version: 66.06
glider: 523
mission: 4
dive: 655
start: 7 6 113 17 7 12
data:
$ID,523
$MISSION,4
$DIVE,655
$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,-49200.457
$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
$GPS1,165553,2106.285,-15746.825,37,0.8,37,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.6
$GPS2,170653,2106.233,-15746.834,17,1.1,17,9.8
$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,86.7,6810,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-81.28,0.000,6,0.000,0.000,34,1975,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.0,-3.5,13,119,9.55,2.28,0.00,0.000,4,0.218,0.052,2394,546,3397,0,0,0,0,0,0
$GC,358,-0.74,-146.0,43.4,-14.4,60,365,0.00,2.20,0.00,0.000,6,0.000,0.037,2386,1958,3399,0,0,0,0,0,0
$GC,701,-0.74,-146.0,80.9,-8.9,121,705,0.00,2.25,0.00,0.000,4,0.000,0.056,2386,546,3399,0,0,0,0,0,0
$GC,954,-0.74,-146.0,105.9,-11.1,144,957,0.00,2.15,0.00,0.000,6,0.000,0.036,2376,1957,3400,0,0,0,0,0,0
$GC,1286,-0.74,-146.0,143.6,-9.8,175,1290,0.00,2.28,0.00,0.000,4,0.000,0.055,2377,536,3400,0,0,0,0,0,0
$GC,1539,-0.74,-146.0,166.8,-9.2,197,1546,0.10,2.20,0.00,0.000,6,0.134,0.035,2399,1956,3401,0,0,0,0,0,0
$GC,1868,-0.74,-146.0,190.1,-6.8,228,1872,0.00,2.25,0.00,0.000,4,0.000,0.054,2400,545,3401,0,0,0,0,0,0
$GC,2055,-0.74,-146.0,203.6,-6.9,243,2059,0.00,2.17,0.00,0.000,6,0.000,0.035,2392,1962,3401,0,0,0,0,0,0
$GC,2376,-0.74,-146.0,225.5,-7.7,258,2380,0.00,2.30,0.00,0.000,4,0.000,0.054,2392,537,3401,0,0,0,0,0,0
$GC,2495,-0.74,-146.0,236.1,-8.9,263,2499,0.00,2.15,0.00,0.000,6,0.000,0.035,2382,1957,3401,0,0,0,0,0,0
$GC,2814,-0.74,-146.0,256.1,-5.4,278,2818,0.00,2.30,0.00,0.000,4,0.000,0.054,2382,538,3401,0,0,0,0,0,0
$GC,2903,-0.74,-146.0,261.2,-5.3,282,2907,0.00,2.17,0.00,0.000,6,0.000,0.036,2373,1967,3401,0,0,0,0,0,0
$GC,3226,-0.74,-146.0,279.5,-6.4,298,3233,0.00,2.28,0.00,0.000,4,0.000,0.054,2373,548,3401,0,0,0,0,0,0
$GC,3297,-0.74,-146.0,285.0,-8.6,301,3302,0.15,2.17,0.00,0.000,6,0.145,0.038,2406,1960,3401,0,0,0,0,0,0
$GC,3647,-0.74,-146.0,308.8,-6.4,315,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1960,3401,0,0,0,0,0,0
$GC,3968,-0.74,-146.0,324.8,-4.9,323,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1960,3399,0,0,0,0,0,0
$GC,4293,-0.74,-146.0,343.0,-6.0,331,4297,0.00,2.30,0.00,0.000,4,0.000,0.056,2406,546,3397,0,0,0,0,0,0
$GC,4407,-0.74,-146.0,351.6,-8.0,333,4411,0.00,2.17,0.00,0.000,6,0.000,0.038,2398,1964,3396,0,0,0,0,0,0
$GC,4745,-0.74,-146.0,375.1,-6.6,342,4749,0.00,2.33,0.00,0.000,4,0.000,0.058,2399,536,3395,0,0,0,0,0,0
$GC,4877,-0.74,-146.0,382.9,-5.6,345,4881,0.00,2.20,0.00,0.000,6,0.000,0.039,2389,1956,3393,0,0,0,0,0,0
$GC,5203,-0.74,-146.0,398.9,-4.9,353,5207,0.00,2.30,0.00,0.000,4,0.000,0.059,2389,539,3391,0,0,0,0,0,0
$GC,5233,-0.74,-146.0,400.5,-5.4,353,5237,0.00,2.22,0.00,0.000,6,0.000,0.041,2379,1963,3391,0,0,0,0,0,0
$STATE,5439,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5439,begin apogee
$GC,5446,-0.17,0.0,412.6,5.9,358,5571,0.62,0.00,121.65,0.723,6,0.114,0.000,2579,1963,2800,0,0,0,0,0,0
$STATE,5571,end apogee,CONTROL_FINISHED_OK
$STATE,5571,begin climb
