version: 66.06
glider: 523
mission: 4
dive: 635
start: 7 4 113 6 47 22
data:
$ID,523
$MISSION,4
$DIVE,635
$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,-48789.055
$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,19
$R_STBD_OVSHOOT,24
$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
$GPS1,064058,2110.239,-15755.307,38,0.8,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.7
$GPS2,064705,2110.218,-15755.303,16,0.9,16,9.8
$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,101.1,22900,-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,-146.0,0.0,0.0,0,108,0.00,0.00,-84.28,0.000,6,0.000,0.000,23,1979,3395,0,0,0,0,0,0
$GC,112,-0.74,-146.0,3.6,-5.2,14,127,9.38,2.30,0.00,0.000,4,0.210,0.050,2391,542,3397,0,0,0,0,0,0
$GC,251,-0.74,-146.0,29.8,-15.3,39,259,0.00,2.25,0.00,0.000,6,0.000,0.041,2383,1958,3398,0,0,0,0,0,0
$GC,423,-0.74,-146.0,56.1,-12.3,70,431,0.00,2.33,0.00,0.000,4,0.000,0.059,2383,552,3399,0,0,0,0,0,0
$GC,456,-0.74,-146.0,60.4,-13.2,75,461,0.00,2.17,0.00,0.000,6,0.000,0.039,2374,1960,3398,0,0,0,0,0,0
$GC,792,-0.74,-146.0,100.4,-11.4,120,796,0.00,2.33,0.00,0.000,4,0.000,0.058,2374,538,3399,0,0,0,0,0,0
$GC,970,-0.74,-146.0,119.7,-9.4,136,977,0.12,2.20,0.00,0.000,6,0.151,0.038,2398,1960,3400,0,0,0,0,0,0
$GC,1306,-0.74,-146.0,143.9,-7.4,167,1310,0.00,2.30,0.00,0.000,4,0.000,0.058,2398,537,3401,0,0,0,0,0,0
$GC,1554,-0.74,-146.0,166.8,-9.5,189,1561,0.00,2.22,0.00,0.000,6,0.000,0.039,2391,1957,3402,0,0,0,0,0,0
$GC,1882,-0.74,-146.0,196.1,-8.5,220,1885,0.00,2.33,0.00,0.000,4,0.000,0.058,2390,540,3401,0,0,0,0,0,0
$GC,1931,-0.74,-146.0,200.3,-9.0,224,1935,0.00,2.20,0.00,0.000,6,0.000,0.040,2381,1960,3402,0,0,0,0,0,0
$GC,2258,-0.74,-146.0,227.1,-7.7,240,2262,0.00,2.30,0.00,0.000,4,0.000,0.057,2380,542,3402,0,0,0,0,0,0
$GC,2504,-0.74,-146.0,246.6,-7.4,251,2509,0.12,2.20,0.00,0.000,6,0.151,0.039,2405,1961,3402,0,0,0,0,0,0
$GC,2829,-0.74,-146.0,264.2,-5.3,267,2834,0.00,2.28,0.00,0.000,4,0.000,0.056,2405,539,3401,0,0,0,0,0,0
$GC,2944,-0.74,-146.0,272.1,-6.6,272,2948,0.00,2.20,0.00,0.000,6,0.000,0.040,2397,1957,3402,0,0,0,0,0,0
$GC,3267,-0.74,-146.0,293.4,-7.1,288,3271,0.00,2.33,0.00,0.000,4,0.000,0.056,2397,539,3402,0,0,0,0,0,0
$GC,3375,-0.74,-146.0,301.5,-7.0,293,3379,0.00,2.20,0.00,0.000,6,0.000,0.040,2388,1967,3401,0,0,0,0,0,0
$GC,3723,-0.74,-146.0,324.4,-6.1,302,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1967,3400,0,0,0,0,0,0
$GC,4049,-0.74,-146.0,341.4,-5.5,310,4053,0.00,2.33,0.00,0.000,4,0.000,0.057,2388,535,3398,0,0,0,0,0,0
$GC,4289,-0.74,-146.0,357.3,-7.2,315,4293,0.00,2.22,0.00,0.000,6,0.000,0.041,2378,1958,3396,0,0,0,0,0,0
$GC,4634,-0.74,-146.0,379.3,-6.0,324,4638,0.00,2.33,0.00,0.000,4,0.000,0.058,2378,544,3395,0,0,0,0,0,0
$GC,4719,-0.74,-146.0,384.5,-5.9,326,4723,0.12,2.20,0.00,0.000,6,0.152,0.041,2402,1957,3394,0,0,0,0,0,0
$GC,5051,-0.74,-146.0,398.8,-4.2,334,5055,0.00,2.25,0.00,0.000,4,0.000,0.057,2393,3368,3392,0,0,0,0,0,0
$GC,5136,-0.74,-146.0,403.5,-5.6,336,5140,0.00,2.28,0.00,0.000,6,0.000,0.047,2393,1949,3392,0,0,0,0,0,0
$STATE,5418,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5418,begin apogee
$GC,5426,-0.17,0.0,420.5,5.8,343,5551,0.57,0.00,122.15,0.730,6,0.110,0.000,2580,1948,2800,0,0,0,0,0,0
