version: 66.06
glider: 523
mission: 4
dive: 666
start: 7 8 113 0 52 36
data:
$ID,523
$MISSION,4
$DIVE,666
$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,-49415.77
$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,21
$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
$GPS1,004604,2105.867,-15744.883,29,0.9,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.5
$GPS2,005219,2105.837,-15745.004,15,0.8,15,9.8
$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,80.9,3604,-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,18,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-78.32,0.000,6,0.000,0.000,50,1950,3394,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.6,-5.2,13,119,9.50,0.00,0.00,0.000,6,0.222,0.000,2391,1949,3396,0,0,0,0,0,0
$GC,281,-0.74,-146.0,30.7,-12.6,45,286,0.00,2.30,0.00,0.000,4,0.000,0.067,2392,541,3397,0,0,0,0,0,0
$GC,534,-0.74,-146.0,63.2,-11.7,91,539,0.00,2.22,0.00,0.000,6,0.000,0.041,2383,1964,3398,0,0,0,0,0,0
$GC,868,-0.74,-146.0,98.8,-9.5,136,872,0.00,2.33,0.00,0.000,4,0.000,0.064,2383,549,3399,0,0,0,0,0,0
$GC,1116,-0.74,-146.0,124.3,-9.6,158,1123,0.00,2.22,0.00,0.000,6,0.000,0.041,2374,1954,3400,0,0,0,0,0,0
$GC,1443,-0.74,-146.0,151.0,-7.8,189,1447,0.00,2.28,0.00,0.000,4,0.000,0.063,2374,550,3401,0,0,0,0,0,0
$GC,1586,-0.74,-146.0,164.5,-10.0,201,1594,0.10,2.22,0.00,0.000,6,0.134,0.042,2396,1958,3401,0,0,0,0,0,0
$GC,1915,-0.74,-146.0,190.8,-8.4,232,1919,0.00,2.28,0.00,0.000,4,0.000,0.066,2387,3376,3402,0,0,0,0,0,0
$GC,1931,-0.74,-146.0,192.5,-7.9,233,1938,0.00,2.30,0.00,0.000,6,0.000,0.049,2387,1961,3402,0,0,0,0,0,0
$GC,2262,-0.74,-146.0,216.1,-6.6,254,2267,0.00,2.30,0.00,0.000,4,0.000,0.067,2387,539,3402,0,0,0,0,0,0
$GC,2521,-0.74,-146.0,232.8,-6.3,265,2526,0.00,2.22,0.00,0.000,6,0.000,0.041,2378,1970,3402,0,0,0,0,0,0
$GC,2840,-0.74,-146.0,250.5,-6.3,281,2845,0.00,2.33,0.00,0.000,4,0.000,0.063,2378,535,3402,0,0,0,0,0,0
$GC,3016,-0.74,-146.0,265.5,-9.0,289,3021,0.12,2.20,0.00,0.000,6,0.159,0.041,2402,1960,3402,0,0,0,0,0,0
$GC,3342,-0.74,-146.0,288.6,-6.0,305,3347,0.00,2.30,0.00,0.000,4,0.000,0.061,2402,536,3402,0,0,0,0,0,0
$GC,3428,-0.74,-146.0,293.6,-6.3,309,3432,0.00,2.22,0.00,0.000,6,0.000,0.041,2394,1960,3402,0,0,0,0,0,0
$GC,3755,-0.74,-146.0,311.2,-5.6,320,3759,0.00,2.33,0.00,0.000,4,0.000,0.061,2394,539,3400,0,0,0,0,0,0
$GC,3839,-0.74,-146.0,316.8,-6.6,322,3843,0.00,2.22,0.00,0.000,6,0.000,0.041,2385,1964,3399,0,0,0,0,0,0
$GC,4170,-0.74,-146.0,338.3,-6.9,330,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1964,3398,0,0,0,0,0,0
$GC,4495,-0.74,-146.0,356.8,-5.0,338,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1964,3397,0,0,0,0,0,0
$GC,4822,-0.74,-146.0,370.5,-4.2,346,4827,0.00,2.38,0.00,0.000,4,0.000,0.062,2385,531,3396,0,0,0,0,0,0
$GC,4978,-0.74,-146.0,379.5,-5.6,349,4982,0.00,2.25,0.00,0.000,6,0.000,0.042,2376,1963,3395,0,0,0,0,0,0
$GC,5322,-0.74,-146.0,400.3,-6.4,358,5326,0.00,2.35,0.00,0.000,4,0.000,0.062,2375,533,3393,0,0,0,0,0,0
$STATE,5408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5408,begin apogee
