version: 66.06
glider: 523
mission: 4
dive: 630
start: 7 3 113 16 12 34
data:
$ID,523
$MISSION,4
$DIVE,630
$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,-48698.32
$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,27
$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
$GPS1,160228,2108.881,-15801.183,37,0.8,37,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.6
$GPS2,161217,2108.911,-15801.198,14,1.5,14,9.8
$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,90.5,32103,-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,-78.15,0.000,6,0.000,0.000,24,1965,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.6,-5.3,13,118,9.40,2.28,0.00,0.000,4,0.212,0.050,2390,548,3396,0,0,0,0,0,0
$GC,353,-0.74,-146.0,46.6,-14.5,59,359,0.00,2.17,0.00,0.000,6,0.000,0.038,2381,1962,3397,0,0,0,0,0,0
$GC,691,-0.74,-146.0,89.8,-11.2,113,696,0.00,2.30,0.00,0.000,4,0.000,0.058,2381,551,3399,0,0,0,0,0,0
$GC,882,-0.74,-146.0,111.3,-10.7,130,886,0.00,2.17,0.00,0.000,6,0.000,0.038,2372,1957,3399,0,0,0,0,0,0
$GC,1213,-0.74,-146.0,144.7,-10.1,161,1221,0.10,2.30,0.00,0.000,4,0.171,0.061,2398,553,3400,0,0,0,0,0,0
$GC,1438,-0.74,-146.0,167.1,-9.9,181,1442,0.00,2.15,0.00,0.000,6,0.000,0.040,2390,1955,3401,0,0,0,0,0,0
$GC,1766,-0.74,-146.0,193.9,-8.1,211,1770,0.00,2.28,0.00,0.000,4,0.000,0.061,2390,553,3401,0,0,0,0,0,0
$GC,2025,-0.74,-146.0,215.3,-7.3,225,2032,0.00,2.17,0.00,0.000,6,0.000,0.040,2380,1958,3400,0,0,0,0,0,0
$GC,2343,-0.74,-146.0,237.5,-7.4,241,2347,0.00,2.28,0.00,0.000,4,0.000,0.060,2381,553,3401,0,0,0,0,0,0
$GC,2534,-0.74,-146.0,251.9,-7.8,249,2540,0.12,2.17,0.00,0.000,6,0.152,0.040,2405,1960,3401,0,0,0,0,0,0
$GC,2852,-0.74,-146.0,272.8,-5.5,265,2856,0.00,2.30,0.00,0.000,4,0.000,0.060,2406,544,3400,0,0,0,0,0,0
$GC,2959,-0.74,-146.0,279.5,-6.4,270,2963,0.00,2.17,0.00,0.000,6,0.000,0.039,2398,1961,3401,0,0,0,0,0,0
$GC,3287,-0.74,-146.0,303.8,-8.2,285,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1961,3400,0,0,0,0,0,0
$GC,3610,-0.74,-146.0,325.2,-6.1,293,3614,0.00,2.30,0.00,0.000,4,0.000,0.060,2398,546,3399,0,0,0,0,0,0
$GC,3759,-0.74,-146.0,335.3,-7.5,296,3763,0.00,2.17,0.00,0.000,6,0.000,0.041,2388,1958,3398,0,0,0,0,0,0
$GC,4078,-0.74,-146.0,354.5,-6.0,304,4083,0.00,2.25,0.00,0.000,4,0.000,0.057,2378,3376,3396,0,0,0,0,0,0
$GC,4156,-0.74,-146.0,359.0,-5.8,305,4162,0.00,2.25,0.00,0.000,6,0.000,0.052,2378,1965,3396,0,0,0,0,0,0
$GC,4489,-0.74,-146.0,378.7,-6.4,314,4492,0.00,2.28,0.00,0.000,4,0.000,0.060,2378,541,3395,0,0,0,0,0,0
$GC,4749,-0.74,-146.0,401.6,-9.0,319,4754,0.12,2.22,0.00,0.000,6,0.154,0.042,2401,1974,3393,0,0,0,0,0,0
$GC,5081,-0.74,-146.0,423.1,-5.7,327,5084,0.00,2.20,0.00,0.000,4,0.000,0.056,2393,3369,3392,0,0,0,0,0,0
$GC,5122,-0.74,-146.0,425.2,-5.3,328,5126,0.00,2.30,0.00,0.000,6,0.000,0.054,2393,1950,3391,0,0,0,0,0,0
$STATE,5444,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5444,begin apogee
$GC,5451,-0.17,0.0,441.9,5.3,336,5576,0.57,0.00,122.12,0.748,6,0.109,0.000,2580,1950,2800,0,0,0,0,0,0
$STATE,5577,end apogee,CONTROL_FINISHED_OK
$STATE,5577,begin climb
$GC,5579,0.74,146.0,442.6,0.0,339,5718,0.82,2.45,127.10,0.724,4,0.071,0.057,2872,3395,2203,0,0,0,0,0,0
