version: 66.06
glider: 523
mission: 4
dive: 642
start: 7 5 113 3 8 30
data:
$ID,523
$MISSION,4
$DIVE,642
$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,-48923.219
$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,29
$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
$GPS1,030131,2108.510,-15749.626,14,1.4,14,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.5
$GPS2,030812,2108.486,-15749.643,22,1.4,22,9.8
$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,103.3,12629,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-84.93,0.000,6,0.000,0.000,24,1952,3393,0,0,0,0,0,0
$GC,109,-0.74,-146.0,3.7,-5.4,14,124,9.45,2.25,0.00,0.000,4,0.214,0.052,2390,539,3395,0,0,0,0,0,0
$GC,222,-0.74,-146.0,24.9,-14.6,34,229,0.00,2.20,0.00,0.000,6,0.000,0.037,2382,1949,3396,0,0,0,0,0,0
$GC,396,-0.74,-146.0,48.8,-13.9,65,401,0.00,2.25,0.00,0.000,4,0.000,0.058,2382,540,3396,0,0,0,0,0,0
$GC,649,-0.74,-146.0,81.7,-12.3,110,653,0.00,2.17,0.00,0.000,6,0.000,0.035,2373,1967,3397,0,0,0,0,0,0
$GC,982,-0.74,-146.0,121.4,-11.2,141,987,0.10,2.30,0.00,0.000,4,0.168,0.055,2398,544,3398,0,0,0,0,0,0
$GC,1234,-0.74,-146.0,143.8,-7.3,163,1241,0.00,2.20,0.00,0.000,6,0.000,0.035,2390,1960,3398,0,0,0,0,0,0
$GC,1561,-0.74,-146.0,168.4,-8.3,194,1565,0.00,2.25,0.00,0.000,4,0.000,0.058,2379,3363,3399,0,0,0,0,0,0
$GC,1778,-0.74,-146.0,186.9,-9.0,213,1785,0.00,2.28,0.00,0.000,6,0.000,0.046,2379,1950,3399,0,0,0,0,0,0
$GC,2110,-0.74,-146.0,213.5,-8.0,237,2114,0.00,2.22,0.00,0.000,4,0.000,0.057,2379,542,3400,0,0,0,0,0,0
$GC,2219,-0.74,-146.0,223.3,-8.6,242,2223,0.12,2.15,0.00,0.000,6,0.156,0.035,2404,1966,3400,0,0,0,0,0,0
$GC,2546,-0.74,-146.0,245.1,-6.2,258,2550,0.00,2.28,0.00,0.000,4,0.000,0.054,2404,542,3400,0,0,0,0,0,0
$GC,2647,-0.74,-146.0,252.1,-7.1,262,2652,0.00,2.15,0.00,0.000,6,0.000,0.035,2397,1955,3400,0,0,0,0,0,0
$GC,2963,-0.74,-146.0,269.7,-5.6,278,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1956,3399,0,0,0,0,0,0
$GC,3273,-0.74,-146.0,291.9,-7.6,293,3277,0.00,2.33,0.00,0.000,4,0.000,0.055,2396,544,3399,0,0,0,0,0,0
$GC,3374,-0.74,-146.0,300.5,-8.2,297,3380,0.00,2.15,0.00,0.000,6,0.000,0.036,2387,1957,3399,0,0,0,0,0,0
$GC,3709,-0.74,-146.0,321.4,-5.3,306,3713,0.00,2.35,0.00,0.000,4,0.000,0.055,2388,547,3397,0,0,0,0,0,0
$GC,3809,-0.74,-146.0,325.9,-4.6,308,3813,0.00,2.20,0.00,0.000,6,0.000,0.037,2378,1965,3396,0,0,0,0,0,0
$GC,4158,-0.74,-146.0,341.1,-5.1,317,4162,0.00,2.33,0.00,0.000,4,0.000,0.058,2378,544,3395,0,0,0,0,0,0
$GC,4306,-0.74,-146.0,351.7,-8.2,320,4311,0.12,2.20,0.00,0.000,6,0.156,0.038,2401,1964,3394,0,0,0,0,0,0
$GC,4622,-0.74,-146.0,374.0,-7.2,328,4626,0.00,2.33,0.00,0.000,4,0.000,0.059,2402,541,3392,0,0,0,0,0,0
$GC,4813,-0.74,-146.0,388.7,-8.6,332,4817,0.00,2.20,0.00,0.000,6,0.000,0.038,2394,1958,3391,0,0,0,0,0,0
$GC,5161,-0.74,-146.0,408.8,-5.0,341,5165,0.00,2.33,0.00,0.000,4,0.000,0.061,2394,542,3389,0,0,0,0,0,0
$GC,5222,-0.74,-146.0,411.9,-5.1,342,5226,0.00,2.20,0.00,0.000,6,0.000,0.040,2385,1963,3388,0,0,0,0,0,0
$STATE,5439,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5439,begin apogee
$GC,5446,-0.17,0.0,421.9,4.5,348,5571,0.62,0.00,121.62,0.734,6,0.113,0.000,2586,1964,2799,0,0,0,0,0,0
$STATE,5572,end apogee,CONTROL_FINISHED_OK
$STATE,5572,begin climb
