version: 66.06
glider: 523
mission: 4
dive: 637
start: 7 4 113 12 35 36
data:
$ID,523
$MISSION,4
$DIVE,637
$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,-48824.973
$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,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
$GPS1,122904,2109.542,-15753.619,35,1.0,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.0
$GPS2,123517,2109.523,-15753.649,17,1.2,17,9.8
$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,100.5,19773,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-83.25,0.000,6,0.000,0.000,29,1982,3395,0,0,0,0,0,0
$GC,110,-0.74,-146.0,4.0,-5.9,14,125,9.38,2.33,0.00,0.000,4,0.212,0.054,2395,538,3397,0,0,0,0,0,0
$GC,206,-0.74,-146.0,25.4,-15.1,31,214,0.00,2.25,0.00,0.000,6,0.000,0.039,2387,1962,3397,0,0,0,0,0,0
$GC,377,-0.74,-146.0,48.1,-13.1,62,385,0.00,2.35,0.00,0.000,4,0.000,0.062,2387,544,3398,0,0,0,0,0,0
$GC,442,-0.74,-146.0,57.4,-14.3,73,447,0.00,2.20,0.00,0.000,6,0.000,0.040,2378,1958,3398,0,0,0,0,0,0
$GC,773,-0.74,-146.0,95.3,-10.5,120,777,0.00,2.33,0.00,0.000,4,0.000,0.062,2378,537,3399,0,0,0,0,0,0
$GC,1024,-0.74,-146.0,120.7,-8.4,142,1031,0.00,2.22,0.00,0.000,6,0.000,0.039,2368,1958,3400,0,0,0,0,0,0
$GC,1351,-0.74,-146.0,152.2,-11.1,173,1356,0.12,2.25,0.00,0.000,4,0.160,0.061,2393,3370,3401,0,0,0,0,0,0
$GC,1523,-0.74,-146.0,167.8,-7.8,188,1527,0.00,2.22,0.00,0.000,6,0.000,0.048,2393,1954,3401,0,0,0,0,0,0
$GC,1851,-0.74,-146.0,191.8,-7.7,218,1855,0.00,2.28,0.00,0.000,4,0.000,0.064,2393,544,3401,0,0,0,0,0,0
$GC,2107,-0.74,-146.0,214.5,-8.5,233,2112,0.00,2.17,0.00,0.000,6,0.000,0.038,2383,1961,3401,0,0,0,0,0,0
$GC,2425,-0.74,-146.0,236.0,-6.1,249,2429,0.00,2.33,0.00,0.000,4,0.000,0.059,2383,534,3401,0,0,0,0,0,0
$GC,2489,-0.74,-146.0,240.5,-6.9,252,2493,0.00,2.20,0.00,0.000,6,0.000,0.039,2374,1957,3401,0,0,0,0,0,0
$GC,2820,-0.74,-146.0,260.8,-6.0,268,2824,0.00,2.35,0.00,0.000,4,0.000,0.059,2374,541,3401,0,0,0,0,0,0
$GC,2906,-0.74,-146.0,266.6,-6.2,272,2910,0.12,2.17,0.00,0.000,6,0.151,0.039,2398,1961,3401,0,0,0,0,0,0
$GC,3232,-0.74,-146.0,287.4,-6.8,288,3236,0.00,2.33,0.00,0.000,4,0.000,0.058,2398,545,3401,0,0,0,0,0,0
$GC,3349,-0.74,-146.0,295.4,-6.9,293,3353,0.00,2.20,0.00,0.000,6,0.000,0.039,2390,1967,3401,0,0,0,0,0,0
$GC,3666,-0.74,-146.0,317.8,-7.3,303,3670,0.00,2.35,0.00,0.000,4,0.000,0.060,2390,545,3400,0,0,0,0,0,0
$GC,3809,-0.74,-146.0,328.2,-7.1,306,3813,0.00,2.17,0.00,0.000,6,0.000,0.041,2380,1955,3398,0,0,0,0,0,0
$GC,4128,-0.74,-146.0,347.6,-6.0,314,4132,0.00,2.30,0.00,0.000,4,0.000,0.060,2381,538,3397,0,0,0,0,0,0
$GC,4196,-0.74,-146.0,352.4,-6.8,315,4201,0.12,2.17,0.00,0.000,6,0.150,0.041,2406,1957,3396,0,0,0,0,0,0
$GC,4534,-0.74,-146.0,369.2,-4.9,324,4538,0.00,2.25,0.00,0.000,4,0.000,0.061,2396,3364,3395,0,0,0,0,0,0
$GC,4607,-0.74,-146.0,373.7,-6.1,325,4611,0.00,2.22,0.00,0.000,6,0.000,0.048,2397,1954,3395,0,0,0,0,0,0
$GC,4941,-0.74,-146.0,394.7,-6.1,333,4945,0.00,2.30,0.00,0.000,4,0.000,0.065,2397,547,3393,0,0,0,0,0,0
$GC,5201,-0.74,-146.0,411.9,-6.4,338,5205,0.00,2.17,0.00,0.000,6,0.000,0.041,2387,1957,3391,0,0,0,0,0,0
$STATE,5408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5408,begin apogee
