version: 66.06
glider: 523
mission: 4
dive: 653
start: 7 6 113 11 8 40
data:
$ID,523
$MISSION,4
$DIVE,653
$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,-49160.363
$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,18
$R_STBD_OVSHOOT,27
$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
$GPS1,110152,2106.604,-15745.874,39,0.8,39,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-75.1
$GPS2,110824,2106.578,-15745.939,22,0.9,22,9.8
$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,95.4,5409,-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,-146.0,0.0,0.0,0,101,0.00,0.00,-78.25,0.000,6,0.000,0.000,24,1976,3394,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.6,-5.0,13,120,9.55,2.30,0.00,0.000,4,0.217,0.054,2393,536,3395,0,0,0,0,0,0
$GC,345,-0.74,-146.0,43.4,-14.6,57,351,0.00,2.20,0.00,0.000,6,0.000,0.037,2385,1967,3396,0,0,0,0,0,0
$GC,686,-0.74,-146.0,82.0,-8.9,117,690,0.00,2.30,0.00,0.000,4,0.000,0.057,2384,544,3398,0,0,0,0,0,0
$GC,934,-0.74,-146.0,111.4,-13.6,139,942,0.00,2.20,0.00,0.000,6,0.000,0.036,2375,1953,3399,0,0,0,0,0,0
$GC,1262,-0.74,-146.0,144.9,-7.9,170,1266,0.00,2.30,0.00,0.000,4,0.000,0.056,2375,534,3400,0,0,0,0,0,0
$GC,1513,-0.74,-146.0,166.6,-11.0,193,1517,0.12,2.17,0.00,0.000,6,0.157,0.036,2398,1963,3400,0,0,0,0,0,0
$GC,1845,-0.74,-146.0,198.5,-7.7,224,1849,0.00,2.30,0.00,0.000,4,0.000,0.054,2399,542,3402,0,0,0,0,0,0
$GC,2102,-0.74,-146.0,217.9,-6.6,236,2107,0.00,2.17,0.00,0.000,6,0.000,0.036,2391,1962,3402,0,0,0,0,0,0
$GC,2422,-0.74,-146.0,241.4,-8.3,252,2426,0.00,2.25,0.00,0.000,4,0.000,0.056,2380,3363,3402,0,0,0,0,0,0
$GC,2586,-0.74,-146.0,253.6,-6.9,259,2590,0.00,2.25,0.00,0.000,6,0.000,0.047,2380,1953,3402,0,0,0,0,0,0
$GC,2904,-0.74,-146.0,273.3,-6.7,274,2908,0.00,2.25,0.00,0.000,4,0.000,0.058,2380,535,3402,0,0,0,0,0,0
$GC,3161,-0.74,-146.0,294.5,-7.8,285,3168,0.12,2.20,0.00,0.000,6,0.155,0.036,2404,1968,3402,0,0,0,0,0,0
$GC,3475,-0.74,-146.0,311.4,-5.5,296,3479,0.00,2.28,0.00,0.000,4,0.000,0.056,2405,547,3402,0,0,0,0,0,0
$GC,3694,-0.74,-146.0,324.2,-5.5,301,3698,0.00,2.15,0.00,0.000,6,0.000,0.037,2397,1957,3401,0,0,0,0,0,0
$GC,4020,-0.74,-146.0,342.3,-5.8,309,4024,0.00,2.30,0.00,0.000,4,0.000,0.057,2397,540,3400,0,0,0,0,0,0
$GC,4088,-0.74,-146.0,347.0,-7.1,310,4092,0.00,2.17,0.00,0.000,6,0.000,0.038,2387,1957,3399,0,0,0,0,0,0
$GC,4432,-0.74,-146.0,371.6,-7.7,319,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1957,3398,0,0,0,0,0,0
$GC,4755,-0.74,-146.0,394.5,-6.8,327,4759,0.00,2.28,0.00,0.000,4,0.000,0.058,2387,549,3397,0,0,0,0,0,0
$GC,5015,-0.74,-146.0,412.5,-6.2,332,5019,0.00,2.17,0.00,0.000,6,0.000,0.039,2378,1956,3395,0,0,0,0,0,0
$GC,5352,-0.74,-146.0,432.0,-5.6,341,5356,0.00,2.33,0.00,0.000,4,0.000,0.059,2378,545,3393,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5405,begin apogee
$GC,5415,-0.17,0.0,435.4,5.8,342,5541,0.65,0.00,122.45,0.736,6,0.117,0.000,2578,1991,2800,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5544,0.74,146.0,436.0,0.0,345,5683,0.85,2.30,127.45,0.711,4,0.074,0.054,2874,3386,2203,0,0,0,0,0,0
