version: 66.06
glider: 523
mission: 4
dive: 659
start: 7 7 113 4 40 16
data:
$ID,523
$MISSION,4
$DIVE,659
$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,-49282.848
$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
$GPS1,043336,2106.020,-15745.681,32,0.9,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-74.5
$GPS2,043959,2105.968,-15745.701,16,1.1,16,9.8
$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,83.6,4817,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-77.82,0.000,6,0.000,0.000,34,1975,3395,0,0,0,0,0,0
$GC,106,-0.74,-146.0,4.0,-6.5,13,120,9.55,2.33,0.00,0.000,4,0.219,0.061,2390,541,3396,0,0,0,0,0,0
$GC,244,-0.74,-146.0,28.0,-13.1,38,252,0.00,2.25,0.00,0.000,6,0.000,0.040,2381,1962,3397,0,0,0,0,0,0
$GC,419,-0.74,-146.0,48.5,-10.8,69,424,0.00,2.30,0.00,0.000,4,0.000,0.061,2381,545,3398,0,0,0,0,0,0
$GC,672,-0.74,-146.0,77.6,-12.0,115,678,0.12,2.20,0.00,0.000,6,0.162,0.040,2404,1958,3399,0,0,0,0,0,0
$GC,1007,-0.74,-146.0,112.8,-8.4,148,1011,0.00,2.33,0.00,0.000,4,0.000,0.062,2405,540,3400,0,0,0,0,0,0
$GC,1260,-0.74,-146.0,133.0,-7.7,170,1267,0.00,2.22,0.00,0.000,6,0.000,0.041,2397,1952,3401,0,0,0,0,0,0
$GC,1587,-0.74,-146.0,155.9,-7.6,201,1591,0.00,2.30,0.00,0.000,4,0.000,0.062,2397,545,3401,0,0,0,0,0,0
$GC,1728,-0.74,-146.0,167.7,-8.5,213,1732,0.00,2.20,0.00,0.000,6,0.000,0.041,2388,1957,3402,0,0,0,0,0,0
$GC,2055,-0.74,-146.0,193.8,-7.5,243,2059,0.00,2.35,0.00,0.000,4,0.000,0.061,2388,535,3402,0,0,0,0,0,0
$GC,2311,-0.74,-146.0,211.9,-6.3,257,2316,0.00,2.22,0.00,0.000,6,0.000,0.041,2378,1965,3402,0,0,0,0,0,0
$GC,2629,-0.74,-146.0,234.3,-6.6,273,2633,0.00,2.33,0.00,0.000,4,0.000,0.061,2378,535,3402,0,0,0,0,0,0
$GC,2872,-0.74,-146.0,250.2,-6.3,284,2877,0.12,2.20,0.00,0.000,6,0.154,0.041,2403,1959,3402,0,0,0,0,0,0
$GC,3203,-0.74,-146.0,269.4,-7.2,300,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1960,3402,0,0,0,0,0,0
$GC,3508,-0.74,-146.0,288.3,-5.3,315,3512,0.00,2.30,0.00,0.000,4,0.000,0.064,2394,3364,3402,0,0,0,0,0,0
$GC,3542,-0.74,-146.0,289.8,-4.9,316,3548,0.00,2.28,0.00,0.000,6,0.000,0.049,2394,1957,3402,0,0,0,0,0,0
$GC,3877,-0.74,-146.0,306.9,-5.4,330,3881,0.00,2.35,0.00,0.000,4,0.000,0.066,2394,538,3401,0,0,0,0,0,0
$GC,3938,-0.74,-146.0,311.0,-6.6,331,3942,0.00,2.20,0.00,0.000,6,0.000,0.041,2384,1956,3400,0,0,0,0,0,0
$GC,4286,-0.74,-146.0,333.1,-6.2,340,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1956,3398,0,0,0,0,0,0
$GC,4613,-0.74,-146.0,355.0,-7.2,348,4617,0.00,2.35,0.00,0.000,4,0.000,0.061,2384,537,3397,0,0,0,0,0,0
$GC,4753,-0.74,-146.0,365.2,-6.0,351,4757,0.00,2.20,0.00,0.000,6,0.000,0.041,2375,1955,3396,0,0,0,0,0,0
$GC,5072,-0.74,-146.0,387.3,-7.0,359,5076,0.00,2.28,0.00,0.000,4,0.000,0.065,2365,3365,3394,0,0,0,0,0,0
$GC,5292,-0.74,-146.0,402.1,-6.0,364,5297,0.12,2.30,0.00,0.000,6,0.143,0.050,2397,1946,3394,0,0,0,0,0,0
$STATE,5410,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5410,begin apogee
$GC,5418,-0.17,0.0,409.0,5.5,367,5543,0.57,0.00,122.47,0.720,6,0.111,0.000,2586,2010,2800,0,0,0,0,0,0
$STATE,5544,end apogee,CONTROL_FINISHED_OK
$STATE,5544,begin climb
$GC,5547,0.74,146.0,409.5,0.0,370,5685,0.82,2.30,126.72,0.697,4,0.073,0.058,2876,3357,2202,0,0,0,0,0,0
