version: 66.06
glider: 523
mission: 4
dive: 665
start: 7 7 113 22 0 10
data:
$ID,523
$MISSION,4
$DIVE,665
$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,-49399.148
$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,17
$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
$GPS1,215005,2106.172,-15744.787,40,1.0,40,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.9
$GPS2,215953,2106.098,-15744.872,14,1.0,14,9.8
$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,89.1,3416,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,107,0.00,0.00,-87.68,0.000,6,0.000,0.000,38,1982,3397,0,0,0,0,0,0
$GC,111,-0.74,-146.0,3.1,-3.9,14,125,9.57,2.35,0.00,0.000,4,0.220,0.054,2392,542,3397,0,0,0,0,0,0
$GC,196,-0.74,-146.0,19.0,-13.5,29,204,0.00,2.25,0.00,0.000,6,0.000,0.040,2383,1957,3398,0,0,0,0,0,0
$GC,364,-0.74,-146.0,41.1,-13.0,60,371,0.00,2.40,0.00,0.000,4,0.000,0.064,2383,545,3399,0,0,0,0,0,0
$GC,440,-0.74,-146.0,51.5,-13.5,73,445,0.00,2.20,0.00,0.000,6,0.000,0.040,2374,1961,3399,0,0,0,0,0,0
$GC,778,-0.74,-146.0,93.8,-10.0,124,783,0.00,2.35,0.00,0.000,4,0.000,0.062,2374,545,3400,0,0,0,0,0,0
$GC,1028,-0.74,-146.0,116.3,-8.3,146,1036,0.10,2.22,0.00,0.000,6,0.139,0.040,2396,1960,3400,0,0,0,0,0,0
$GC,1356,-0.74,-146.0,138.4,-6.5,177,1360,0.00,2.35,0.00,0.000,4,0.000,0.063,2397,535,3401,0,0,0,0,0,0
$GC,1495,-0.74,-146.0,149.5,-8.7,189,1503,0.00,2.22,0.00,0.000,6,0.000,0.040,2389,1953,3401,0,0,0,0,0,0
$GC,1823,-0.74,-146.0,176.6,-8.5,220,1827,0.00,2.33,0.00,0.000,4,0.000,0.064,2389,535,3401,0,0,0,0,0,0
$GC,1944,-0.74,-146.0,187.2,-8.0,230,1952,0.00,2.22,0.00,0.000,6,0.000,0.041,2379,1950,3402,0,0,0,0,0,0
$GC,2265,-0.74,-146.0,211.6,-7.5,254,2269,0.00,2.33,0.00,0.000,4,0.000,0.063,2379,535,3401,0,0,0,0,0,0
$GC,2316,-0.74,-146.0,216.0,-8.3,256,2320,0.12,2.20,0.00,0.000,6,0.157,0.041,2403,1960,3401,0,0,0,0,0,0
$GC,2642,-0.74,-146.0,240.2,-7.7,272,2646,0.00,2.30,0.00,0.000,4,0.000,0.062,2403,546,3402,0,0,0,0,0,0
$GC,2810,-0.74,-146.0,252.7,-6.7,279,2815,0.00,2.20,0.00,0.000,6,0.000,0.041,2396,1962,3401,0,0,0,0,0,0
$GC,3129,-0.74,-146.0,272.3,-6.4,295,3133,0.00,2.25,0.00,0.000,4,0.000,0.061,2385,3365,3401,0,0,0,0,0,0
$GC,3196,-0.74,-146.0,277.5,-7.5,298,3200,0.00,2.28,0.00,0.000,6,0.000,0.049,2385,1952,3401,0,0,0,0,0,0
$GC,3520,-0.74,-146.0,295.7,-4.7,314,3524,0.00,2.28,0.00,0.000,4,0.000,0.067,2385,546,3401,0,0,0,0,0,0
$GC,3780,-0.74,-146.0,315.3,-9.7,321,3785,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1961,3399,0,0,0,0,0,0
$GC,4111,-0.74,-146.0,343.9,-8.1,330,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1962,3397,0,0,0,0,0,0
$GC,4437,-0.74,-146.0,360.5,-4.0,338,4441,0.00,2.30,0.00,0.000,4,0.000,0.062,2376,547,3396,0,0,0,0,0,0
$GC,4504,-0.74,-146.0,363.4,-4.5,339,4509,0.12,2.22,0.00,0.000,6,0.155,0.042,2399,1967,3396,0,0,0,0,0,0
$GC,4843,-0.74,-146.0,377.0,-5.0,348,4847,0.00,2.35,0.00,0.000,4,0.000,0.062,2399,539,3394,0,0,0,0,0,0
$GC,4929,-0.74,-146.0,383.3,-7.5,350,4933,0.00,2.20,0.00,0.000,6,0.000,0.042,2392,1956,3393,0,0,0,0,0,0
$GC,5262,-0.74,-146.0,407.1,-7.1,358,5265,0.00,2.35,0.00,0.000,4,0.000,0.063,2392,535,3391,0,0,0,0,0,0
