version: 66.06
glider: 523
mission: 4
dive: 657
start: 7 6 113 22 58 41
data:
$ID,523
$MISSION,4
$DIVE,657
$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,-49239.453
$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,25
$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
$GPS1,224729,2106.291,-15745.593,37,1.0,37,9.8
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.8
$GPS2,225824,2106.222,-15745.739,14,0.9,14,9.8
$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,89.0,4932,-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,15,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-78.95,0.000,6,0.000,0.000,29,1970,3395,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.5,-4.6,13,118,9.52,2.33,0.00,0.000,4,0.217,0.055,2390,542,3396,0,0,0,0,0,0
$GC,184,-0.74,-146.0,19.9,-14.1,27,191,0.00,2.22,0.00,0.000,6,0.000,0.038,2382,1951,3397,0,0,0,0,0,0
$GC,353,-0.74,-146.0,42.9,-13.7,58,360,0.00,2.35,0.00,0.000,4,0.000,0.061,2382,540,3397,0,0,0,0,0,0
$GC,475,-0.74,-146.0,61.2,-13.6,80,482,0.00,2.22,0.00,0.000,6,0.000,0.038,2373,1958,3397,0,0,0,0,0,0
$GC,812,-0.74,-146.0,101.3,-10.3,124,816,0.00,2.30,0.00,0.000,4,0.000,0.059,2373,541,3399,0,0,0,0,0,0
$GC,1060,-0.74,-146.0,127.0,-9.3,146,1069,0.12,2.22,0.00,0.000,6,0.133,0.038,2403,1962,3399,0,0,0,0,0,0
$GC,1389,-0.74,-146.0,155.7,-8.8,177,1393,0.00,2.33,0.00,0.000,4,0.000,0.058,2404,544,3400,0,0,0,0,0,0
$GC,1442,-0.74,-146.0,160.3,-8.4,181,1446,0.00,2.17,0.00,0.000,6,0.000,0.038,2396,1962,3400,0,0,0,0,0,0
$GC,1776,-0.74,-146.0,182.3,-6.2,212,1780,0.00,2.33,0.00,0.000,4,0.000,0.059,2396,542,3400,0,0,0,0,0,0
$GC,1917,-0.74,-146.0,192.1,-6.6,224,1921,0.00,2.20,0.00,0.000,6,0.000,0.039,2386,1962,3401,0,0,0,0,0,0
$GC,2238,-0.74,-146.0,215.3,-7.5,244,2242,0.00,2.33,0.00,0.000,4,0.000,0.059,2386,544,3400,0,0,0,0,0,0
$GC,2316,-0.74,-146.0,221.6,-8.1,247,2321,0.00,2.17,0.00,0.000,6,0.000,0.038,2377,1964,3400,0,0,0,0,0,0
$GC,2634,-0.74,-146.0,243.1,-6.4,263,2638,0.00,2.33,0.00,0.000,4,0.000,0.059,2377,535,3400,0,0,0,0,0,0
$GC,2893,-0.74,-146.0,261.0,-7.6,274,2899,0.12,2.20,0.00,0.000,6,0.156,0.041,2400,1965,3400,0,0,0,0,0,0
$GC,3211,-0.74,-146.0,282.9,-6.9,290,3215,0.00,2.25,0.00,0.000,4,0.000,0.063,2391,3366,3400,0,0,0,0,0,0
$GC,3228,-0.74,-146.0,284.1,-6.7,291,3232,0.00,2.25,0.00,0.000,6,0.000,0.049,2391,1955,3400,0,0,0,0,0,0
$GC,3577,-0.74,-146.0,305.2,-5.5,306,3581,0.00,2.28,0.00,0.000,4,0.000,0.063,2392,543,3401,0,0,0,0,0,0
$GC,3701,-0.74,-146.0,313.4,-6.1,308,3705,0.00,2.17,0.00,0.000,6,0.000,0.040,2382,1958,3399,0,0,0,0,0,0
$GC,4034,-0.74,-146.0,330.9,-5.2,316,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1958,3397,0,0,0,0,0,0
$GC,4358,-0.74,-146.0,349.4,-5.6,324,4362,0.00,2.35,0.00,0.000,4,0.000,0.061,2382,536,3396,0,0,0,0,0,0
$GC,4465,-0.74,-146.0,355.5,-5.8,326,4469,0.00,2.22,0.00,0.000,6,0.000,0.041,2373,1962,3395,0,0,0,0,0,0
$GC,4813,-0.74,-146.0,374.2,-5.4,335,4817,0.00,2.33,0.00,0.000,4,0.000,0.061,2373,545,3394,0,0,0,0,0,0
$GC,4875,-0.74,-146.0,377.9,-6.5,336,4879,0.15,2.20,0.00,0.000,6,0.147,0.042,2405,1958,3393,0,0,0,0,0,0
$GC,5224,-0.74,-146.0,399.1,-6.7,345,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1958,3391,0,0,0,0,0,0
$STATE,5422,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5422,begin apogee
