version: 66.06
glider: 523
mission: 4
dive: 660
start: 7 7 113 7 34 16
data:
$ID,523
$MISSION,4
$DIVE,660
$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,-49300.98
$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,23
$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
$GPS1,072734,2106.098,-15745.057,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.9
$GPS2,073359,2106.027,-15745.060,17,1.3,17,9.8
$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,86.3,3721,-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,-88.95,0.000,6,0.000,0.000,34,1982,3396,0,0,0,0,0,0
$GC,118,-0.74,-146.0,3.9,-5.6,15,133,9.60,2.33,0.00,0.000,4,0.222,0.054,2392,538,3397,0,0,0,0,0,0
$GC,304,-0.74,-146.0,37.1,-14.4,49,310,0.00,2.22,0.00,0.000,6,0.000,0.040,2383,1957,3399,0,0,0,0,0,0
$GC,636,-0.74,-146.0,75.1,-10.4,110,645,0.00,2.33,0.00,0.000,4,0.000,0.063,2383,553,3400,0,0,0,0,0,0
$GC,894,-0.74,-146.0,97.7,-8.3,137,898,0.00,2.20,0.00,0.000,6,0.000,0.041,2374,1961,3400,0,0,0,0,0,0
$GC,1222,-0.74,-146.0,132.9,-11.5,167,1226,0.00,2.28,0.00,0.000,4,0.000,0.062,2374,551,3401,0,0,0,0,0,0
$GC,1475,-0.74,-146.0,156.0,-7.4,189,1482,0.10,2.22,0.00,0.000,6,0.133,0.041,2397,1962,3401,0,0,0,0,0,0
$GC,1802,-0.74,-146.0,178.8,-8.4,220,1806,0.00,2.30,0.00,0.000,4,0.000,0.062,2397,551,3402,0,0,0,0,0,0
$GC,2058,-0.74,-146.0,199.4,-7.2,242,2065,0.00,2.22,0.00,0.000,6,0.000,0.041,2389,1961,3402,0,0,0,0,0,0
$GC,2389,-0.74,-146.0,220.7,-6.1,259,2393,0.00,2.30,0.00,0.000,4,0.000,0.061,2389,551,3402,0,0,0,0,0,0
$GC,2614,-0.74,-146.0,237.4,-7.5,269,2618,0.00,2.17,0.00,0.000,6,0.000,0.041,2379,1960,3402,0,0,0,0,0,0
$GC,2943,-0.74,-146.0,262.9,-7.8,285,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1960,3402,0,0,0,0,0,0
$GC,3251,-0.74,-146.0,286.7,-7.6,300,3255,0.00,2.30,0.00,0.000,4,0.000,0.063,2369,3373,3402,0,0,0,0,0,0
$GC,3317,-0.74,-146.0,292.6,-8.6,303,3322,0.12,2.28,0.00,0.000,6,0.143,0.048,2403,1950,3402,0,0,0,0,0,0
$GC,3638,-0.74,-146.0,313.9,-6.3,314,3642,0.00,2.28,0.00,0.000,4,0.000,0.064,2403,546,3401,0,0,0,0,0,0
$GC,3828,-0.74,-146.0,325.3,-5.7,318,3832,0.00,2.17,0.00,0.000,6,0.000,0.040,2396,1958,3399,0,0,0,0,0,0
$GC,4145,-0.74,-146.0,341.2,-5.3,326,4149,0.00,2.28,0.00,0.000,4,0.000,0.064,2385,3363,3397,0,0,0,0,0,0
$GC,4173,-0.74,-146.0,343.1,-6.6,326,4176,0.00,2.25,0.00,0.000,6,0.000,0.050,2385,1957,3397,0,0,0,0,0,0
$GC,4510,-0.74,-146.0,364.0,-6.4,335,4514,0.00,2.33,0.00,0.000,4,0.000,0.066,2385,536,3396,0,0,0,0,0,0
$GC,4768,-0.74,-146.0,383.6,-6.9,340,4773,0.00,2.22,0.00,0.000,6,0.000,0.041,2376,1958,3395,0,0,0,0,0,0
$GC,5102,-0.74,-146.0,406.3,-6.9,349,5106,0.00,2.33,0.00,0.000,4,0.000,0.061,2376,545,3393,0,0,0,0,0,0
$GC,5363,-0.74,-146.0,425.0,-6.4,354,5369,0.12,2.22,0.00,0.000,6,0.154,0.044,2399,1960,3391,0,0,0,0,0,0
$STATE,5407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5413,-0.17,0.0,427.6,5.3,356,5539,0.57,0.00,122.47,0.730,6,0.113,0.000,2587,1960,2800,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5540,begin climb
