version: 66.06
glider: 523
mission: 4
dive: 644
start: 7 5 113 9 2 28
data:
$ID,523
$MISSION,4
$DIVE,644
$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,-48957.844
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,085551,2107.688,-15748.257,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.5
$GPS2,090211,2107.667,-15748.272,14,1.3,14,9.8
$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,100.6,9867,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.97,0.000,2,0.000,0.000,28,1979,3334,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.0,-4.1,12,121,9.45,2.35,-1.50,0.000,4,0.216,0.069,2392,539,3398,0,0,0,0,0,0
$GC,327,-0.74,-146.0,43.2,-17.7,54,334,0.00,2.22,0.00,0.000,6,0.000,0.035,2383,1963,3400,0,0,0,0,0,0
$GC,662,-0.74,-146.0,86.5,-11.4,110,666,0.00,2.28,0.00,0.000,4,0.000,0.056,2383,543,3400,0,0,0,0,0,0
$GC,912,-0.74,-146.0,111.1,-8.0,132,920,0.00,2.20,0.00,0.000,6,0.000,0.035,2374,1964,3401,0,0,0,0,0,0
$GC,1240,-0.74,-146.0,144.0,-10.0,163,1244,0.00,2.28,0.00,0.000,4,0.000,0.058,2364,3366,3401,0,0,0,0,0,0
$GC,1423,-0.74,-146.0,161.8,-8.5,179,1428,0.15,2.22,0.00,0.000,6,0.138,0.044,2405,1957,3401,0,0,0,0,0,0
$GC,1751,-0.74,-146.0,180.9,-6.8,209,1755,0.00,2.28,0.00,0.000,4,0.000,0.057,2406,547,3402,0,0,0,0,0,0
$GC,1936,-0.74,-146.0,197.7,-9.8,225,1940,0.00,2.17,0.00,0.000,6,0.000,0.035,2398,1967,3402,0,0,0,0,0,0
$GC,2255,-0.74,-146.0,223.4,-6.8,241,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1967,3402,0,0,0,0,0,0
$GC,2564,-0.74,-146.0,244.8,-6.9,256,2569,0.00,2.30,0.00,0.000,4,0.000,0.054,2398,539,3402,0,0,0,0,0,0
$GC,2760,-0.74,-146.0,261.4,-8.2,264,2766,0.00,2.17,0.00,0.000,6,0.000,0.035,2388,1957,3402,0,0,0,0,0,0
$GC,3079,-0.74,-146.0,286.3,-8.1,280,3083,0.00,2.33,0.00,0.000,4,0.000,0.055,2388,547,3402,0,0,0,0,0,0
$GC,3258,-0.74,-146.0,300.5,-7.2,288,3262,0.00,2.15,0.00,0.000,6,0.000,0.037,2379,1957,3402,0,0,0,0,0,0
$GC,3578,-0.74,-146.0,318.4,-4.8,296,3582,0.00,2.33,0.00,0.000,4,0.000,0.057,2379,538,3402,0,0,0,0,0,0
$GC,3645,-0.74,-146.0,321.9,-4.7,297,3650,0.12,2.17,0.00,0.000,6,0.157,0.038,2403,1961,3401,0,0,0,0,0,0
$GC,3984,-0.74,-146.0,335.6,-4.7,306,3988,0.00,2.33,0.00,0.000,4,0.000,0.057,2403,543,3400,0,0,0,0,0,0
$GC,4063,-0.74,-146.0,340.7,-6.8,307,4069,0.00,2.17,0.00,0.000,6,0.000,0.037,2396,1964,3400,0,0,0,0,0,0
$GC,4395,-0.74,-146.0,364.6,-7.4,316,4399,0.00,2.33,0.00,0.000,4,0.000,0.059,2395,542,3399,0,0,0,0,0,0
$GC,4571,-0.74,-146.0,378.5,-7.3,319,4576,0.00,2.20,0.00,0.000,6,0.000,0.038,2386,1960,3397,0,0,0,0,0,0
$GC,4904,-0.74,-146.0,399.9,-6.6,328,4908,0.00,2.33,0.00,0.000,4,0.000,0.060,2386,539,3396,0,0,0,0,0,0
$GC,5131,-0.74,-146.0,417.0,-7.7,333,5135,0.00,2.20,0.00,0.000,6,0.000,0.040,2377,1967,3394,0,0,0,0,0,0
$STATE,5412,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5412,begin apogee
$GC,5419,-0.17,0.0,435.9,6.3,340,5544,0.65,0.00,122.53,0.738,6,0.114,0.000,2585,1968,2800,0,0,0,0,0,0
$STATE,5545,end apogee,CONTROL_FINISHED_OK
$STATE,5545,begin climb
$GC,5549,0.74,146.0,435.9,0.0,343,5686,0.82,2.35,127.10,0.716,4,0.074,0.057,2872,3379,2203,0,0,0,0,0,0
$GC,5738,0.74,146.0,415.2,13.6,347,5742,0.00,2.28,0.00,0.000,6,0.000,0.043,2881,1978,2201,0,0,0,0,0,0
