version: 66.06
glider: 523
mission: 4
dive: 641
start: 7 5 113 0 16 11
data:
$ID,523
$MISSION,4
$DIVE,641
$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,-48899.918
$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,20
$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
$GPS1,000934,2108.819,-15750.036,25,1.2,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.3
$GPS2,001554,2108.832,-15750.098,16,1.1,16,9.8
$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,104.5,13607,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-79.57,0.000,6,0.000,0.000,32,1946,3396,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.6,-5.8,13,120,9.45,2.22,0.00,0.000,4,0.215,0.051,2392,541,3397,0,0,0,0,0,0
$GC,190,-0.74,-146.0,20.9,-13.4,28,198,0.00,2.22,0.00,0.000,6,0.000,0.037,2384,1964,3398,0,0,0,0,0,0
$GC,362,-0.74,-146.0,44.3,-13.8,59,367,0.00,2.30,0.00,0.000,4,0.000,0.057,2384,542,3399,0,0,0,0,0,0
$GC,515,-0.74,-146.0,65.9,-12.6,87,521,0.00,2.20,0.00,0.000,6,0.000,0.037,2375,1968,3399,0,0,0,0,0,0
$GC,852,-0.74,-146.0,98.5,-10.0,131,856,0.00,2.33,0.00,0.000,4,0.000,0.056,2375,539,3401,0,0,0,0,0,0
$GC,1066,-0.74,-146.0,122.3,-10.7,150,1071,0.12,2.17,0.00,0.000,6,0.160,0.035,2397,1970,3401,0,0,0,0,0,0
$GC,1394,-0.74,-146.0,150.9,-8.8,180,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1971,3402,0,0,0,0,0,0
$GC,1711,-0.74,-146.0,173.1,-5.2,210,1715,0.00,2.30,0.00,0.000,4,0.000,0.054,2397,545,3403,0,0,0,0,0,0
$GC,1962,-0.74,-146.0,191.8,-8.7,232,1969,0.00,2.20,0.00,0.000,6,0.000,0.035,2389,1958,3402,0,0,0,0,0,0
$GC,2290,-0.74,-146.0,219.3,-8.4,253,2295,0.00,2.30,0.00,0.000,4,0.000,0.054,2390,545,3403,0,0,0,0,0,0
$GC,2416,-0.74,-146.0,230.7,-8.6,258,2422,0.00,2.15,0.00,0.000,6,0.000,0.036,2379,1958,3403,0,0,0,0,0,0
$GC,2735,-0.74,-146.0,254.4,-6.5,274,2739,0.00,2.28,0.00,0.000,4,0.000,0.054,2379,545,3403,0,0,0,0,0,0
$GC,2849,-0.74,-146.0,263.0,-8.0,279,2853,0.12,2.17,0.00,0.000,6,0.157,0.036,2403,1963,3403,0,0,0,0,0,0
$GC,3179,-0.74,-146.0,280.6,-5.0,295,3183,0.00,2.22,0.00,0.000,4,0.000,0.056,2394,3367,3402,0,0,0,0,0,0
$GC,3207,-0.74,-146.0,282.1,-5.4,296,3211,0.00,2.22,0.00,0.000,6,0.000,0.043,2394,1954,3402,0,0,0,0,0,0
$GC,3525,-0.74,-146.0,300.5,-6.5,311,3529,0.00,2.28,0.00,0.000,4,0.000,0.060,2394,544,3402,0,0,0,0,0,0
$GC,3604,-0.74,-146.0,306.2,-7.4,312,3608,0.00,2.17,0.00,0.000,6,0.000,0.036,2385,1958,3402,0,0,0,0,0,0
$GC,3937,-0.74,-146.0,326.9,-6.4,320,3941,0.00,2.28,0.00,0.000,4,0.000,0.058,2384,548,3400,0,0,0,0,0,0
$GC,4106,-0.74,-146.0,340.0,-7.0,323,4112,0.00,2.17,0.00,0.000,6,0.000,0.038,2375,1957,3399,0,0,0,0,0,0
$GC,4439,-0.74,-146.0,361.1,-5.8,332,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1957,3397,0,0,0,0,0,0
$GC,4763,-0.74,-146.0,378.0,-5.2,340,4767,0.00,2.33,0.00,0.000,4,0.000,0.060,2375,546,3396,0,0,0,0,0,0
$GC,5021,-0.74,-146.0,398.0,-7.9,345,5026,0.12,2.20,0.00,0.000,6,0.154,0.038,2398,1963,3394,0,0,0,0,0,0
$GC,5358,-0.74,-146.0,418.4,-5.5,354,5362,0.00,2.33,0.00,0.000,4,0.000,0.061,2399,540,3392,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5405,begin apogee
