version: 66.06
glider: 523
mission: 4
dive: 667
start: 7 8 113 3 50 35
data:
$ID,523
$MISSION,4
$DIVE,667
$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,-49438.988
$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,15
$R_STBD_OVSHOOT,28
$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
$GPS1,034024,2105.674,-15745.436,25,1.3,25,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.9
$GPS2,035019,2105.677,-15745.429,21,0.8,22,9.8
$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,76.9,4345,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-79.93,0.000,6,0.000,0.000,53,1974,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.6,-5.3,13,117,9.50,0.00,0.00,0.000,6,0.221,0.000,2393,1974,3397,0,0,0,0,0,0
$GC,278,-0.74,-146.0,29.9,-12.1,45,286,0.00,2.38,0.00,0.000,4,0.000,0.065,2393,551,3398,0,0,0,0,0,0
$GC,534,-0.74,-146.0,63.2,-10.5,91,540,0.00,2.17,0.00,0.000,6,0.000,0.042,2386,1952,3399,0,0,0,0,0,0
$GC,869,-0.74,-146.0,97.5,-10.0,138,873,0.00,2.33,0.00,0.000,4,0.000,0.063,2386,541,3400,0,0,0,0,0,0
$GC,1099,-0.74,-146.0,118.8,-8.6,158,1103,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1962,3400,0,0,0,0,0,0
$GC,1426,-0.74,-146.0,146.7,-10.1,188,1430,0.00,2.33,0.00,0.000,4,0.000,0.062,2376,535,3401,0,0,0,0,0,0
$GC,1678,-0.74,-146.0,171.7,-9.5,210,1686,0.10,2.22,0.00,0.000,6,0.135,0.041,2399,1952,3401,0,0,0,0,0,0
$GC,2006,-0.74,-146.0,191.9,-4.7,241,2010,0.00,2.30,0.00,0.000,4,0.000,0.062,2399,536,3401,0,0,0,0,0,0
$GC,2140,-0.74,-146.0,200.5,-6.3,252,2144,0.00,2.22,0.00,0.000,6,0.000,0.041,2392,1962,3401,0,0,0,0,0,0
$GC,2464,-0.74,-146.0,222.1,-6.7,268,2468,0.00,2.30,0.00,0.000,4,0.000,0.064,2381,3366,3401,0,0,0,0,0,0
$GC,2514,-0.74,-146.0,225.7,-6.9,270,2518,0.00,2.28,0.00,0.000,6,0.000,0.048,2381,1952,3401,0,0,0,0,0,0
$GC,2838,-0.74,-146.0,245.7,-6.5,286,2842,0.00,2.30,0.00,0.000,4,0.000,0.067,2381,537,3401,0,0,0,0,0,0
$GC,3080,-0.74,-146.0,261.5,-7.1,297,3085,0.12,2.22,0.00,0.000,6,0.153,0.041,2405,1963,3401,0,0,0,0,0,0
$GC,3410,-0.74,-146.0,278.2,-5.3,313,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1964,3400,0,0,0,0,0,0
$GC,3716,-0.74,-146.0,293.6,-5.1,328,3720,0.00,2.33,0.00,0.000,4,0.000,0.061,2406,537,3399,0,0,0,0,0,0
$GC,3850,-0.74,-146.0,300.5,-5.1,334,3854,0.00,2.22,0.00,0.000,6,0.000,0.041,2398,1960,3398,0,0,0,0,0,0
$GC,4176,-0.74,-146.0,318.8,-5.8,342,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1960,3396,0,0,0,0,0,0
$GC,4500,-0.74,-146.0,339.7,-6.6,350,4505,0.00,2.33,0.00,0.000,4,0.000,0.060,2398,538,3395,0,0,0,0,0,0
$GC,4637,-0.74,-146.0,350.9,-8.9,353,4641,0.00,2.22,0.00,0.000,6,0.000,0.041,2388,1958,3394,0,0,0,0,0,0
$GC,4964,-0.74,-146.0,371.8,-6.0,361,4968,0.00,2.33,0.00,0.000,4,0.000,0.061,2388,542,3392,0,0,0,0,0,0
$GC,4987,-0.74,-146.0,373.3,-6.3,361,4991,0.00,2.22,0.00,0.000,6,0.000,0.043,2378,1958,3392,0,0,0,0,0,0
$GC,5326,-0.74,-146.0,392.1,-5.8,370,5330,0.00,2.30,0.00,0.000,4,0.000,0.064,2369,3365,3390,0,0,0,0,0,0
$STATE,5406,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5406,begin apogee
$GC,5416,-0.17,0.0,397.8,6.7,371,5542,0.65,0.00,122.20,0.709,6,0.118,0.000,2579,1972,2799,0,0,0,0,0,0
