version: 66.06
glider: 523
mission: 4
dive: 643
start: 7 5 113 6 3 41
data:
$ID,523
$MISSION,4
$DIVE,643
$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,-48941.855
$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,30
$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
$GPS1,055704,2108.254,-15748.804,25,0.7,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.8
$GPS2,060324,2108.223,-15748.804,17,1.0,17,9.8
$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,103.9,11106,-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,-85.97,0.000,6,0.000,0.000,29,1976,3396,0,0,0,0,0,0
$GC,112,-0.74,-146.0,3.6,-5.2,14,127,9.43,2.30,0.00,0.000,4,0.214,0.054,2392,541,3397,0,0,0,0,0,0
$GC,303,-0.74,-146.0,37.5,-13.6,49,309,0.00,2.17,0.00,0.000,6,0.000,0.037,2384,1956,3399,0,0,0,0,0,0
$GC,631,-0.74,-146.0,74.6,-9.5,110,640,0.00,2.30,0.00,0.000,4,0.000,0.061,2374,3360,3400,0,0,0,0,0,0
$GC,749,-0.74,-146.0,87.1,-10.6,125,756,0.00,2.25,0.00,0.000,6,0.000,0.048,2373,1957,3401,0,0,0,0,0,0
$GC,1076,-0.74,-146.0,122.8,-11.0,156,1080,0.00,2.25,0.00,0.000,4,0.000,0.058,2373,542,3401,0,0,0,0,0,0
$GC,1161,-0.74,-146.0,132.7,-11.7,163,1166,0.15,2.17,0.00,0.000,6,0.151,0.035,2405,1964,3401,0,0,0,0,0,0
$GC,1489,-0.74,-146.0,162.4,-9.3,193,1493,0.00,2.25,0.00,0.000,4,0.000,0.056,2406,545,3402,0,0,0,0,0,0
$GC,1737,-0.74,-146.0,184.7,-7.4,215,1748,0.00,2.17,0.00,0.000,6,0.000,0.035,2397,1949,3402,0,0,0,0,0,0
$GC,2060,-0.74,-146.0,208.0,-7.7,241,2064,0.00,2.25,0.00,0.000,4,0.000,0.054,2398,544,3403,0,0,0,0,0,0
$GC,2156,-0.74,-146.0,215.4,-7.9,245,2160,0.00,2.15,0.00,0.000,6,0.000,0.035,2388,1961,3403,0,0,0,0,0,0
$GC,2474,-0.74,-146.0,239.6,-6.7,260,2478,0.00,2.30,0.00,0.000,4,0.000,0.054,2388,536,3402,0,0,0,0,0,0
$GC,2507,-0.74,-146.0,241.8,-6.1,261,2511,0.00,2.17,0.00,0.000,6,0.000,0.036,2378,1960,3403,0,0,0,0,0,0
$GC,2831,-0.74,-146.0,262.7,-7.5,277,2835,0.00,2.28,0.00,0.000,4,0.000,0.054,2378,542,3402,0,0,0,0,0,0
$GC,2967,-0.74,-146.0,275.1,-9.1,283,2972,0.12,2.17,0.00,0.000,6,0.154,0.037,2402,1968,3402,0,0,0,0,0,0
$GC,3288,-0.74,-146.0,297.9,-6.5,299,3292,0.00,2.22,0.00,0.000,4,0.000,0.057,2393,3370,3402,0,0,0,0,0,0
$GC,3547,-0.74,-146.0,314.4,-6.6,305,3552,0.00,2.25,0.00,0.000,6,0.000,0.043,2393,1954,3402,0,0,0,0,0,0
$GC,3880,-0.74,-146.0,338.1,-7.3,314,3884,0.00,2.28,0.00,0.000,4,0.000,0.058,2393,544,3400,0,0,0,0,0,0
$GC,4081,-0.74,-146.0,354.1,-7.4,318,4085,0.00,2.17,0.00,0.000,6,0.000,0.036,2383,1964,3398,0,0,0,0,0,0
$GC,4419,-0.74,-146.0,371.6,-4.6,327,4423,0.00,2.30,0.00,0.000,4,0.000,0.057,2383,548,3397,0,0,0,0,0,0
$GC,4678,-0.74,-146.0,385.8,-5.3,332,4682,0.00,2.17,0.00,0.000,6,0.000,0.038,2374,1954,3395,0,0,0,0,0,0
$GC,5013,-0.74,-146.0,406.0,-6.3,340,5017,0.00,2.30,0.00,0.000,4,0.000,0.058,2374,548,3394,0,0,0,0,0,0
$GC,5199,-0.74,-146.0,420.0,-7.0,344,5203,0.12,2.20,0.00,0.000,6,0.156,0.039,2398,1967,3392,0,0,0,0,0,0
$STATE,5434,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5434,begin apogee
$GC,5441,-0.17,0.0,432.9,5.3,350,5567,0.57,0.00,122.10,0.742,6,0.112,0.000,2585,1966,2800,0,0,0,0,0,0
$STATE,5567,end apogee,CONTROL_FINISHED_OK
$STATE,5568,begin climb
$GC,5570,0.74,146.0,433.3,0.0,353,5709,0.82,2.38,127.30,0.716,4,0.074,0.057,2873,3390,2202,0,0,0,0,0,0