$STATE,5552,end apogee,CONTROL_FINISHED_OK
$STATE,5552,begin climb
$GC,5555,0.74,146.0,421.2,0.0,346,5693,0.82,2.45,127.32,0.705,4,0.071,0.053,2870,3383,2202,0,0,0,0,0,0
$GC,5818,0.74,146.0,397.0,10.1,352,5822,0.00,2.28,0.00,0.000,6,0.000,0.046,2880,1979,2199,0,0,0,0,0,0
$GC,6143,0.74,146.0,360.3,12.1,360,6147,0.00,2.25,0.00,0.000,4,0.000,0.055,2880,3387,2196,0,0,0,0,0,0
$GC,6233,0.74,146.0,348.4,13.3,362,6237,0.00,2.25,0.00,0.000,6,0.000,0.044,2889,1978,2194,0,0,0,0,0,0
$GC,6551,0.74,146.0,313.3,10.5,370,6555,0.00,2.28,0.00,0.000,4,0.000,0.057,2889,3387,2194,0,0,0,0,0,0
$GC,6573,0.74,146.0,310.5,12.2,370,6577,0.00,2.25,0.00,0.000,6,0.000,0.047,2898,1977,2194,0,0,0,0,0,0
$GC,6893,0.74,146.0,272.6,12.3,384,6897,0.00,2.28,0.00,0.000,4,0.000,0.058,2898,3387,2192,0,0,0,0,0,0
$GC,6965,0.74,146.0,262.5,13.8,387,6969,0.00,2.25,0.00,0.000,6,0.000,0.048,2907,1976,2192,0,0,0,0,0,0
$GC,7286,0.74,146.0,223.4,11.9,403,7290,0.00,2.28,0.00,0.000,4,0.000,0.059,2907,3391,2191,0,0,0,0,0,0
$GC,7313,0.74,146.0,220.0,12.2,404,7318,0.12,2.28,0.00,0.000,6,0.146,0.051,2879,1978,2191,0,0,0,0,0,0
$GC,7635,0.78,185.1,194.5,7.4,422,7673,0.00,2.35,32.42,0.596,4,0.000,0.060,2879,3384,2044,0,0,0,0,0,0
$GC,7716,0.78,185.1,187.3,10.0,429,7720,0.00,2.28,0.00,0.000,6,0.000,0.051,2885,1981,2043,0,0,0,0,0,0
$GC,8043,0.81,204.4,160.7,8.2,459,8067,0.00,2.30,17.65,0.551,4,0.000,0.059,2885,3396,1965,0,0,0,0,0,0
$GC,8093,0.81,204.4,156.3,9.2,463,8097,0.00,2.30,0.00,0.000,6,0.000,0.051,2893,1982,1965,0,0,0,0,0,0
$GC,8420,0.81,204.4,126.5,10.1,493,8424,0.00,2.33,0.00,0.000,4,0.000,0.060,2893,3392,1963,0,0,0,0,0,0
$GC,8483,0.81,204.4,120.2,9.7,498,8487,0.00,2.28,0.00,0.000,6,0.000,0.051,2893,1979,1963,0,0,0,0,0,0
$GC,8810,0.90,276.7,95.9,6.0,528,8877,0.10,0.00,63.47,0.515,6,0.087,0.000,2973,1979,1671,0,0,0,0,0,0
$GC,9201,0.90,276.7,52.3,10.7,586,9209,0.15,2.33,0.00,0.000,4,0.123,0.059,2928,3379,1669,0,0,0,0,0,0
$GC,9257,0.90,276.7,46.4,9.3,595,9263,0.00,2.25,0.00,0.000,6,0.000,0.049,2934,1979,1668,0,0,0,0,0,0
$GC,9587,0.90,276.7,14.5,9.9,656,9594,0.00,2.30,0.00,0.000,4,0.000,0.059,2934,3382,1668,0,0,0,0,0,0
$GC,9630,0.93,299.4,10.8,8.1,663,9658,0.00,2.28,20.30,0.430,6,0.000,0.050,2942,1980,1578,0,0,0,0,0,0
$STATE,9701,end climb,SURFACE_DEPTH_REACHED
$STATE,9701,begin surface coast
$FINISH,0.6,1.023176
$STATE,9726,end surface coast,CONTROL_FINISHED_OK
$STATE,9726,begin surface
$SM_CCo,9804,0.00,0.000,0,0,1575,300.49
$SM_GC,1.45,7.32,0.00,0.00,0.016,0.000,0.000,31,1977,1575,-8.00,0.59,300.49
$IRIDIUM_FIX,2106.38,-15802.47,280902,030353
$TT8_MAMPS,0.027612
$HUMID,66.85
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,24.4,54.428
$10V_AH,10.1,59.799
$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,18.850,95.525,383.325,0.000,0.000,24.054,37.836,156.541,17.750,0.000,16.722,1242.170,5685.520,400.086,2324.445,510.789,0.000,1255.889,0.000,2277.663,0.000,113.026,0.000
$DEVICE_MAMPS,210.158,59.826,730.184,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,461.323,408.023,1364.459,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38124,679
$CAP_FILE_SIZE,107618,0
$CFSIZE,260165632,224014336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040713,093135,2109.911,-15754.136,13,0.9,13,9.8