$GC,5415,-0.17,0.0,421.1,5.7,355,5540,0.57,0.00,122.10,0.728,6,0.114,0.000,2580,1986,2799,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,421.2,0.0,358,5682,0.85,2.38,126.90,0.704,4,0.077,0.056,2874,3388,2202,0,0,0,0,0,0
$GC,5733,0.74,146.0,399.9,13.7,362,5737,0.00,2.30,0.00,0.000,6,0.000,0.041,2883,1976,2200,0,0,0,0,0,0
$GC,6075,0.74,146.0,358.3,11.8,371,6079,0.00,2.30,0.00,0.000,4,0.000,0.064,2893,572,2196,0,0,0,0,0,0
$GC,6103,0.74,146.0,355.1,12.1,371,6107,0.00,2.22,0.00,0.000,6,0.000,0.038,2894,1996,2196,0,0,0,0,0,0
$GC,6434,0.74,146.0,317.2,11.1,379,6438,0.00,2.20,0.00,0.000,4,0.000,0.058,2893,3389,2195,0,0,0,0,0,0
$GC,6608,0.74,146.0,294.5,13.2,383,6612,0.00,2.22,0.00,0.000,6,0.000,0.042,2899,1977,2193,0,0,0,0,0,0
$GC,6935,0.74,146.0,258.9,11.0,399,6939,0.00,2.25,0.00,0.000,4,0.000,0.055,2899,3392,2192,0,0,0,0,0,0
$GC,7012,0.74,146.0,249.1,12.1,402,7019,0.12,2.25,0.00,0.000,6,0.145,0.045,2873,1978,2191,0,0,0,0,0,0
$GC,7329,0.74,146.0,217.5,9.7,418,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1978,2191,0,0,0,0,0,0
$GC,7644,0.77,172.6,191.1,7.9,438,7671,0.00,2.28,21.98,0.587,4,0.000,0.058,2873,3389,2095,0,0,0,0,0,0
$GC,7702,0.79,185.6,186.2,8.5,443,7720,0.00,2.25,12.62,0.551,6,0.000,0.047,2880,1981,2043,0,0,0,0,0,0
$GC,8042,0.82,215.4,157.4,7.8,474,8071,0.00,0.00,27.02,0.560,6,0.000,0.000,2880,1981,1922,0,0,0,0,0,0
$GC,8391,0.82,215.4,133.2,9.1,507,8395,0.00,2.30,0.00,0.000,4,0.000,0.057,2880,3386,1919,0,0,0,0,0,0
$GC,8432,0.82,215.4,128.7,10.9,510,8436,0.00,2.22,0.00,0.000,6,0.000,0.043,2880,1979,1918,0,0,0,0,0,0
$GC,8759,0.84,233.2,96.1,8.3,540,8783,0.00,2.28,16.55,0.501,4,0.000,0.053,2880,3381,1847,0,0,0,0,0,0
$GC,8809,0.88,264.7,92.3,7.7,544,8845,0.12,2.22,28.83,0.501,6,0.071,0.044,2967,1975,1719,0,0,0,0,0,0
$GC,9168,0.91,287.3,56.8,8.1,599,9198,0.12,2.30,20.52,0.467,4,0.132,0.062,2940,574,1627,0,0,0,0,0,0
$GC,9207,0.97,336.0,53.8,7.0,605,9255,0.00,2.20,42.08,0.472,6,0.000,0.037,2939,1983,1429,0,0,0,0,0,0
$GC,9582,0.98,343.0,21.2,8.7,673,9596,0.00,2.28,6.78,0.383,4,0.000,0.056,2940,3391,1400,0,0,0,0,0,0
$GC,9676,0.98,343.0,11.5,10.4,690,9684,0.00,2.25,0.00,0.000,6,0.000,0.044,2947,1987,1399,0,0,0,0,0,0
$STATE,9761,end climb,SURFACE_DEPTH_REACHED
$STATE,9762,begin surface coast
$FINISH,0.6,1.023255
$STATE,9792,end surface coast,CONTROL_FINISHED_OK
$STATE,9792,begin surface
$SM_CCo,9870,0.00,0.000,0,0,1397,344.15
$SM_GC,1.42,7.38,0.00,0.00,0.021,0.000,0.000,24,1955,1397,-8.01,-0.06,344.15
$IRIDIUM_FIX,2059.45,-15858.25,280902,212152
$TT8_MAMPS,0.027612
$HUMID,66.57
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.4,54.961
$10V_AH,10.1,60.427
$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,19.000,90.100,425.375,0.000,0.000,30.800,42.627,158.164,17.500,0.000,17.105,1269.562,5651.387,419.001,2379.021,522.517,0.000,1284.846,0.000,2335.275,0.000,110.506,0.000
$DEVICE_MAMPS,214.760,168.740,727.883,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,481.946,425.490,1443.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38086,711
$CAP_FILE_SIZE,108498,0
$CFSIZE,260165632,223682560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050713,030131,2108.510,-15749.626,14,1.4,14,9.8