version: 66.06
glider: 523
mission: 4
dive: 652
start: 7 6 113 8 17 38
data:
$ID,523
$MISSION,4
$DIVE,652
$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,-49136.711
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,081035,2107.006,-15745.867,30,1.1,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.9
$GPS2,081722,2106.957,-15745.886,27,1.1,27,9.8
$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,102.6,5547,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-82.32,0.000,6,0.000,0.000,26,1977,3396,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.1,-3.8,13,121,9.57,2.30,0.00,0.000,4,0.220,0.051,2395,538,3397,0,0,0,0,0,0
$GC,346,-0.74,-146.0,39.0,-13.5,57,351,0.00,2.20,0.00,0.000,6,0.000,0.037,2387,1961,3399,0,0,0,0,0,0
$GC,677,-0.74,-146.0,76.7,-10.8,118,684,0.00,2.30,0.00,0.000,4,0.000,0.054,2387,541,3400,0,0,0,0,0,0
$GC,930,-0.74,-146.0,105.7,-10.9,144,934,0.00,2.17,0.00,0.000,6,0.000,0.036,2377,1965,3401,0,0,0,0,0,0
$GC,1264,-0.74,-146.0,135.7,-9.6,175,1268,0.00,2.22,0.00,0.000,4,0.000,0.059,2367,3365,3401,0,0,0,0,0,0
$GC,1443,-0.74,-146.0,154.4,-10.1,191,1452,0.10,2.25,0.00,0.000,6,0.123,0.044,2399,1956,3402,0,0,0,0,0,0
$GC,1771,-0.74,-146.0,181.8,-7.8,222,1775,0.00,2.25,0.00,0.000,4,0.000,0.054,2400,545,3403,0,0,0,0,0,0
$GC,2000,-0.74,-146.0,200.2,-8.0,242,2004,0.00,2.15,0.00,0.000,6,0.000,0.035,2392,1966,3403,0,0,0,0,0,0
$GC,2318,-0.74,-146.0,224.5,-8.1,257,2323,0.00,2.30,0.00,0.000,4,0.000,0.054,2392,542,3403,0,0,0,0,0,0
$GC,2576,-0.74,-146.0,246.2,-7.8,268,2580,0.00,2.15,0.00,0.000,6,0.000,0.035,2382,1956,3403,0,0,0,0,0,0
$GC,2894,-0.74,-146.0,269.3,-6.1,283,2898,0.00,2.30,0.00,0.000,4,0.000,0.053,2382,542,3403,0,0,0,0,0,0
$GC,3152,-0.74,-146.0,286.2,-7.1,294,3156,0.00,2.17,0.00,0.000,6,0.000,0.037,2373,1956,3403,0,0,0,0,0,0
$GC,3468,-0.74,-146.0,311.5,-8.8,306,3472,0.00,2.33,0.00,0.000,4,0.000,0.054,2373,546,3402,0,0,0,0,0,0
$GC,3621,-0.74,-146.0,325.3,-8.6,309,3625,0.15,2.17,0.00,0.000,6,0.146,0.038,2405,1956,3402,0,0,0,0,0,0
$GC,3965,-0.74,-146.0,340.9,-3.8,318,3969,0.00,2.33,0.00,0.000,4,0.000,0.056,2406,537,3401,0,0,0,0,0,0
$GC,4027,-0.74,-146.0,343.6,-4.6,319,4032,0.00,2.17,0.00,0.000,6,0.000,0.038,2398,1954,3400,0,0,0,0,0,0
$GC,4372,-0.74,-146.0,363.5,-6.7,328,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1954,3398,0,0,0,0,0,0
$GC,4696,-0.74,-146.0,389.7,-8.2,336,4700,0.00,2.33,0.00,0.000,4,0.000,0.058,2398,539,3396,0,0,0,0,0,0
$GC,4796,-0.74,-146.0,397.7,-7.5,338,4800,0.00,2.20,0.00,0.000,6,0.000,0.040,2389,1957,3395,0,0,0,0,0,0
$GC,5110,-0.74,-146.0,413.3,-4.3,346,5114,0.00,2.35,0.00,0.000,4,0.000,0.058,2389,545,3394,0,0,0,0,0,0
$GC,5227,-0.74,-146.0,419.3,-4.9,348,5231,0.00,2.20,0.00,0.000,6,0.000,0.041,2379,1963,3393,0,0,0,0,0,0
$STATE,5434,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5434,begin apogee
$GC,5440,-0.17,0.0,429.9,5.3,353,5566,0.62,0.00,122.75,0.734,6,0.114,0.000,2579,1963,2799,0,0,0,0,0,0
$STATE,5567,end apogee,CONTROL_FINISHED_OK