$GC,5904,0.74,146.0,404.2,12.1,346,5908,0.00,2.30,0.00,0.000,6,0.000,0.050,2882,1975,2198,0,0,0,0,0,0
$GC,6252,0.74,146.0,366.0,10.9,355,6256,0.00,2.30,0.00,0.000,4,0.000,0.058,2882,3383,2195,0,0,0,0,0,0
$GC,6313,0.74,146.0,358.5,12.1,356,6317,0.00,2.28,0.00,0.000,6,0.000,0.050,2892,1975,2194,0,0,0,0,0,0
$GC,6656,0.74,146.0,322.2,10.4,365,6660,0.00,2.28,0.00,0.000,4,0.000,0.061,2891,3386,2193,0,0,0,0,0,0
$GC,6790,0.74,146.0,306.1,12.9,368,6794,0.00,2.25,0.00,0.000,6,0.000,0.051,2900,1979,2193,0,0,0,0,0,0
$GC,7118,0.74,146.0,269.5,10.8,382,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1979,2192,0,0,0,0,0,0
$GC,7427,0.74,146.0,233.8,12.0,397,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1979,2191,0,0,0,0,0,0
$GC,7737,0.74,146.0,203.2,9.2,412,7741,0.00,2.28,0.00,0.000,4,0.000,0.061,2900,3380,2190,0,0,0,0,0,0
$GC,7823,0.74,146.0,194.1,11.6,418,7827,0.12,2.25,0.00,0.000,6,0.143,0.053,2873,1977,2190,0,0,0,0,0,0
$GC,8150,0.79,191.2,170.1,7.2,448,8197,0.00,2.35,37.42,0.585,4,0.000,0.063,2873,3380,2019,0,0,0,0,0,0
$GC,8244,0.80,200.9,162.8,8.6,456,8260,0.00,2.28,9.80,0.515,6,0.000,0.054,2879,1979,1980,0,0,0,0,0,0
$GC,8588,0.82,214.9,137.9,8.5,488,8611,0.00,2.35,13.27,0.518,4,0.000,0.062,2878,3382,1923,0,0,0,0,0,0
$GC,8669,0.82,214.9,129.7,10.8,495,8673,0.00,2.28,0.00,0.000,6,0.000,0.054,2885,1981,1922,0,0,0,0,0,0
$GC,8997,0.89,270.3,100.9,6.7,525,9053,0.12,2.35,49.33,0.518,4,0.074,0.061,2973,3383,1697,0,0,0,0,0,0
$GC,9073,0.89,270.3,92.7,12.5,532,9078,0.20,2.30,0.00,0.000,6,0.130,0.054,2925,1981,1695,0,0,0,0,0,0
$GC,9403,0.94,307.3,62.5,7.5,581,9442,0.00,2.35,32.28,0.482,4,0.000,0.062,2925,3382,1546,0,0,0,0,0,0
$GC,9507,0.94,313.8,54.5,8.8,599,9520,0.00,2.30,7.30,0.403,6,0.000,0.053,2931,1973,1518,0,0,0,0,0,0
$GC,9850,0.94,314.6,25.0,9.0,661,9857,0.00,2.28,0.00,0.000,4,0.000,0.061,2940,573,1518,0,0,0,0,0,0
$GC,9878,0.97,332.3,22.5,8.3,665,9899,0.00,2.22,16.60,0.431,6,0.000,0.043,2940,1974,1444,0,0,0,0,0,0
$GC,10063,1.02,373.0,6.8,7.3,698,10102,0.00,2.25,33.67,0.433,4,0.000,0.052,2940,3396,1278,0,0,0,0,0,0
$STATE,10108,end climb,SURFACE_DEPTH_REACHED
$STATE,10108,begin surface coast
$FINISH,0.6,1.023339
$STATE,10142,end surface coast,CONTROL_FINISHED_OK
$STATE,10142,begin surface
$SM_CCo,10223,0.00,0.000,0,0,1274,374.32
$SM_GC,1.47,7.45,0.00,0.00,0.023,0.000,0.000,37,1946,1274,-7.99,-0.25,374.32
$IRIDIUM_FIX,2057.14,-15759.05,270902,161629
$TT8_MAMPS,0.027612
$HUMID,65.23
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,53.991
$10V_AH,10.1,59.278
$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,19.050,90.750,448.900,0.000,0.000,58.331,76.180,242.949,18.500,0.000,15.369,1280.471,5981.083,435.473,2435.678,670.908,0.000,1341.576,0.000,2387.682,0.000,116.340,0.000
$DEVICE_MAMPS,211.692,62.894,747.825,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,481.682,419.302,1405.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38221,711
$CAP_FILE_SIZE,113339,0
$CFSIZE,260165632,224292864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030713,190348,2109.514,-15800.033,15,0.9,15,9.8