$GC,5804,0.74,146.0,407.4,13.3,358,5808,0.00,2.28,0.00,0.000,6,0.000,0.044,2882,1978,2199,0,0,0,0,0,0
$GC,6147,0.74,146.0,365.3,12.1,367,6151,0.00,2.28,0.00,0.000,4,0.000,0.066,2893,574,2196,0,0,0,0,0,0
$GC,6192,0.74,146.0,359.6,12.0,368,6196,0.00,2.20,0.00,0.000,6,0.000,0.040,2892,1980,2195,0,0,0,0,0,0
$GC,6510,0.74,146.0,324.6,10.5,376,6514,0.00,2.25,0.00,0.000,4,0.000,0.061,2892,3385,2195,0,0,0,0,0,0
$GC,6670,0.74,146.0,307.2,11.0,379,6674,0.00,2.25,0.00,0.000,6,0.000,0.047,2902,1981,2192,0,0,0,0,0,0
$GC,6990,0.74,146.0,274.4,9.6,393,6994,0.00,2.25,0.00,0.000,4,0.000,0.059,2902,3384,2191,0,0,0,0,0,0
$GC,7091,0.74,146.0,264.3,9.2,397,7097,0.12,2.22,0.00,0.000,6,0.152,0.049,2877,1980,2191,0,0,0,0,0,0
$GC,7406,0.74,146.0,235.5,9.8,413,7410,0.00,2.28,0.00,0.000,4,0.000,0.058,2877,3384,2190,0,0,0,0,0,0
$GC,7469,0.74,146.0,229.0,10.2,416,7473,0.00,2.25,0.00,0.000,6,0.000,0.049,2884,1980,2190,0,0,0,0,0,0
$GC,7796,0.74,150.0,199.6,8.9,432,7800,0.00,2.30,0.00,0.000,4,0.000,0.059,2885,3387,2190,0,0,0,0,0,0
$GC,7839,0.74,150.0,195.0,9.9,435,7847,0.00,2.28,0.00,0.000,6,0.000,0.049,2893,1981,2190,0,0,0,0,0,0
$GC,8167,0.77,173.4,166.8,8.1,466,8191,0.00,0.00,22.50,0.570,6,0.000,0.000,2893,1981,2092,0,0,0,0,0,0
$GC,8512,0.78,182.5,140.3,8.7,498,8525,0.00,2.35,8.82,0.495,4,0.000,0.059,2893,3390,2055,0,0,0,0,0,0
$GC,8604,0.78,182.5,130.5,11.5,506,8608,0.00,2.28,0.00,0.000,6,0.000,0.047,2893,1968,2054,0,0,0,0,0,0
$GC,8933,0.78,184.2,101.5,9.0,536,8937,0.00,2.28,0.00,0.000,4,0.000,0.057,2893,3386,2053,0,0,0,0,0,0
$GC,8998,0.78,184.2,95.2,9.0,541,9006,0.00,2.25,0.00,0.000,6,0.000,0.045,2893,1985,2053,0,0,0,0,0,0
$GC,9324,0.84,227.9,73.4,7.2,580,9370,0.00,2.28,40.38,0.495,4,0.000,0.055,2893,3385,1869,0,0,0,0,0,0
$GC,9424,0.87,257.4,66.4,7.8,597,9460,0.00,2.25,26.85,0.476,6,0.000,0.044,2893,1979,1748,0,0,0,0,0,0
$GC,9789,0.93,303.5,39.3,7.1,663,9836,0.12,2.30,39.78,0.459,4,0.080,0.054,2978,3403,1562,0,0,0,0,0,0
$GC,9886,0.93,303.5,30.0,12.0,679,9894,0.12,2.30,0.00,0.000,6,0.106,0.047,2944,1985,1561,0,0,0,0,0,0
$GC,10055,0.93,303.5,12.1,10.0,710,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1985,1561,0,0,0,0,0,0
$STATE,10148,end climb,SURFACE_DEPTH_REACHED
$STATE,10148,begin surface coast
$FINISH,0.6,1.020372
$STATE,10176,end surface coast,CONTROL_FINISHED_OK
$STATE,10179,begin surface
$SM_CCo,10257,0.00,0.000,0,0,1559,304.41
$SM_GC,1.48,7.32,0.00,0.00,0.019,0.000,0.000,28,1981,1559,-8.00,0.79,304.41
$IRIDIUM_FIX,2101.76,-15805.48,290902,030336
$TT8_MAMPS,0.028379
$HUMID,65.94
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,24.4,55.139
$10V_AH,10.1,60.639
$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,18.925,94.575,387.725,0.000,0.000,24.872,40.703,165.743,18.500,0.000,18.004,1325.247,5839.956,411.845,2522.901,528.771,0.000,1331.978,0.000,2471.396,0.000,113.053,0.000
$DEVICE_MAMPS,213.993,65.962,741.689,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,495.320,428.301,1446.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,41256,732
$CAP_FILE_SIZE,112955,0
$CFSIZE,260165632,223559680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050713,085551,2107.688,-15748.257,37,0.8,37,9.8