$GC,5759,0.74,146.0,386.7,13.6,375,5763,0.00,2.25,0.00,0.000,6,0.000,0.048,2885,1975,2199,0,0,0,0,0,0
$GC,6083,0.74,146.0,347.4,11.8,383,6087,0.00,2.22,0.00,0.000,4,0.000,0.058,2885,3360,2196,0,0,0,0,0,0
$GC,6218,0.74,146.0,330.9,12.4,386,6223,0.00,2.22,0.00,0.000,6,0.000,0.048,2893,1980,2195,0,0,0,0,0,0
$GC,6538,0.74,146.0,296.8,10.6,394,6542,0.00,2.22,0.00,0.000,4,0.000,0.060,2893,3359,2194,0,0,0,0,0,0
$GC,6639,0.74,146.0,283.5,13.2,398,6644,0.00,2.25,0.00,0.000,6,0.000,0.052,2899,1968,2192,0,0,0,0,0,0
$GC,6954,0.74,146.0,248.4,10.3,414,6958,0.00,2.25,0.00,0.000,4,0.000,0.062,2900,3359,2191,0,0,0,0,0,0
$GC,7044,0.74,146.0,238.4,11.1,418,7048,0.12,2.22,0.00,0.000,6,0.147,0.051,2873,1980,2190,0,0,0,0,0,0
$GC,7365,0.78,182.1,212.5,7.5,434,7400,0.00,2.25,30.10,0.607,4,0.000,0.061,2873,3362,2056,0,0,0,0,0,0
$GC,7440,0.78,182.1,206.7,9.2,436,7445,0.00,2.25,0.00,0.000,6,0.000,0.052,2880,1977,2054,0,0,0,0,0,0
$GC,7767,0.79,187.4,180.3,8.8,463,7780,0.00,2.30,5.45,0.462,4,0.000,0.062,2880,3362,2036,0,0,0,0,0,0
$GC,7827,0.79,187.4,174.6,9.1,468,7831,0.00,2.22,0.00,0.000,6,0.000,0.054,2890,1981,2035,0,0,0,0,0,0
$GC,8154,0.85,236.4,147.5,7.0,498,8204,0.00,2.33,43.62,0.560,4,0.000,0.061,2899,567,1835,0,0,0,0,0,0
$GC,8248,0.86,242.7,139.9,8.8,506,8261,0.00,2.17,7.18,0.463,6,0.000,0.037,2899,1958,1809,0,0,0,0,0,0
$GC,8582,0.87,250.9,113.4,8.7,537,8595,0.00,2.28,8.45,0.466,4,0.000,0.055,2908,553,1776,0,0,0,0,0,0
$GC,8685,0.87,250.9,103.2,9.2,546,8689,0.00,2.20,0.00,0.000,6,0.000,0.037,2908,1979,1776,0,0,0,0,0,0
$GC,9012,0.91,284.4,75.9,7.6,581,9047,0.00,2.22,29.90,0.491,4,0.000,0.051,2908,3390,1641,0,0,0,0,0,0
$GC,9129,0.91,284.4,65.3,9.8,601,9134,0.00,2.28,0.00,0.000,6,0.000,0.045,2916,1969,1640,0,0,0,0,0,0
$GC,9459,0.92,298.7,34.2,8.4,662,9478,0.00,2.28,13.85,0.438,4,0.000,0.052,2916,3396,1582,0,0,0,0,0,0
$GC,9541,0.94,308.5,27.2,8.6,676,9556,0.00,2.28,10.18,0.414,6,0.000,0.048,2922,1983,1542,0,0,0,0,0,0
$GC,9716,0.97,333.8,13.5,8.0,708,9744,0.00,2.28,22.48,0.433,4,0.000,0.059,2932,561,1437,0,0,0,0,0,0
$GC,9790,1.01,365.5,8.8,7.7,720,9823,0.00,2.28,26.98,0.428,6,0.000,0.044,2932,1981,1308,0,0,0,0,0,0
$STATE,9856,end climb,SURFACE_DEPTH_REACHED
$STATE,9856,begin surface coast
$FINISH,0.6,1.023422
$STATE,9893,end surface coast,CONTROL_FINISHED_OK
$STATE,9893,begin surface
$SM_CCo,9971,0.00,0.000,0,0,1303,367.21
$SM_GC,1.49,7.47,0.00,0.00,0.025,0.000,0.000,39,1983,1303,-8.01,0.74,367.21
$IRIDIUM_FIX,2101.76,-15747.88,011002,010106
$TT8_MAMPS,0.028379
$HUMID,66.65
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,3
$24V_AH,24.4,56.582
$10V_AH,10.1,62.328
$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,18.925,95.075,447.375,0.000,0.000,31.076,32.163,174.561,17.250,0.000,17.283,1324.458,5542.775,438.008,2507.325,534.570,0.000,1349.314,0.000,2463.877,0.000,103.312,0.000
$DEVICE_MAMPS,219.362,141.895,720.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,499.832,445.468,1504.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41187,737
$CAP_FILE_SIZE,113057,0
$CFSIZE,260165632,222666752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,070713,072734,2106.098,-15745.057,31,0.9,31,9.8