version: 66.06
glider: 523
mission: 4
dive: 664
start: 7 7 113 18 58 27
data:
$ID,523
$MISSION,4
$DIVE,664
$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,-49383.277
$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,19
$R_STBD_OVSHOOT,24
$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
$GPS1,185151,2105.779,-15745.430,18,0.9,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.4
$GPS2,185811,2105.736,-15745.426,20,0.9,20,9.8
$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,78.3,4335,-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,-78.60,0.000,6,0.000,0.000,50,1951,3396,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.6,-5.1,13,119,9.60,0.00,0.00,0.000,6,0.223,0.000,2395,1949,3397,0,0,0,0,0,0
$GC,280,-0.74,-146.0,32.0,-12.5,45,285,0.00,2.28,0.00,0.000,4,0.000,0.066,2395,542,3399,0,0,0,0,0,0
$GC,533,-0.74,-146.0,68.5,-14.1,91,539,0.00,2.20,0.00,0.000,6,0.000,0.042,2387,1957,3400,0,0,0,0,0,0
$GC,863,-0.74,-146.0,100.7,-6.8,130,867,0.00,2.35,0.00,0.000,4,0.000,0.066,2387,542,3401,0,0,0,0,0,0
$GC,1111,-0.74,-146.0,123.1,-10.2,152,1119,0.00,2.22,0.00,0.000,6,0.000,0.043,2378,1949,3401,0,0,0,0,0,0
$GC,1438,-0.74,-146.0,154.6,-10.2,183,1443,0.00,2.28,0.00,0.000,4,0.000,0.064,2378,546,3402,0,0,0,0,0,0
$GC,1629,-0.74,-146.0,174.0,-9.1,200,1637,0.08,2.22,0.00,0.000,6,0.142,0.042,2393,1957,3402,0,0,0,0,0,0
$GC,1957,-0.74,-146.0,197.3,-6.5,231,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1957,3403,0,0,0,0,0,0
$GC,2284,-0.74,-146.0,219.5,-7.2,249,2291,0.00,2.33,0.00,0.000,4,0.000,0.066,2393,548,3403,0,0,0,0,0,0
$GC,2428,-0.74,-146.0,231.3,-7.7,255,2432,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1962,3403,0,0,0,0,0,0
$GC,2751,-0.74,-146.0,251.6,-5.6,271,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1962,3403,0,0,0,0,0,0
$GC,3059,-0.74,-146.0,272.8,-6.6,286,3063,0.00,2.35,0.00,0.000,4,0.000,0.064,2385,548,3403,0,0,0,0,0,0
$GC,3306,-0.74,-146.0,289.8,-6.6,297,3311,0.00,2.20,0.00,0.000,6,0.000,0.042,2376,1964,3403,0,0,0,0,0,0
$GC,3641,-0.74,-146.0,311.3,-6.2,309,3645,0.00,2.28,0.00,0.000,4,0.000,0.064,2366,3375,3402,0,0,0,0,0,0
$GC,3725,-0.74,-146.0,317.4,-7.0,311,3730,0.12,2.28,0.00,0.000,6,0.143,0.051,2399,1950,3402,0,0,0,0,0,0
$GC,4055,-0.74,-146.0,340.3,-7.5,319,4059,0.00,2.33,0.00,0.000,4,0.000,0.071,2399,539,3401,0,0,0,0,0,0
$GC,4242,-0.74,-146.0,355.0,-7.1,323,4246,0.00,2.22,0.00,0.000,6,0.000,0.041,2391,1968,3399,0,0,0,0,0,0
$GC,4555,-0.74,-146.0,371.7,-4.5,331,4559,0.00,2.38,0.00,0.000,4,0.000,0.064,2391,546,3398,0,0,0,0,0,0
$GC,4813,-0.74,-146.0,384.9,-5.8,336,4820,0.00,2.22,0.00,0.000,6,0.000,0.043,2381,1962,3397,0,0,0,0,0,0
$GC,5144,-0.74,-146.0,403.1,-5.8,345,5148,0.00,2.33,0.00,0.000,4,0.000,0.064,2381,547,3395,0,0,0,0,0,0
$GC,5265,-0.74,-146.0,412.2,-7.3,347,5269,0.00,2.22,0.00,0.000,6,0.000,0.043,2372,1959,3395,0,0,0,0,0,0
$STATE,5432,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5432,begin apogee