$GC,5417,-0.17,0.0,405.7,5.4,360,5543,0.65,0.00,121.93,0.711,6,0.119,0.000,2576,1985,2800,0,0,0,0,0,0
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5547,0.74,146.0,405.5,0.0,363,5679,0.85,0.00,127.57,0.687,6,0.078,0.000,2871,1985,2204,0,0,0,0,0,0
$GC,5993,0.74,146.0,359.5,10.3,374,5998,0.00,2.28,0.00,0.000,4,0.000,0.060,2871,3398,2197,0,0,0,0,0,0
$GC,6223,0.74,146.0,334.2,11.1,379,6227,0.00,2.30,0.00,0.000,6,0.000,0.047,2880,1965,2195,0,0,0,0,0,0
$GC,6536,0.74,151.8,305.5,8.8,387,6545,0.00,2.30,4.97,0.484,4,0.000,0.058,2880,3390,2180,0,0,0,0,0,0
$GC,6734,0.74,151.8,286.1,10.3,394,6738,0.00,2.28,0.00,0.000,6,0.000,0.048,2890,1973,2177,0,0,0,0,0,0
$GC,7061,0.74,151.8,256.7,9.2,410,7065,0.00,2.33,0.00,0.000,4,0.000,0.058,2890,3392,2175,0,0,0,0,0,0
$GC,7172,0.74,151.8,244.6,10.4,415,7176,0.00,2.25,0.00,0.000,6,0.000,0.049,2899,1977,2175,0,0,0,0,0,0
$GC,7494,0.75,154.0,213.6,8.9,431,7498,0.00,2.30,0.00,0.000,4,0.000,0.060,2899,3392,2175,0,0,0,0,0,0
$GC,7584,0.75,154.0,204.5,10.5,435,7588,0.00,2.28,0.00,0.000,6,0.000,0.051,2907,1980,2174,0,0,0,0,0,0
$GC,7916,0.75,154.0,174.1,9.3,464,7920,0.00,2.33,0.00,0.000,4,0.000,0.060,2907,3396,2174,0,0,0,0,0,0
$GC,8035,0.75,154.0,161.1,11.3,474,8043,0.08,2.30,0.00,0.000,6,0.120,0.051,2883,1978,2174,0,0,0,0,0,0
$GC,8362,0.77,171.3,131.4,8.3,505,8387,0.00,2.30,17.35,0.525,4,0.000,0.062,2892,571,2101,0,0,0,0,0,0
$GC,8403,0.81,201.9,127.8,7.8,508,8437,0.00,2.25,28.05,0.529,6,0.000,0.044,2892,1977,1976,0,0,0,0,0,0
$GC,8766,0.88,258.5,102.6,6.7,542,8824,0.00,2.30,49.62,0.513,4,0.000,0.054,2892,3391,1745,0,0,0,0,0,0
$GC,8884,0.88,258.5,92.6,9.5,552,8888,0.00,2.28,0.00,0.000,6,0.000,0.047,2896,1971,1744,0,0,0,0,0,0
$GC,9216,0.88,258.5,60.5,9.6,599,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1971,1744,0,0,0,0,0,0
$GC,9548,0.93,303.5,35.7,7.2,660,9595,0.12,2.35,39.47,0.455,4,0.077,0.058,2970,3405,1560,0,0,0,0,0,0
$GC,9695,0.93,303.5,21.2,11.5,686,9702,0.10,2.33,0.00,0.000,6,0.105,0.050,2942,1989,1559,0,0,0,0,0,0
$GC,9863,0.94,313.6,5.7,8.6,717,9878,0.00,2.33,9.80,0.393,4,0.000,0.061,2950,556,1520,0,0,0,0,0,0
$STATE,9894,end climb,SURFACE_DEPTH_REACHED
$STATE,9894,begin surface coast
$FINISH,0.7,1.012778
$STATE,9926,end surface coast,CONTROL_FINISHED_OK
$STATE,9926,begin surface
$SM_CCo,10007,0.00,0.000,0,0,1517,314.71
$SM_GC,1.46,7.45,0.00,0.00,0.026,0.000,0.000,53,1973,1517,-7.98,0.48,314.71
$IRIDIUM_FIX,2104.07,-15740.59,011002,222235
$TT8_MAMPS,0.027612
$HUMID,66.85
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.4,57.198
$10V_AH,10.1,63.067
$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,18.975,86.875,398.775,0.000,0.000,25.558,43.257,160.046,17.000,0.000,15.989,1311.942,5656.199,412.028,2473.825,519.340,0.000,1292.989,0.000,2431.503,0.000,103.320,0.000
$DEVICE_MAMPS,222.430,67.496,711.009,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,493.659,429.678,1455.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,41249,728
$CAP_FILE_SIZE,108313,0
$CFSIZE,260165632,222277632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,080713,034024,2105.674,-15745.436,25,1.3,25,9.8