,0.79,193.2,161.8,9.2,467,7975,0.00,2.25,0.00,0.000,6,0.000,0.039,2884,1976,2008,0,0,0,0,0,0
$GC,8299,0.81,204.1,134.9,8.6,497,8315,0.00,2.30,10.27,0.498,4,0.000,0.051,2884,3387,1966,0,0,0,0,0,0
$GC,8345,0.81,204.1,130.1,10.9,501,8349,0.00,2.20,0.00,0.000,6,0.000,0.039,2893,1977,1966,0,0,0,0,0,0
$GC,8674,0.83,217.8,101.1,8.5,531,8698,0.00,2.33,13.70,0.489,4,0.000,0.051,2893,3399,1910,0,0,0,0,0,0
$GC,8714,0.83,217.8,96.8,9.7,534,8721,0.00,2.25,0.00,0.000,6,0.000,0.041,2898,1986,1909,0,0,0,0,0,0
$GC,9046,0.90,281.0,70.1,6.4,577,9109,0.00,2.30,55.15,0.493,4,0.000,0.051,2898,3386,1652,0,0,0,0,0,0
$GC,9141,0.91,290.4,63.2,8.6,593,9158,0.00,2.28,9.52,0.431,6,0.000,0.051,2904,1985,1614,0,0,0,0,0,0
$GC,9486,0.97,336.6,36.5,7.1,656,9534,0.12,2.30,39.65,0.455,4,0.077,0.058,2980,3390,1426,0,0,0,0,0,0
$GC,9564,0.97,336.6,28.7,11.1,669,9571,0.10,2.33,0.00,0.000,6,0.114,0.053,2954,1984,1425,0,0,0,0,0,0
$GC,9731,0.97,336.6,10.0,9.7,700,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1984,1424,0,0,0,0,0,0
$STATE,9794,end climb,SURFACE_DEPTH_REACHED
$STATE,9794,begin surface coast
$FINISH,0.7,1.023282
$STATE,9823,end surface coast,CONTROL_FINISHED_OK
$STATE,9823,begin surface
$SM_CCo,9902,0.00,0.000,0,0,1421,338.26
$SM_GC,1.40,7.50,0.00,0.00,0.028,0.000,0.000,23,1980,1421,-8.00,0.71,338.26
$IRIDIUM_FIX,2106.38,-15750.02,280902,010132
$TT8_MAMPS,0.027612
$HUMID,66.26
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.4,54.343
$10V_AH,10.1,59.698
$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,19.025,94.825,417.475,0.000,0.000,23.662,33.539,182.523,17.250,0.000,19.958,1301.061,5521.715,429.633,2486.110,547.461,0.000,1335.258,0.000,2440.232,0.000,106.858,0.000
$DEVICE_MAMPS,210.158,63.661,723.281,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,485.309,423.323,1439.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41263,717
$CAP_FILE_SIZE,113003,0
$CFSIZE,260165632,224063488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040713,064058,2110.239,-15755.307,38,0.8,38,9.8