version: 66.06
glider: 523
mission: 4
dive: 669
start: 7 8 113 9 39 47
data:
$ID,523
$MISSION,4
$DIVE,669
$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,-49477.074
$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,21
$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
$GPS1,093304,2106.045,-15744.886,33,0.8,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.2
$GPS2,093930,2106.011,-15744.903,15,0.9,15,9.8
$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,86.3,3449,-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,-146.0,0.0,0.0,0,108,0.00,0.00,-83.22,0.000,6,0.000,0.000,33,1954,3394,0,0,0,0,0,0
$GC,112,-0.74,-146.0,4.0,-6.4,14,127,9.57,2.33,0.00,0.000,4,0.219,0.054,2394,538,3395,0,0,0,0,0,0
$GC,205,-0.74,-146.0,22.9,-13.8,30,212,0.00,2.25,0.00,0.000,6,0.000,0.041,2386,1947,3396,0,0,0,0,0,0
$GC,378,-0.74,-146.0,46.2,-13.1,61,383,0.00,2.30,0.00,0.000,4,0.000,0.061,2386,546,3397,0,0,0,0,0,0
$GC,513,-0.74,-146.0,66.6,-14.9,86,521,0.00,2.25,0.00,0.000,6,0.000,0.043,2377,1961,3397,0,0,0,0,0,0
$GC,845,-0.74,-146.0,109.2,-11.7,125,852,0.00,2.30,0.00,0.000,4,0.000,0.061,2366,3375,3398,0,0,0,0,0,0
$GC,893,-0.74,-146.0,114.4,-9.8,129,898,0.12,2.25,0.00,0.000,6,0.146,0.046,2399,1952,3399,0,0,0,0,0,0
$GC,1226,-0.74,-146.0,136.2,-5.7,160,1230,0.00,2.28,0.00,0.000,4,0.000,0.064,2399,548,3400,0,0,0,0,0,0
$GC,1479,-0.74,-146.0,156.9,-10.3,182,1487,0.00,2.22,0.00,0.000,6,0.000,0.041,2391,1961,3400,0,0,0,0,0,0
$GC,1808,-0.74,-146.0,185.3,-6.7,213,1812,0.00,2.30,0.00,0.000,4,0.000,0.061,2392,550,3400,0,0,0,0,0,0
$GC,1961,-0.74,-146.0,196.7,-7.0,226,1969,0.00,2.22,0.00,0.000,6,0.000,0.042,2382,1957,3400,0,0,0,0,0,0
$GC,2292,-0.74,-146.0,223.4,-8.6,245,2296,0.00,2.35,0.00,0.000,4,0.000,0.061,2382,541,3400,0,0,0,0,0,0
$GC,2477,-0.74,-146.0,239.6,-7.7,253,2481,0.00,2.22,0.00,0.000,6,0.000,0.041,2373,1967,3400,0,0,0,0,0,0
$GC,2795,-0.74,-146.0,259.9,-5.9,268,2801,0.10,2.35,0.00,0.000,4,0.162,0.060,2399,549,3400,0,0,0,0,0,0
$GC,2941,-0.74,-146.0,268.5,-7.0,274,2946,0.00,2.17,0.00,0.000,6,0.000,0.041,2391,1955,3400,0,0,0,0,0,0
$GC,3262,-0.74,-146.0,290.3,-7.3,289,3266,0.00,2.30,0.00,0.000,4,0.000,0.060,2391,551,3399,0,0,0,0,0,0
$GC,3341,-0.74,-146.0,296.2,-7.0,292,3346,0.00,2.20,0.00,0.000,6,0.000,0.042,2382,1958,3399,0,0,0,0,0,0
$GC,3654,-0.74,-146.0,313.4,-5.1,302,3658,0.00,2.30,0.00,0.000,4,0.000,0.063,2371,3367,3398,0,0,0,0,0,0
$GC,3721,-0.74,-146.0,317.7,-6.3,303,3726,0.12,2.25,0.00,0.000,6,0.143,0.046,2405,1959,3398,0,0,0,0,0,0
$GC,4066,-0.74,-146.0,338.1,-6.3,312,4070,0.00,2.30,0.00,0.000,4,0.000,0.063,2405,544,3396,0,0,0,0,0,0
$GC,4222,-0.74,-146.0,348.9,-5.9,315,4226,0.00,2.20,0.00,0.000,6,0.000,0.040,2398,1960,3396,0,0,0,0,0,0
$GC,4561,-0.74,-146.0,370.5,-6.6,324,4565,0.00,2.33,0.00,0.000,4,0.000,0.059,2398,538,3395,0,0,0,0,0,0
$GC,4623,-0.74,-146.0,375.4,-8.1,325,4627,0.00,2.22,0.00,0.000,6,0.000,0.042,2388,1960,3394,0,0,0,0,0,0
$GC,4973,-0.74,-146.0,396.3,-5.2,334,4977,0.00,2.28,0.00,0.000,4,0.000,0.064,2378,3367,3392,0,0,0,0,0,0
$GC,5018,-0.74,-146.0,398.6,-5.3,335,5022,0.00,2.28,0.00,0.000,6,0.000,0.048,2378,1956,3392,0,0,0,0,0,0
$GC,5350,-0.74,-146.0,415.6,-5.0,343,5354,0.00,2.30,0.00,0.000,4,0.000,0.064,2378,543,3390,0,0,0,0,0,0