$STATE,5567,begin climb
$GC,5570,0.74,146.0,430.5,0.0,356,5708,0.85,2.38,126.95,0.712,4,0.079,0.060,2872,3382,2202,0,0,0,0,0,0
$GC,5830,0.74,146.0,406.6,10.6,362,5834,0.00,2.28,0.00,0.000,6,0.000,0.043,2882,1974,2199,0,0,0,0,0,0
$GC,6159,0.74,146.0,372.6,10.6,370,6163,0.00,2.28,0.00,0.000,4,0.000,0.058,2882,3388,2196,0,0,0,0,0,0
$GC,6227,0.74,146.0,364.1,13.3,371,6231,0.00,2.28,0.00,0.000,6,0.000,0.048,2891,1976,2195,0,0,0,0,0,0
$GC,6563,0.74,146.0,325.5,11.2,380,6567,0.00,2.28,0.00,0.000,4,0.000,0.058,2891,3387,2194,0,0,0,0,0,0
$GC,6669,0.74,146.0,311.6,12.9,382,6673,0.00,2.25,0.00,0.000,6,0.000,0.047,2901,1979,2193,0,0,0,0,0,0
$GC,6995,0.74,146.0,271.7,12.7,396,6999,0.00,2.30,0.00,0.000,4,0.000,0.059,2901,3390,2192,0,0,0,0,0,0
$GC,7061,0.74,146.0,262.7,13.5,399,7066,0.12,2.25,0.00,0.000,6,0.146,0.050,2874,1978,2191,0,0,0,0,0,0
$GC,7383,0.77,171.6,233.6,8.0,415,7406,0.00,0.00,21.23,0.613,6,0.000,0.000,2874,1979,2100,0,0,0,0,0,0
$GC,7711,0.86,243.9,212.6,6.0,431,7778,0.12,0.00,63.72,0.608,6,0.076,0.000,2957,1978,1805,0,0,0,0,0,0
$GC,8092,0.86,243.9,165.2,12.5,461,8097,0.15,2.30,0.00,0.000,4,0.130,0.059,2913,3385,1801,0,0,0,0,0,0
$GC,8179,0.86,243.9,154.5,11.7,468,8186,0.00,2.30,0.00,0.000,6,0.000,0.051,2920,1979,1800,0,0,0,0,0,0
$GC,8506,0.86,243.9,116.6,10.6,499,8510,0.00,2.30,0.00,0.000,4,0.000,0.060,2920,3388,1800,0,0,0,0,0,0
$GC,8557,0.86,243.9,111.0,11.2,503,8561,0.00,2.28,0.00,0.000,6,0.000,0.050,2928,1973,1800,0,0,0,0,0,0
$GC,8886,0.88,259.4,80.0,8.4,533,8910,0.00,2.33,14.25,0.481,4,0.000,0.058,2929,3386,1740,0,0,0,0,0,0
$GC,8967,0.88,259.4,72.7,9.1,547,8972,0.00,2.25,0.00,0.000,6,0.000,0.051,2936,1980,1739,0,0,0,0,0,0
$GC,9297,0.88,262.1,43.0,8.9,608,9304,0.00,2.33,0.00,0.000,4,0.000,0.060,2936,3382,1739,0,0,0,0,0,0
$GC,9437,0.88,262.1,29.0,10.0,633,9445,0.00,2.28,0.00,0.000,6,0.000,0.051,2945,1980,1739,0,0,0,0,0,0
$GC,9607,0.88,262.1,12.8,10.1,664,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1980,1740,0,0,0,0,0,0
$STATE,9707,end climb,SURFACE_DEPTH_REACHED
$STATE,9707,begin surface coast
$FINISH,0.7,1.013135
$STATE,9737,end surface coast,CONTROL_FINISHED_OK
$STATE,9737,begin surface
$SM_CCo,9755,19.48,0.416,0,0,1574,300.24
$SM_GC,1.67,0.00,0.00,19.48,0.000,0.000,0.416,24,1976,1574,-8.18,0.54,300.24
$IRIDIUM_FIX,2101.76,-15747.88,300902,050514
$TT8_MAMPS,0.027612
$HUMID,66.77
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.4,55.940
$10V_AH,10.1,61.587
$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,19.075,81.475,348.900,19.475,0.000,24.921,36.419,185.052,18.000,0.000,28.005,1261.816,5617.874,414.126,2355.754,526.579,0.000,1241.537,0.000,2298.965,0.000,112.061,0.000
$DEVICE_MAMPS,220.129,59.826,734.019,416.481,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,467.816,399.608,1334.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,38074,688
$CAP_FILE_SIZE,104640,0
$CFSIZE,260165632,223064064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060713,110152,2106.604,-15745.874,39,0.8,39,9.8