$GC,5752,0.74,146.0,411.6,14.2,349,5757,0.00,2.30,0.00,0.000,6,0.000,0.048,2884,1982,2199,0,0,0,0,0,0
$GC,6083,0.74,146.0,367.5,12.8,358,6087,0.00,2.30,0.00,0.000,4,0.000,0.058,2884,3394,2196,0,0,0,0,0,0
$GC,6144,0.74,146.0,359.3,13.7,359,6148,0.00,2.25,0.00,0.000,6,0.000,0.049,2893,1977,2195,0,0,0,0,0,0
$GC,6486,0.74,146.0,323.0,9.9,368,6490,0.00,2.28,0.00,0.000,4,0.000,0.058,2893,3385,2194,0,0,0,0,0,0
$GC,6558,0.74,146.0,315.7,9.9,369,6562,0.00,2.28,0.00,0.000,6,0.000,0.049,2899,1967,2194,0,0,0,0,0,0
$GC,6876,0.74,146.0,287.4,9.6,380,6880,0.00,2.28,0.00,0.000,4,0.000,0.058,2900,3385,2193,0,0,0,0,0,0
$GC,6939,0.74,146.0,280.5,12.1,383,6943,0.12,2.25,0.00,0.000,6,0.146,0.050,2874,1981,2192,0,0,0,0,0,0
$GC,7265,0.74,146.0,247.8,10.5,399,7270,0.00,2.28,0.00,0.000,4,0.000,0.060,2874,3384,2191,0,0,0,0,0,0
$GC,7344,0.74,146.0,238.7,11.2,402,7349,0.00,2.25,0.00,0.000,6,0.000,0.051,2882,1981,2190,0,0,0,0,0,0
$GC,7659,0.76,165.5,208.5,8.2,418,7681,0.00,2.25,15.77,0.579,4,0.000,0.058,2892,567,2124,0,0,0,0,0,0
$GC,7727,0.76,168.1,202.8,8.9,421,7732,0.00,2.20,0.00,0.000,6,0.000,0.043,2892,1976,2123,0,0,0,0,0,0
$GC,8054,0.76,168.1,173.2,10.8,450,8058,0.00,2.22,0.00,0.000,4,0.000,0.053,2892,3391,2121,0,0,0,0,0,0
$GC,8216,0.76,168.1,155.3,9.8,464,8220,0.00,2.28,0.00,0.000,6,0.000,0.052,2901,1979,2121,0,0,0,0,0,0
$GC,8544,0.81,202.6,127.8,7.6,494,8583,0.00,0.00,32.47,0.537,6,0.000,0.000,2901,1978,1973,0,0,0,0,0,0
$GC,8904,0.82,216.3,97.9,8.5,528,8928,0.00,2.35,13.55,0.482,4,0.000,0.058,2901,3392,1916,0,0,0,0,0,0
$GC,8986,0.82,216.3,90.3,9.7,535,8990,0.00,2.28,0.00,0.000,6,0.000,0.050,2904,1979,1915,0,0,0,0,0,0
$GC,9317,0.88,258.6,64.5,7.3,584,9359,0.00,2.35,37.58,0.482,4,0.000,0.058,2905,3389,1743,0,0,0,0,0,0
$GC,9388,0.92,293.4,59.2,7.6,596,9431,0.00,2.28,31.20,0.461,6,0.000,0.047,2905,1984,1601,0,0,0,0,0,0
$GC,9760,0.93,306.7,31.2,8.5,663,9779,0.10,2.33,12.60,0.420,4,0.084,0.059,2967,569,1547,0,0,0,0,0,0
$GC,9819,1.02,376.3,27.4,6.1,673,9884,0.00,2.22,57.62,0.445,6,0.000,0.038,2966,1977,1262,0,0,0,0,0,0
$GC,10046,1.02,376.3,5.6,9.6,713,10053,0.00,2.28,0.00,0.000,4,0.000,0.054,2967,3390,1260,0,0,0,0,0,0
$STATE,10070,end climb,SURFACE_DEPTH_REACHED
$STATE,10070,begin surface coast
$FINISH,0.6,1.023250
$STATE,10098,end surface coast,CONTROL_FINISHED_OK
$STATE,10098,begin surface
$SM_CCo,10180,0.00,0.000,0,0,1257,378.49
$SM_GC,1.54,7.55,0.00,0.00,0.028,0.000,0.000,24,1947,1257,-8.01,-0.28,378.49
$IRIDIUM_FIX,2101.76,-15747.88,300902,080837
$TT8_MAMPS,0.027612
$HUMID,65.47
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.4,56.035
$10V_AH,10.1,61.693
$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,19.075,95.000,450.700,0.000,0.000,28.607,34.505,184.895,18.250,0.000,23.023,1303.155,5789.523,436.080,2511.097,524.262,0.000,1374.131,0.000,2451.429,0.000,112.624,0.000
$DEVICE_MAMPS,217.061,59.826,735.553,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,487.965,412.139,1410.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,41161,722
$CAP_FILE_SIZE,112329,0
$CFSIZE,260165632,223006720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060713,135935,2106.325,-15746.682,39,0.8,39,9.8