$GC,5429,-0.17,0.0,413.2,6.9,350,5555,0.55,0.00,122.10,0.722,6,0.111,0.000,2585,1958,2800,0,0,0,0,0,0
$STATE,5555,end apogee,CONTROL_FINISHED_OK
$STATE,5555,begin climb
$GC,5558,0.74,146.0,415.1,0.0,353,5696,0.85,2.42,127.10,0.698,4,0.074,0.061,2876,3384,2203,0,0,0,0,0,0
$GC,5765,0.74,146.0,395.9,11.8,358,5769,0.00,2.30,0.00,0.000,6,0.000,0.048,2885,1972,2200,0,0,0,0,0,0
$GC,6077,0.74,146.0,363.2,10.3,366,6081,0.00,2.33,0.00,0.000,4,0.000,0.058,2886,3391,2197,0,0,0,0,0,0
$GC,6178,0.74,146.0,350.7,12.9,368,6182,0.00,2.25,0.00,0.000,6,0.000,0.050,2894,1982,2195,0,0,0,0,0,0
$GC,6525,0.74,146.0,309.9,11.6,377,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1982,2194,0,0,0,0,0,0
$GC,6833,0.74,146.0,276.3,10.1,389,6837,0.00,2.28,0.00,0.000,4,0.000,0.061,2894,3390,2193,0,0,0,0,0,0
$GC,6933,0.74,146.0,266.3,10.1,393,6938,0.00,2.25,0.00,0.000,6,0.000,0.052,2904,1981,2192,0,0,0,0,0,0
$GC,7249,0.74,146.0,236.7,10.0,409,7253,0.00,2.28,0.00,0.000,4,0.000,0.062,2904,3389,2191,0,0,0,0,0,0
$GC,7276,0.74,146.0,233.5,11.3,410,7281,0.12,2.28,0.00,0.000,6,0.144,0.054,2878,1981,2190,0,0,0,0,0,0
$GC,7592,0.77,171.8,205.8,8.0,425,7618,0.00,2.30,21.10,0.588,4,0.000,0.061,2878,3393,2099,0,0,0,0,0,0
$GC,7669,0.78,178.6,199.3,8.8,428,7687,0.00,2.30,7.80,0.513,6,0.000,0.054,2884,1976,2070,0,0,0,0,0,0
$GC,8008,0.82,210.9,172.4,7.7,460,8043,0.00,2.33,29.15,0.568,4,0.000,0.063,2884,3385,1938,0,0,0,0,0,0
$GC,8178,0.82,210.9,156.3,10.0,475,8183,0.00,2.30,0.00,0.000,6,0.000,0.053,2892,1972,1936,0,0,0,0,0,0
$GC,8506,0.88,259.0,128.9,7.0,505,8553,0.00,2.33,42.22,0.538,4,0.000,0.062,2892,3385,1744,0,0,0,0,0,0
$GC,8579,0.93,304.6,123.7,7.1,511,8627,0.12,2.30,40.95,0.522,6,0.073,0.054,2974,1979,1557,0,0,0,0,0,0
$GC,8946,0.93,304.6,82.2,12.3,545,8950,0.12,2.33,0.00,0.000,4,0.140,0.062,2938,3386,1555,0,0,0,0,0,0
$GC,9025,0.95,320.4,73.6,8.4,557,9049,0.00,2.28,14.27,0.459,6,0.000,0.054,2946,1979,1493,0,0,0,0,0,0
$GC,9381,0.95,320.4,37.4,10.9,621,9387,0.00,2.28,0.00,0.000,4,0.000,0.062,2946,3386,1492,0,0,0,0,0,0
$GC,9449,0.95,320.4,29.3,11.9,633,9457,0.00,2.28,0.00,0.000,6,0.000,0.051,2953,1985,1492,0,0,0,0,0,0
$GC,9617,0.95,320.4,11.8,9.5,664,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1985,1492,0,0,0,0,0,0
$STATE,9704,end climb,SURFACE_DEPTH_REACHED
$STATE,9704,begin surface coast
$FINISH,0.7,1.023225
$STATE,9731,end surface coast,CONTROL_FINISHED_OK
$STATE,9731,begin surface
$SM_CCo,9810,0.00,0.000,0,0,1491,321.09
$SM_GC,1.47,7.45,0.00,0.00,0.025,0.000,0.000,33,1952,1491,-8.01,-0.14,321.09
$IRIDIUM_FIX,2101.76,-15753.03,300902,222231
$TT8_MAMPS,0.027612
$HUMID,67.72
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.4,56.407
$10V_AH,10.1,62.113
$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,19.150,91.150,404.700,0.000,0.000,48.395,82.444,309.860,17.250,0.000,14.817,1230.553,5802.105,429.617,2263.657,732.047,0.000,1253.464,0.000,2224.814,0.000,104.867,0.000
$DEVICE_MAMPS,217.061,230.867,721.747,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,464.521,406.967,1364.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38113,685
$CAP_FILE_SIZE,110852,0
$CFSIZE,260165632,222777344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070713,014307,2106.016,-15745.776,19,0.8,20,9.8