$GC,5399,-0.74,-146.0,417.7,-7.7,361,5404,0.00,2.22,0.00,0.000,6,0.000,0.043,2382,1962,3391,0,0,0,0,0,0
$STATE,5408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5408,begin apogee
$GC,5414,-0.17,0.0,418.7,7.4,361,5540,0.60,0.00,122.05,0.718,6,0.117,0.000,2578,1963,2799,0,0,0,0,0,0
$STATE,5540,end apogee,CONTROL_FINISHED_OK
$STATE,5540,begin climb
$GC,5543,0.74,146.0,420.2,0.0,364,5678,0.85,0.00,127.28,0.696,6,0.074,0.000,2875,1963,2204,0,0,0,0,0,0
$GC,5990,0.74,146.0,374.5,10.4,375,5994,0.00,2.33,0.00,0.000,4,0.000,0.063,2875,3396,2198,0,0,0,0,0,0
$GC,6155,0.74,146.0,355.6,11.9,378,6159,0.00,2.28,0.00,0.000,6,0.000,0.049,2884,1981,2195,0,0,0,0,0,0
$GC,6486,0.74,146.0,319.0,10.6,386,6490,0.00,2.30,0.00,0.000,4,0.000,0.061,2884,3389,2193,0,0,0,0,0,0
$GC,6704,0.74,146.0,295.0,10.7,392,6708,0.00,2.28,0.00,0.000,6,0.000,0.049,2893,1974,2191,0,0,0,0,0,0
$GC,7031,0.74,146.0,260.5,10.7,408,7035,0.00,2.30,0.00,0.000,4,0.000,0.061,2893,3392,2190,0,0,0,0,0,0
$GC,7179,0.74,146.0,243.1,12.1,414,7185,0.00,2.28,0.00,0.000,6,0.000,0.051,2898,1981,2190,0,0,0,0,0,0
$GC,7495,0.74,146.0,211.0,9.1,430,7499,0.00,2.30,0.00,0.000,4,0.000,0.063,2898,3388,2189,0,0,0,0,0,0
$GC,7572,0.74,146.0,203.8,9.3,433,7578,0.00,2.25,0.00,0.000,6,0.000,0.047,2907,1968,2189,0,0,0,0,0,0
$GC,7901,0.74,146.0,175.2,9.5,462,7905,0.00,2.25,0.00,0.000,4,0.000,0.051,2907,3395,2188,0,0,0,0,0,0
$GC,8085,0.74,146.0,153.5,12.3,478,8090,0.15,2.25,0.00,0.000,6,0.133,0.051,2872,1977,2188,0,0,0,0,0,0
$GC,8412,0.86,248.7,129.3,4.8,508,8507,0.12,2.33,86.20,0.544,4,0.072,0.055,2958,3392,1785,0,0,0,0,0,0
$GC,8575,0.86,248.7,114.0,10.7,522,8581,0.17,2.33,0.00,0.000,6,0.128,0.054,2916,1984,1783,0,0,0,0,0,0
$GC,8902,0.86,248.7,84.0,9.8,552,8906,0.00,2.30,0.00,0.000,4,0.000,0.060,2925,560,1782,0,0,0,0,0,0
$GC,8924,0.86,248.7,81.7,9.2,553,8931,0.00,2.28,0.00,0.000,6,0.000,0.041,2925,1986,1782,0,0,0,0,0,0
$GC,9252,0.87,256.2,53.7,8.7,612,9264,0.00,2.20,7.72,0.416,4,0.000,0.052,2925,3393,1754,0,0,0,0,0,0
$GC,9417,0.89,270.4,38.1,8.4,641,9441,0.00,2.28,13.95,0.435,6,0.000,0.048,2934,1968,1696,0,0,0,0,0,0
$GC,9762,0.89,273.1,8.0,8.9,705,9771,0.00,2.35,3.92,0.307,4,0.000,0.057,2934,3397,1685,0,0,0,0,0,0
$STATE,9815,end climb,SURFACE_DEPTH_REACHED
$STATE,9815,begin surface coast
$FINISH,0.6,1.013336
$STATE,9847,end surface coast,CONTROL_FINISHED_OK
$STATE,9849,begin surface
$SM_CCo,9870,14.88,0.407,0,0,1575,300.24
$SM_GC,1.35,0.00,0.00,14.88,0.000,0.000,0.407,51,1950,1575,-8.10,-0.20,300.24
$IRIDIUM_FIX,2054.83,-15739.33,011002,222216
$TT8_MAMPS,0.028379
$HUMID,66.61
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.4,57.112
$10V_AH,10.1,62.961
$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,19.150,95.775,361.125,14.875,0.000,61.990,83.847,226.161,17.500,0.000,15.243,1309.750,5561.825,407.518,2504.380,685.075,0.000,1298.205,0.000,2460.056,0.000,111.034,0.000
$DEVICE_MAMPS,220.129,67.496,717.912,406.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,488.358,423.780,1473.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41158,720
$CAP_FILE_SIZE,114584,0
$CFSIZE,260165632,222330880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,080713,004604,2105.867,-15744.883,29,0.9,29,9.8