$GC,5438,-0.17,0.0,425.4,7.7,351,5564,0.65,0.00,122.97,0.730,6,0.116,0.000,2579,1959,2800,0,0,0,0,0,0
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5565,begin climb
$GC,5569,0.74,146.0,428.8,0.0,354,5703,0.85,0.00,127.47,0.709,6,0.075,0.000,2876,1959,2204,0,0,0,0,0,0
$GC,6016,0.74,146.0,386.8,10.5,365,6020,0.00,2.33,0.00,0.000,4,0.000,0.064,2875,3387,2197,0,0,0,0,0,0
$GC,6274,0.74,146.0,356.1,12.1,370,6280,0.00,2.28,0.00,0.000,6,0.000,0.049,2885,1981,2195,0,0,0,0,0,0
$GC,6606,0.74,146.0,318.5,11.3,379,6610,0.00,2.28,0.00,0.000,4,0.000,0.061,2885,3388,2193,0,0,0,0,0,0
$GC,6772,0.74,146.0,298.2,12.1,382,6776,0.00,2.25,0.00,0.000,6,0.000,0.050,2893,1981,2192,0,0,0,0,0,0
$GC,7088,0.74,146.0,266.0,10.0,397,7092,0.00,2.30,0.00,0.000,4,0.000,0.062,2893,3395,2191,0,0,0,0,0,0
$GC,7140,0.74,146.0,260.1,12.1,399,7144,0.00,2.28,0.00,0.000,6,0.000,0.053,2899,1981,2191,0,0,0,0,0,0
$GC,7460,0.74,146.0,226.3,9.6,415,7464,0.00,2.30,0.00,0.000,4,0.000,0.063,2899,3385,2190,0,0,0,0,0,0
$GC,7650,0.74,146.0,206.5,10.3,423,7656,0.12,2.25,0.00,0.000,6,0.142,0.051,2873,1981,2188,0,0,0,0,0,0
$GC,7975,0.78,181.3,180.8,7.6,450,8009,0.00,2.30,29.15,0.584,4,0.000,0.062,2873,3387,2060,0,0,0,0,0,0
$GC,8093,0.83,218.4,171.7,7.5,460,8135,0.00,2.30,33.47,0.571,6,0.000,0.053,2880,1982,1909,0,0,0,0,0,0
$GC,8456,0.84,229.1,143.7,8.6,494,8472,0.00,2.35,10.52,0.503,4,0.000,0.064,2880,3383,1865,0,0,0,0,0,0
$GC,8591,0.84,229.9,132.3,9.0,506,8595,0.00,2.28,0.00,0.000,6,0.000,0.054,2886,1972,1863,0,0,0,0,0,0
$GC,8920,0.87,254.1,107.0,8.0,536,8954,0.10,2.38,23.08,0.512,4,0.088,0.062,2966,3386,1763,0,0,0,0,0,0
$GC,8990,0.87,254.1,98.8,12.7,542,8995,0.20,2.30,0.00,0.000,6,0.127,0.053,2917,1979,1762,0,0,0,0,0,0
$GC,9321,0.90,275.9,69.0,8.1,583,9346,0.00,2.40,20.25,0.478,4,0.000,0.074,2919,559,1674,0,0,0,0,0,0
$GC,9439,0.97,336.4,61.0,6.5,603,9497,0.00,2.25,52.47,0.479,6,0.000,0.043,2920,1981,1426,0,0,0,0,0,0
$GC,9825,1.00,361.5,32.6,8.0,673,9850,0.12,0.00,21.20,0.441,6,0.078,0.000,2983,1981,1325,0,0,0,0,0,0
$STATE,10113,end climb,SURFACE_DEPTH_REACHED
$STATE,10113,begin surface coast
$FINISH,0.7,1.010851
$STATE,10143,end surface coast,CONTROL_FINISHED_OK
$STATE,10143,begin surface
$SM_CCo,10221,0.00,0.000,0,0,1319,363.04
$SM_GC,1.51,7.53,0.00,0.00,0.026,0.000,0.000,38,1983,1319,-8.00,0.74,363.04
$IRIDIUM_FIX,2054.83,-15749.62,011002,161615
$TT8_MAMPS,0.027612
$HUMID,67.12
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.4,57.022
$10V_AH,10.1,62.851
$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,19.375,77.675,440.600,0.000,0.000,22.149,50.255,156.011,18.000,0.000,21.363,1311.255,5756.641,435.299,2562.795,525.925,0.000,1358.646,0.000,2510.995,0.000,109.538,0.000
$DEVICE_MAMPS,223.197,73.632,730.184,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,496.643,428.561,1471.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41229,732
$CAP_FILE_SIZE,109107,0
$CFSIZE,260165632,222392320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,070713,215005,2106.172,-15744.787,40,1.0,40,9.8