$STATE,5403,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5403,begin apogee
$GC,5413,-0.17,0.0,418.8,5.6,344,5538,0.65,0.00,121.95,0.724,6,0.120,0.000,2577,1983,2799,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5542,0.74,146.0,418.5,0.0,347,5680,0.85,2.38,127.10,0.700,4,0.074,0.058,2874,3385,2203,0,0,0,0,0,0
$GC,5883,0.74,146.0,377.9,11.8,354,5888,0.00,2.28,0.00,0.000,6,0.000,0.044,2884,1971,2198,0,0,0,0,0,0
$GC,6214,0.74,146.0,342.7,10.4,363,6218,0.00,2.30,0.00,0.000,4,0.000,0.057,2884,3391,2196,0,0,0,0,0,0
$GC,6399,0.74,146.0,322.1,10.7,367,6403,0.00,2.22,0.00,0.000,6,0.000,0.046,2893,1982,2194,0,0,0,0,0,0
$GC,6712,0.78,183.5,296.8,7.5,375,6752,0.00,2.35,31.75,0.653,4,0.000,0.058,2893,3387,2051,0,0,0,0,0,0
$GC,6928,0.78,183.5,272.8,11.7,384,6934,0.00,2.28,0.00,0.000,6,0.000,0.050,2896,1979,2048,0,0,0,0,0,0
$GC,7244,0.78,183.5,237.4,11.5,400,7248,0.00,2.30,0.00,0.000,4,0.000,0.062,2896,3386,2046,0,0,0,0,0,0
$GC,7334,0.78,183.5,226.3,12.5,404,7338,0.00,2.28,0.00,0.000,6,0.000,0.052,2905,1971,2046,0,0,0,0,0,0
$GC,7654,0.78,183.5,194.3,9.9,422,7658,0.00,2.33,0.00,0.000,4,0.000,0.062,2905,3386,2045,0,0,0,0,0,0
$GC,7759,0.78,183.5,183.7,10.0,431,7763,0.00,2.28,0.00,0.000,6,0.000,0.052,2913,1971,2044,0,0,0,0,0,0
$GC,8087,0.78,183.5,154.8,9.3,461,8091,0.00,2.35,0.00,0.000,4,0.000,0.062,2913,3392,2043,0,0,0,0,0,0
$GC,8117,0.78,183.5,151.7,10.7,463,8121,0.12,2.30,0.00,0.000,6,0.138,0.054,2887,1974,2044,0,0,0,0,0,0
$GC,8445,0.86,247.0,125.8,6.4,493,8506,0.00,2.38,54.72,0.542,4,0.000,0.061,2887,3387,1792,0,0,0,0,0,0
$GC,8517,0.95,320.6,121.1,6.0,499,8593,0.12,2.33,64.68,0.526,6,0.032,0.054,2985,1981,1490,0,0,0,0,0,0
$GC,8911,0.95,320.6,71.6,10.9,542,8919,0.15,2.35,0.00,0.000,4,0.129,0.064,2940,3379,1488,0,0,0,0,0,0
$GC,8998,0.95,320.6,62.6,10.2,557,9003,0.00,2.25,0.00,0.000,6,0.000,0.053,2946,1979,1487,0,0,0,0,0,0
$GC,9328,0.95,320.6,30.0,9.7,618,9336,0.00,2.33,0.00,0.000,4,0.000,0.063,2946,3386,1487,0,0,0,0,0,0
$GC,9391,0.95,320.6,23.6,11.0,629,9399,0.00,2.30,0.00,0.000,6,0.000,0.051,2954,1977,1487,0,0,0,0,0,0
$GC,9561,0.95,320.6,6.7,10.8,660,9568,0.00,2.33,0.00,0.000,4,0.000,0.061,2954,3386,1487,0,0,0,0,0,0
$STATE,9591,end climb,SURFACE_DEPTH_REACHED
$STATE,9591,begin surface coast
$FINISH,0.7,1.023209
$STATE,9618,end surface coast,CONTROL_FINISHED_OK
$STATE,9618,begin surface
$SM_CCo,9699,0.00,0.000,0,0,1485,322.56
$SM_GC,1.44,7.35,0.00,0.00,0.021,0.000,0.000,34,1936,1485,-7.99,-0.54,322.56
$IRIDIUM_FIX,2101.76,-15738.45,021002,060642
$TT8_MAMPS,0.028379
$HUMID,66.73
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.4,57.473
$10V_AH,10.1,63.387
$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,19.175,105.275,400.200,0.000,0.000,29.719,34.533,170.872,17.250,0.000,15.886,1240.099,5524.026,426.213,2354.125,531.925,0.000,1311.736,0.000,2308.925,0.000,108.413,0.000
$DEVICE_MAMPS,219.362,64.428,724.048,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,454.436,394.841,1346.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,38081,670
$CAP_FILE_SIZE,109631,0
$CFSIZE,260165632,222109696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080713,122228,2105.589,-15745.075,26,0.9,26,9.8