$STATE,5542,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5546,0.74,146.0,398.6,0.0,375,5681,0.85,2.45,127.62,0.690,4,0.074,0.055,2876,3391,2203,0,0,0,0,0,0
$GC,5720,0.74,146.0,382.0,12.1,379,5725,0.00,2.33,0.00,0.000,6,0.000,0.044,2886,1972,2201,0,0,0,0,0,0
$GC,6034,0.74,146.0,347.4,10.8,387,6038,0.00,2.33,0.00,0.000,4,0.000,0.057,2886,3396,2197,0,0,0,0,0,0
$GC,6235,0.74,146.0,323.9,11.1,391,6239,0.00,2.25,0.00,0.000,6,0.000,0.047,2895,1981,2195,0,0,0,0,0,0
$GC,6553,0.76,166.3,295.8,8.2,400,6578,0.00,2.35,17.50,0.629,4,0.000,0.058,2895,3393,2120,0,0,0,0,0,0
$GC,6682,0.76,166.3,283.5,10.5,405,6687,0.00,2.25,0.00,0.000,6,0.000,0.048,2904,1979,2118,0,0,0,0,0,0
$GC,6997,0.76,166.3,251.3,10.2,421,7001,0.00,2.33,0.00,0.000,4,0.000,0.059,2904,3395,2116,0,0,0,0,0,0
$GC,7065,0.76,166.3,243.8,10.7,424,7069,0.00,2.28,0.00,0.000,6,0.000,0.049,2913,1975,2116,0,0,0,0,0,0
$GC,7391,0.76,166.3,213.4,9.1,440,7395,0.00,2.30,0.00,0.000,4,0.000,0.061,2913,3397,2114,0,0,0,0,0,0
$GC,7538,0.76,166.3,199.5,9.3,446,7542,0.12,2.28,0.00,0.000,6,0.143,0.050,2886,1980,2114,0,0,0,0,0,0
$GC,7866,0.77,176.2,173.0,8.6,476,7882,0.00,2.35,9.10,0.522,4,0.000,0.061,2886,3394,2080,0,0,0,0,0,0
$GC,8033,0.77,176.2,156.6,9.6,491,8037,0.00,2.25,0.00,0.000,6,0.000,0.051,2893,1982,2078,0,0,0,0,0,0
$GC,8361,0.84,233.1,131.4,6.7,521,8419,0.00,2.35,50.12,0.548,4,0.000,0.061,2893,3386,1848,0,0,0,0,0,0
$GC,8435,0.89,270.0,125.9,7.5,527,8477,0.00,2.30,33.67,0.525,6,0.000,0.051,2893,1986,1698,0,0,0,0,0,0
$GC,8797,0.92,296.6,98.8,7.9,561,8833,0.12,2.35,24.02,0.500,4,0.080,0.059,2977,563,1588,0,0,0,0,0,0
$GC,8871,0.92,296.6,90.6,11.0,567,8879,0.10,2.25,0.00,0.000,6,0.105,0.038,2941,1977,1588,0,0,0,0,0,0
$GC,9200,0.92,296.6,57.8,9.6,618,9208,0.00,2.25,0.00,0.000,4,0.000,0.054,2940,3386,1588,0,0,0,0,0,0
$GC,9354,0.92,296.6,42.0,10.7,645,9359,0.00,2.25,0.00,0.000,6,0.000,0.049,2947,1979,1588,0,0,0,0,0,0
$GC,9679,0.93,306.9,13.0,8.6,706,9694,0.00,2.33,10.43,0.407,4,0.000,0.059,2947,3385,1547,0,0,0,0,0,0
$GC,9762,0.93,306.9,5.3,10.0,720,9769,0.00,2.28,0.00,0.000,6,0.000,0.048,2955,1979,1546,0,0,0,0,0,0
$STATE,9785,end climb,SURFACE_DEPTH_REACHED
$STATE,9785,begin surface coast
$FINISH,0.6,0.999817
$STATE,9813,end surface coast,CONTROL_FINISHED_OK
$STATE,9813,begin surface
$SM_CCo,9891,0.00,0.000,0,0,1544,308.09
$SM_GC,1.42,7.35,0.00,0.00,0.021,0.000,0.000,32,1976,1544,-8.00,0.59,308.09
$IRIDIUM_FIX,2059.45,-15740.59,021002,030328
$TT8_MAMPS,0.027612
$HUMID,67.68
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,24.4,57.292
$10V_AH,10.0,63.177
$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,18.925,91.550,394.675,0.000,0.000,59.204,71.349,239.477,16.500,0.000,22.587,1324.971,5562.340,431.225,2480.087,679.222,0.000,1299.629,0.000,2434.681,0.000,102.841,0.000
$DEVICE_MAMPS,220.896,66.729,709.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,495.145,440.346,1489.738,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,41220,729
$CAP_FILE_SIZE,111053,0
$CFSIZE,260165632,222216192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,080713,063634,2105.911,-15745.290,32,1.6,32,9.8