$GC,6080,0.74,146.0,374.5,11.4,356,6084,0.00,2.30,0.00,0.000,4,0.000,0.067,2892,570,2196,0,0,0,0,0,0
$GC,6107,0.74,146.0,371.7,9.6,356,6111,0.00,2.20,0.00,0.000,6,0.000,0.041,2892,1982,2196,0,0,0,0,0,0
$GC,6439,0.74,146.0,336.6,10.4,364,6443,0.00,2.22,0.00,0.000,4,0.000,0.060,2892,3385,2195,0,0,0,0,0,0
$GC,6540,0.74,146.0,324.6,11.2,366,6544,0.00,2.25,0.00,0.000,6,0.000,0.046,2901,1980,2194,0,0,0,0,0,0
$GC,6869,0.74,146.0,287.7,11.4,377,6873,0.00,2.28,0.00,0.000,4,0.000,0.058,2901,3386,2193,0,0,0,0,0,0
$GC,6909,0.74,146.0,282.8,13.2,379,6914,0.12,2.25,0.00,0.000,6,0.146,0.048,2875,1980,2192,0,0,0,0,0,0
$GC,7235,0.74,146.0,249.7,10.2,395,7239,0.00,2.28,0.00,0.000,4,0.000,0.058,2875,3393,2191,0,0,0,0,0,0
$GC,7336,0.74,146.0,238.2,11.6,399,7341,0.00,2.25,0.00,0.000,6,0.000,0.048,2882,1977,2190,0,0,0,0,0,0
$GC,7651,0.74,146.0,205.6,9.5,415,7655,0.00,2.30,0.00,0.000,4,0.000,0.059,2881,3390,2190,0,0,0,0,0,0
$GC,7729,0.74,146.0,198.4,9.5,419,7737,0.00,2.28,0.00,0.000,6,0.000,0.050,2891,1982,2190,0,0,0,0,0,0
$GC,8056,0.74,146.0,168.7,9.8,450,8060,0.00,2.30,0.00,0.000,4,0.000,0.068,2900,560,2189,0,0,0,0,0,0
$GC,8097,0.74,146.0,164.6,9.9,453,8101,0.00,2.22,0.00,0.000,6,0.000,0.041,2900,1981,2189,0,0,0,0,0,0
$GC,8424,0.76,165.8,134.2,8.2,483,8448,0.00,2.30,15.90,0.528,4,0.000,0.064,2900,3389,2122,0,0,0,0,0,0
$GC,8551,0.79,186.9,124.0,8.2,494,8576,0.00,2.25,19.48,0.531,6,0.000,0.049,2907,1970,2037,0,0,0,0,0,0
$GC,8896,0.85,241.2,102.2,6.8,526,8954,0.00,2.38,47.55,0.518,4,0.000,0.061,2907,3389,1813,0,0,0,0,0,0
$GC,9016,0.85,241.2,92.3,9.1,536,9023,0.00,2.30,0.00,0.000,6,0.000,0.048,2907,1976,1812,0,0,0,0,0,0
$GC,9349,0.91,289.9,67.7,7.0,581,9396,0.00,2.35,42.33,0.483,4,0.000,0.057,2907,3383,1616,0,0,0,0,0,0
$GC,9433,0.93,301.0,61.2,8.6,595,9450,0.00,2.25,11.12,0.432,6,0.000,0.044,2906,1976,1572,0,0,0,0,0,0
$GC,9780,0.97,336.1,36.2,7.6,658,9822,0.12,2.33,30.73,0.449,4,0.080,0.060,3011,571,1426,0,0,0,0,0,0
$GC,9870,0.97,336.1,27.2,11.1,673,9876,0.17,2.22,0.00,0.000,6,0.101,0.037,2951,1973,1426,0,0,0,0,0,0
$GC,10037,1.01,370.2,13.7,7.6,704,10070,0.00,2.30,28.38,0.426,4,0.000,0.061,2951,3389,1288,0,0,0,0,0,0
$STATE,10150,end climb,SURFACE_DEPTH_REACHED
$STATE,10150,begin surface coast
$FINISH,2.0,1.023232
$STATE,10157,end surface coast,CONTROL_FINISHED_OK
$STATE,10157,begin surface
$SM_CCo,10239,0.00,0.000,0,0,1284,372.11
$SM_GC,1.47,7.50,0.00,0.00,0.026,0.000,0.000,49,1949,1284,-7.98,-0.23,372.11
$IRIDIUM_FIX,2104.07,-15747.88,290902,060607
$TT8_MAMPS,0.027612
$HUMID,64.84
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.4,55.233
$10V_AH,10.1,60.747
$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,19.125,99.750,445.100,0.000,0.000,26.813,42.063,165.388,18.500,0.000,15.357,1302.208,5838.648,444.915,2488.993,535.861,0.000,1363.104,0.000,2444.232,0.000,117.920,0.000
$DEVICE_MAMPS,215.527,69.030,737.854,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,490.929,418.934,1461.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41204,725
$CAP_FILE_SIZE,112629,0
$CFSIZE,260165632,223502336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050713,115421,2107.328,-15748.512,38,0.9,38,9.8