version: 66.06
glider: 523
mission: 4
dive: 654
start: 7 6 113 14 6 16
data:
$ID,523
$MISSION,4
$DIVE,654
$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,-49182.254
$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,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
$GPS1,135935,2106.325,-15746.682,39,0.8,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.3
$GPS2,140600,2106.282,-15746.768,20,1.3,20,9.8
$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,87.6,6708,-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,-146.0,0.0,0.0,0,114,0.00,0.00,-91.15,0.000,6,0.000,0.000,24,1948,3395,0,0,0,0,0,0
$GC,118,-0.74,-146.0,3.3,-3.7,15,133,9.50,2.25,0.00,0.000,4,0.216,0.055,2392,538,3396,0,0,0,0,0,0
$GC,273,-0.74,-146.0,31.0,-14.6,43,279,0.00,2.17,0.00,0.000,6,0.000,0.037,2384,1960,3397,0,0,0,0,0,0
$GC,604,-0.74,-146.0,71.8,-11.5,104,612,0.00,2.30,0.00,0.000,4,0.000,0.054,2384,542,3398,0,0,0,0,0,0
$GC,859,-0.74,-146.0,102.3,-13.7,134,863,0.00,2.17,0.00,0.000,6,0.000,0.036,2374,1958,3399,0,0,0,0,0,0
$GC,1187,-0.74,-146.0,138.0,-8.9,164,1191,0.00,2.28,0.00,0.000,4,0.000,0.054,2374,544,3399,0,0,0,0,0,0
$GC,1439,-0.74,-146.0,160.3,-10.0,186,1447,0.10,2.20,0.00,0.000,6,0.139,0.037,2396,1955,3400,0,0,0,0,0,0
$GC,1767,-0.74,-146.0,190.5,-9.9,217,1771,0.00,2.25,0.00,0.000,4,0.000,0.053,2397,546,3401,0,0,0,0,0,0
$GC,1797,-0.74,-146.0,193.6,-10.3,219,1801,0.00,2.15,0.00,0.000,6,0.000,0.037,2389,1960,3401,0,0,0,0,0,0
$GC,2117,-0.74,-146.0,220.0,-7.6,237,2121,0.00,2.30,0.00,0.000,4,0.000,0.054,2389,546,3401,0,0,0,0,0,0
$GC,2324,-0.74,-146.0,235.9,-6.7,246,2328,0.00,2.20,0.00,0.000,6,0.000,0.037,2379,1967,3401,0,0,0,0,0,0
$GC,2640,-0.74,-146.0,254.5,-6.5,261,2644,0.00,2.30,0.00,0.000,4,0.000,0.054,2379,541,3401,0,0,0,0,0,0
$GC,2773,-0.74,-146.0,264.3,-7.6,267,2778,0.12,2.20,0.00,0.000,6,0.159,0.037,2403,1966,3401,0,0,0,0,0,0
$GC,3100,-0.74,-146.0,286.2,-5.8,283,3104,0.00,2.30,0.00,0.000,4,0.000,0.054,2404,538,3401,0,0,0,0,0,0
$GC,3241,-0.74,-146.0,294.9,-5.8,289,3246,0.00,2.20,0.00,0.000,6,0.000,0.038,2396,1965,3401,0,0,0,0,0,0
$GC,3560,-0.74,-146.0,309.0,-4.4,300,3564,0.00,2.28,0.00,0.000,4,0.000,0.059,2385,3366,3400,0,0,0,0,0,0
$GC,3588,-0.74,-146.0,310.3,-4.0,300,3592,0.00,2.25,0.00,0.000,6,0.000,0.045,2385,1949,3399,0,0,0,0,0,0
$GC,3920,-0.74,-146.0,327.7,-6.1,308,3924,0.00,2.30,0.00,0.000,4,0.000,0.060,2385,539,3398,0,0,0,0,0,0
$GC,4115,-0.74,-146.0,344.8,-8.2,312,4120,0.00,2.17,0.00,0.000,6,0.000,0.038,2376,1960,3396,0,0,0,0,0,0
$GC,4464,-0.74,-146.0,367.8,-5.4,321,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1960,3395,0,0,0,0,0,0
$GC,4788,-0.74,-146.0,379.5,-3.3,329,4792,0.00,2.28,0.00,0.000,4,0.000,0.056,2375,545,3393,0,0,0,0,0,0
$GC,4934,-0.74,-146.0,385.8,-4.7,332,4938,0.12,2.17,0.00,0.000,6,0.153,0.040,2399,1962,3392,0,0,0,0,0,0
$GC,5282,-0.74,-146.0,403.6,-5.9,341,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1962,3390,0,0,0,0,0,0
$STATE,5441,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5441,begin apogee
$GC,5447,-0.17,0.0,414.0,6.5,345,5573,0.55,0.00,122.03,0.724,6,0.110,0.000,2580,1962,2800,0,0,0,0,0,0
$STATE,5573,end apogee,CONTROL_FINISHED_OK