$GC,5542,0.74,146.0,426.8,0.0,359,5681,0.82,2.42,127.03,0.707,4,0.074,0.061,2876,3382,2203,0,0,0,0,0,0
$GC,5802,0.74,146.0,393.5,14.9,365,5806,0.00,2.28,0.00,0.000,6,0.000,0.045,2885,1979,2199,0,0,0,0,0,0
$GC,6132,0.74,146.0,353.4,11.3,373,6136,0.00,2.28,0.00,0.000,4,0.000,0.059,2885,3386,2197,0,0,0,0,0,0
$GC,6267,0.74,146.0,337.1,12.1,376,6271,0.00,2.28,0.00,0.000,6,0.000,0.048,2893,1973,2195,0,0,0,0,0,0
$GC,6586,0.74,146.0,306.0,9.2,384,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1974,2194,0,0,0,0,0,0
$GC,6893,0.74,146.0,276.1,9.8,397,6897,0.00,2.30,0.00,0.000,4,0.000,0.061,2893,3386,2192,0,0,0,0,0,0
$GC,7045,0.74,146.0,259.3,12.6,403,7050,0.00,2.28,0.00,0.000,6,0.000,0.050,2899,1975,2192,0,0,0,0,0,0
$GC,7361,0.74,146.0,224.3,11.3,419,7365,0.00,2.30,0.00,0.000,4,0.000,0.064,2899,3392,2191,0,0,0,0,0,0
$GC,7515,0.74,146.0,207.6,9.9,426,7519,0.12,2.28,0.00,0.000,6,0.140,0.053,2873,1974,2191,0,0,0,0,0,0
$GC,7840,0.83,219.0,186.8,6.0,452,7909,0.00,2.35,61.45,0.591,4,0.000,0.059,2873,3383,1904,0,0,0,0,0,0
$GC,8000,0.91,286.7,177.8,6.2,466,8070,0.15,2.22,59.72,0.568,6,0.062,0.040,2971,1964,1629,0,0,0,0,0,0
$GC,8389,0.91,286.7,127.7,14.2,502,8394,0.15,2.28,0.00,0.000,4,0.133,0.051,2928,3389,1627,0,0,0,0,0,0
$GC,8473,0.91,286.7,116.8,12.4,509,8477,0.00,2.17,0.00,0.000,6,0.000,0.039,2936,1980,1626,0,0,0,0,0,0
$GC,8800,0.91,286.7,80.5,10.3,539,8804,0.00,2.28,0.00,0.000,4,0.000,0.051,2936,3394,1627,0,0,0,0,0,0
$GC,8884,0.91,286.7,71.1,11.4,553,8890,0.00,2.25,0.00,0.000,6,0.000,0.051,2946,1984,1626,0,0,0,0,0,0
$GC,9215,0.91,286.7,35.3,10.0,614,9223,0.00,2.30,0.00,0.000,4,0.000,0.058,2946,3382,1627,0,0,0,0,0,0
$GC,9269,0.91,286.7,30.0,10.4,623,9277,0.00,2.25,0.00,0.000,6,0.000,0.052,2954,1994,1627,0,0,0,0,0,0
$GC,9438,0.93,299.4,14.1,8.5,654,9452,0.00,0.00,12.07,0.413,6,0.000,0.000,2953,1994,1578,0,0,0,0,0,0
$STATE,9562,end climb,SURFACE_DEPTH_REACHED
$STATE,9562,begin surface coast
$FINISH,0.8,1.023330
$STATE,9591,end surface coast,CONTROL_FINISHED_OK
$STATE,9591,begin surface
$SM_CCo,9670,0.00,0.000,0,0,1575,300.49
$SM_GC,1.45,7.47,0.00,0.00,0.026,0.000,0.000,38,1945,1575,-8.00,-0.31,300.49
$IRIDIUM_FIX,2059.45,-15748.75,011002,040442
$TT8_MAMPS,0.027612
$HUMID,67.09
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.4,56.670
$10V_AH,10.0,62.430
$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,19.250,81.800,382.750,0.000,0.000,30.602,35.851,169.779,18.000,0.000,17.505,1254.047,5437.261,399.101,2441.030,515.544,0.000,1290.003,0.000,2385.890,0.000,109.514,0.000
$DEVICE_MAMPS,221.663,134.225,730.184,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,462.567,399.841,1363.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38156,682
$CAP_FILE_SIZE,106797,0
$CFSIZE,260165632,222617600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,070713,101634,2106.059,-15744.728,31,0.8,31,9.8