$GC,5575,0.74,146.0,413.8,0.0,361,5713,0.85,2.40,126.70,0.702,4,0.074,0.059,2875,3389,2203,0,0,0,0,0,0
$GC,5809,0.74,146.0,390.2,12.3,366,5813,0.00,2.28,0.00,0.000,6,0.000,0.044,2885,1980,2200,0,0,0,0,0,0
$GC,6151,0.74,146.0,354.9,9.6,375,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1980,2197,0,0,0,0,0,0
$GC,6476,0.74,146.0,322.6,10.2,383,6480,0.00,2.28,0.00,0.000,4,0.000,0.058,2885,3386,2194,0,0,0,0,0,0
$GC,6624,0.74,146.0,303.5,14.3,386,6628,0.00,2.25,0.00,0.000,6,0.000,0.047,2893,1978,2193,0,0,0,0,0,0
$GC,6955,0.74,146.0,264.1,10.3,401,6959,0.00,2.28,0.00,0.000,4,0.000,0.059,2894,3386,2192,0,0,0,0,0,0
$GC,7028,0.74,146.0,256.3,10.8,404,7033,0.00,2.25,0.00,0.000,6,0.000,0.048,2901,1979,2192,0,0,0,0,0,0
$GC,7344,0.80,193.4,231.7,7.1,419,7389,0.00,2.30,39.80,0.623,4,0.000,0.060,2901,3386,2009,0,0,0,0,0,0
$GC,7453,0.80,193.4,222.5,10.1,424,7457,0.00,2.25,0.00,0.000,6,0.000,0.049,2909,1982,2006,0,0,0,0,0,0
$GC,7779,0.80,193.4,191.1,10.5,443,7783,0.00,2.30,0.00,0.000,4,0.000,0.060,2909,3390,2005,0,0,0,0,0,0
$GC,7887,0.80,193.4,177.2,12.6,452,7895,0.00,2.30,0.00,0.000,6,0.000,0.051,2919,1979,2004,0,0,0,0,0,0
$GC,8214,0.80,193.4,139.6,10.8,483,8218,0.00,2.28,0.00,0.000,4,0.000,0.060,2919,3385,2003,0,0,0,0,0,0
$GC,8322,0.80,193.4,127.1,11.4,492,8330,0.08,2.28,0.00,0.000,6,0.115,0.051,2901,1980,2003,0,0,0,0,0,0
$GC,8649,0.81,204.0,100.0,8.6,523,8665,0.00,2.30,9.70,0.469,4,0.000,0.059,2901,3382,1966,0,0,0,0,0,0
$GC,8728,0.81,204.0,92.8,9.9,530,8732,0.00,2.22,0.00,0.000,6,0.000,0.049,2907,1978,1965,0,0,0,0,0,0
$GC,9057,0.82,211.8,68.3,8.7,574,9076,0.00,2.33,8.52,0.432,4,0.000,0.066,2907,568,1935,0,0,0,0,0,0
$GC,9091,0.83,220.2,65.6,8.7,579,9108,0.00,2.20,9.25,0.438,6,0.000,0.039,2907,1979,1900,0,0,0,0,0,0
$GC,9436,0.87,254.8,36.8,7.6,642,9471,0.00,2.33,30.65,0.459,4,0.000,0.064,2907,3389,1760,0,0,0,0,0,0
$GC,9567,0.87,256.7,25.4,9.0,665,9575,0.00,2.30,0.00,0.000,6,0.000,0.049,2907,1978,1759,0,0,0,0,0,0
$GC,9736,0.89,270.1,11.9,8.5,696,9756,0.00,2.28,14.52,0.416,4,0.000,0.060,2907,563,1698,0,0,0,0,0,0
$GC,9812,0.91,287.3,5.8,8.3,709,9833,0.00,2.25,16.40,0.413,6,0.000,0.040,2907,1980,1628,0,0,0,0,0,0
$STATE,9845,end climb,SURFACE_DEPTH_REACHED
$STATE,9845,begin surface coast
$FINISH,0.6,1.013478
$STATE,9884,end surface coast,CONTROL_FINISHED_OK
$STATE,9884,begin surface
$SM_CCo,9902,8.85,0.382,0,0,1575,300.24
$SM_GC,1.20,0.00,0.00,8.85,0.000,0.000,0.382,37,1981,1575,-8.14,0.68,300.24
$IRIDIUM_FIX,2054.83,-15637.17,300902,171706
$TT8_MAMPS,0.027612
$HUMID,66.22
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.4,56.219
$10V_AH,10.1,61.906
$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,18.725,90.300,377.200,8.850,0.000,48.506,79.645,309.092,17.250,0.000,17.570,1296.162,5729.818,406.170,2390.357,746.327,0.000,1259.893,0.000,2346.070,0.000,106.842,0.000
$DEVICE_MAMPS,217.828,65.962,723.281,381.966,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,489.250,416.588,1417.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,41241,721
$CAP_FILE_SIZE,112944,0
$CFSIZE,260165632,222887936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,060713,195334,2106.470,-15746.154,31,0.9,31,9.8