$STATE,5573,begin climb
$GC,5577,0.74,146.0,416.4,0.0,348,5715,0.85,2.33,127.07,0.703,4,0.073,0.054,2877,3381,2203,0,0,0,0,0,0
$GC,5866,0.74,146.0,387.9,12.7,354,5870,0.00,2.28,0.00,0.000,6,0.000,0.043,2886,1973,2199,0,0,0,0,0,0
$GC,6197,0.74,146.0,346.2,12.9,362,6201,0.00,2.28,0.00,0.000,4,0.000,0.056,2886,3384,2196,0,0,0,0,0,0
$GC,6236,0.74,146.0,340.6,14.9,363,6241,0.00,2.25,0.00,0.000,6,0.000,0.046,2896,1978,2196,0,0,0,0,0,0
$GC,6561,0.74,146.0,302.0,11.1,371,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1978,2194,0,0,0,0,0,0
$GC,6869,0.74,146.0,269.7,9.6,385,6873,0.00,2.28,0.00,0.000,4,0.000,0.058,2895,3390,2193,0,0,0,0,0,0
$GC,6970,0.74,151.4,260.0,8.8,389,6982,0.00,2.22,4.28,0.448,6,0.000,0.047,2905,1980,2182,0,0,0,0,0,0
$GC,7291,0.74,151.4,229.8,9.7,405,7295,0.00,2.28,0.00,0.000,4,0.000,0.058,2905,3385,2178,0,0,0,0,0,0
$GC,7331,0.74,151.4,225.5,10.8,407,7336,0.12,2.22,0.00,0.000,6,0.142,0.048,2878,1980,2177,0,0,0,0,0,0
$GC,7659,0.80,197.4,199.0,7.1,423,7706,0.00,2.33,40.03,0.601,4,0.000,0.058,2878,3399,1995,0,0,0,0,0,0
$GC,7787,0.82,214.7,189.5,8.3,434,7811,0.00,2.28,16.62,0.559,6,0.000,0.048,2885,1974,1925,0,0,0,0,0,0
$GC,8131,0.84,233.4,161.2,8.3,466,8155,0.00,2.30,17.70,0.542,4,0.000,0.058,2885,3381,1847,0,0,0,0,0,0
$GC,8180,0.84,233.4,156.7,9.1,470,8185,0.00,2.25,0.00,0.000,6,0.000,0.050,2892,1976,1846,0,0,0,0,0,0
$GC,8508,0.86,247.2,128.2,8.5,500,8531,0.00,2.33,13.38,0.505,4,0.000,0.060,2901,560,1791,0,0,0,0,0,0
$GC,8546,0.87,252.4,124.9,8.8,503,8559,0.00,2.22,5.78,0.426,6,0.000,0.039,2901,1980,1772,0,0,0,0,0,0
$GC,8880,0.87,255.9,95.6,8.9,534,8893,0.00,2.25,5.20,0.397,4,0.000,0.052,2902,3390,1755,0,0,0,0,0,0
$GC,9031,0.88,265.0,82.3,8.7,547,9051,0.00,2.25,9.90,0.450,6,0.000,0.044,2907,1981,1717,0,0,0,0,0,0
$GC,9373,0.88,265.0,53.4,9.5,608,9381,0.00,2.30,0.00,0.000,4,0.000,0.055,2907,3388,1717,0,0,0,0,0,0
$GC,9460,0.88,265.0,45.1,10.3,623,9465,0.00,2.20,0.00,0.000,6,0.000,0.040,2914,1978,1717,0,0,0,0,0,0
$GC,9789,0.95,319.3,18.9,6.8,684,9842,0.00,2.28,46.80,0.444,4,0.000,0.054,2914,3395,1496,0,0,0,0,0,0
$GC,9920,0.95,319.3,8.1,9.6,706,9927,0.00,2.28,0.00,0.000,6,0.000,0.046,2921,1980,1495,0,0,0,0,0,0
$STATE,9984,end climb,SURFACE_DEPTH_REACHED
$STATE,9985,begin surface coast
$FINISH,0.7,1.010847
$STATE,10023,end surface coast,CONTROL_FINISHED_OK
$STATE,10026,begin surface
$SM_CCo,10104,0.00,0.000,0,0,1492,320.85
$SM_GC,1.52,7.40,0.00,0.00,0.026,0.000,0.000,35,1978,1492,-8.00,0.62,320.85
$IRIDIUM_FIX,2057.14,-15739.33,300902,111149
$TT8_MAMPS,0.028379
$HUMID,65.39
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.4,56.124
$10V_AH,10.1,61.799
$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,18.775,90.100,408.775,0.000,0.000,28.511,44.946,158.908,17.250,0.000,21.257,1299.756,5803.079,421.665,2431.943,523.475,0.000,1316.203,0.000,2380.652,0.000,106.833,0.000
$DEVICE_MAMPS,216.294,59.826,724.048,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,491.517,428.068,1442.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,41225,725
$CAP_FILE_SIZE,109342,0
$CFSIZE,260165632,222949376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,060713,165553,2106.285,-15746.825,37,0.8,37,9.8