$GC,5575,0.74,146.0,421.6,0.0,351,5713,0.82,2.42,126.95,0.710,4,0.073,0.056,2874,3391,2202,0,0,0,0,0,0
$GC,5798,0.74,146.0,396.6,12.8,356,5802,0.00,2.28,0.00,0.000,6,0.000,0.043,2883,1977,2199,0,0,0,0,0,0
$GC,6111,0.74,146.0,358.3,12.2,364,6115,0.00,2.28,0.00,0.000,4,0.000,0.055,2884,3389,2196,0,0,0,0,0,0
$GC,6145,0.74,146.0,353.9,13.5,364,6150,0.00,2.25,0.00,0.000,6,0.000,0.044,2893,1970,2196,0,0,0,0,0,0
$GC,6476,0.74,146.0,313.8,11.6,373,6480,0.00,2.30,0.00,0.000,4,0.000,0.058,2892,3388,2195,0,0,0,0,0,0
$GC,6503,0.74,146.0,310.1,13.1,373,6507,0.00,2.25,0.00,0.000,6,0.000,0.046,2900,1969,2194,0,0,0,0,0,0
$GC,6823,0.74,146.0,275.3,11.2,387,6827,0.00,2.30,0.00,0.000,4,0.000,0.058,2900,3389,2193,0,0,0,0,0,0
$GC,6908,0.74,146.0,264.8,11.8,391,6913,0.12,2.25,0.00,0.000,6,0.143,0.048,2875,1983,2192,0,0,0,0,0,0
$GC,7235,0.75,156.2,236.1,8.6,407,7250,0.00,2.30,8.00,0.551,4,0.000,0.058,2875,3385,2162,0,0,0,0,0,0
$GC,7280,0.75,156.2,231.6,10.6,409,7284,0.00,2.25,0.00,0.000,6,0.000,0.048,2882,1976,2161,0,0,0,0,0,0
$GC,7607,0.76,164.4,202.1,8.7,425,7621,0.00,2.33,8.75,0.545,4,0.000,0.059,2882,3389,2128,0,0,0,0,0,0
$GC,7697,0.76,164.4,193.5,10.1,431,7701,0.00,2.25,0.00,0.000,6,0.000,0.049,2890,1980,2127,0,0,0,0,0,0
$GC,8024,0.76,164.4,160.8,9.6,461,8028,0.00,2.30,0.00,0.000,4,0.000,0.064,2899,560,2126,0,0,0,0,0,0
$GC,8076,0.76,167.1,156.0,8.9,465,8080,0.00,2.22,0.00,0.000,6,0.000,0.040,2899,1983,2125,0,0,0,0,0,0
$GC,8404,0.79,191.3,129.4,8.0,495,8438,0.00,2.33,24.05,0.542,4,0.000,0.063,2899,3392,2018,0,0,0,0,0,0
$GC,8538,0.80,194.9,118.0,8.9,507,8551,0.00,2.28,4.50,0.393,6,0.000,0.050,2905,1978,2005,0,0,0,0,0,0
$GC,8872,0.86,245.3,95.5,6.9,538,8922,0.00,2.30,44.90,0.514,4,0.000,0.058,2905,3389,1798,0,0,0,0,0,0
$GC,9034,0.86,245.3,81.5,9.0,552,9038,0.00,2.28,0.00,0.000,6,0.000,0.045,2905,1967,1796,0,0,0,0,0,0
$GC,9368,0.87,254.7,52.3,8.6,611,9385,0.00,2.28,9.43,0.428,4,0.000,0.061,2907,578,1760,0,0,0,0,0,0
$GC,9494,0.91,284.8,42.6,7.8,633,9529,0.00,2.17,26.92,0.459,6,0.000,0.035,2908,1983,1637,0,0,0,0,0,0
$GC,9852,0.99,348.4,14.2,6.4,699,9912,0.15,2.28,53.92,0.442,4,0.064,0.061,3012,3386,1378,0,0,0,0,0,0
$GC,9931,0.99,348.4,5.5,13.1,711,9940,0.17,2.30,0.00,0.000,6,0.116,0.047,2963,1983,1376,0,0,0,0,0,0
$STATE,9951,end climb,SURFACE_DEPTH_REACHED
$STATE,9952,begin surface coast
$FINISH,0.8,1.023186
$STATE,9974,end surface coast,CONTROL_FINISHED_OK
$STATE,9974,begin surface
$SM_CCo,10053,0.00,0.000,0,0,1372,350.28
$SM_GC,1.56,7.47,0.00,0.00,0.022,0.000,0.000,40,1979,1372,-7.98,0.68,350.28
$IRIDIUM_FIX,2104.07,-15750.02,290902,000049
$TT8_MAMPS,0.028379
$HUMID,65.79
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.4,55.053
$10V_AH,10.1,60.532
$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,19.175,99.475,429.050,0.000,0.000,26.379,35.611,187.493,17.500,0.000,22.673,1288.847,5772.619,433.929,2414.776,537.334,0.000,1333.059,0.000,2363.534,0.000,107.959,0.000
$DEVICE_MAMPS,213.993,63.661,734.019,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,486.501,428.005,1426.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41200,718
$CAP_FILE_SIZE,113007,0
$CFSIZE,260165632,223617024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050713,055704,2108.254,-15748.804,25,0.7,25,9.8