$GC,5414,-0.17,0.0,426.8,7.2,343,5540,0.60,0.00,122.10,0.732,6,0.111,0.000,2581,1958,2799,0,0,0,0,0,0
$STATE,5540,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,428.9,0.0,346,5682,0.82,2.38,127.18,0.710,4,0.077,0.061,2867,3376,2202,0,0,0,0,0,0
$GC,5816,0.74,146.0,402.8,11.4,352,5820,0.00,2.28,0.00,0.000,6,0.000,0.045,2877,1980,2199,0,0,0,0,0,0
$GC,6164,0.74,146.0,362.7,12.0,361,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1981,2196,0,0,0,0,0,0
$GC,6489,0.74,146.0,327.1,10.2,369,6493,0.00,2.30,0.00,0.000,4,0.000,0.061,2877,3393,2194,0,0,0,0,0,0
$GC,6630,0.74,146.0,311.0,11.5,372,6634,0.00,2.28,0.00,0.000,6,0.000,0.049,2886,1981,2193,0,0,0,0,0,0
$GC,6951,0.74,146.0,277.3,9.9,385,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1981,2192,0,0,0,0,0,0
$GC,7261,0.77,169.0,250.7,8.1,400,7285,0.00,2.28,19.40,0.621,4,0.000,0.060,2886,3389,2109,0,0,0,0,0,0
$GC,7409,0.77,169.0,236.5,10.2,406,7415,0.00,2.22,0.00,0.000,6,0.000,0.039,2895,1967,2107,0,0,0,0,0,0
$GC,7725,0.77,169.0,202.0,10.8,422,7729,0.00,2.28,0.00,0.000,4,0.000,0.051,2895,3393,2104,0,0,0,0,0,0
$GC,7815,0.77,169.0,191.3,11.2,429,7819,0.00,2.17,0.00,0.000,6,0.000,0.039,2905,1980,2104,0,0,0,0,0,0
$GC,8144,0.78,184.8,159.6,8.4,459,8168,0.00,2.28,14.27,0.544,4,0.000,0.050,2905,3388,2045,0,0,0,0,0,0
$GC,8247,0.78,184.8,149.8,9.1,468,8251,0.00,2.17,0.00,0.000,6,0.000,0.038,2911,1980,2043,0,0,0,0,0,0
$GC,8574,0.78,184.8,117.5,9.7,498,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1980,2043,0,0,0,0,0,0
$GC,8895,0.85,234.1,93.8,7.0,528,8945,0.00,2.30,43.30,0.514,4,0.000,0.050,2911,3392,1844,0,0,0,0,0,0
$GC,8965,0.88,263.8,88.3,7.8,534,9001,0.00,2.30,27.17,0.495,6,0.000,0.053,2920,1980,1722,0,0,0,0,0,0
$GC,9324,0.88,263.8,59.6,9.8,590,9331,0.00,2.30,0.00,0.000,4,0.000,0.056,2928,575,1722,0,0,0,0,0,0
$GC,9346,0.88,263.8,57.7,10.1,593,9351,0.00,2.20,0.00,0.000,6,0.000,0.035,2928,1994,1722,0,0,0,0,0,0
$GC,9680,0.88,263.8,23.7,9.1,654,9688,0.00,2.22,0.00,0.000,4,0.000,0.054,2928,3389,1722,0,0,0,0,0,0
$GC,9797,0.89,271.5,13.1,8.7,675,9812,0.00,2.28,8.12,0.392,6,0.000,0.048,2936,1988,1691,0,0,0,0,0,0
$STATE,9931,end climb,SURFACE_DEPTH_REACHED
$STATE,9931,begin surface coast
$FINISH,0.5,0.998592
$STATE,9973,end surface coast,CONTROL_FINISHED_OK
$STATE,9974,begin surface
$SM_CCo,9992,15.57,0.409,0,0,1575,300.24
$SM_GC,1.21,0.00,0.00,15.57,0.000,0.000,0.409,24,1949,1575,-8.18,-0.23,300.24
$IRIDIUM_FIX,2106.38,-15809.77,280902,090932
$TT8_MAMPS,0.028379
$HUMID,66.34
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.4,54.604
$10V_AH,10.1,60.006
$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,18.625,90.400,361.550,15.575,0.000,31.560,36.870,156.741,18.000,0.000,18.276,1300.630,5730.630,409.018,2428.660,508.979,0.000,1281.121,0.000,2375.383,0.000,109.515,0.000
$DEVICE_MAMPS,212.459,166.439,731.718,408.811,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,479.944,418.765,1403.987,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,38085,707
$CAP_FILE_SIZE,109590,0
$CFSIZE,260165632,223903744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040713,152318,2109.452,-15752.905,15,1.3,15,9.8