version: 66.06
glider: 523
mission: 4
dive: 670
start: 7 8 113 12 28 48
data:
$ID,523
$MISSION,4
$DIVE,670
$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,-49493.398
$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,24
$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
$GPS1,122228,2105.589,-15745.075,26,0.9,26,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.3
$GPS2,122831,2105.600,-15745.112,15,0.9,15,9.8
$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,74.2,3813,-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,-82.20,0.000,6,0.000,0.000,33,1934,3396,0,0,0,0,0,0
$GC,105,-0.74,-146.0,3.0,-3.9,13,119,9.48,0.00,0.00,0.000,6,0.219,0.000,2392,1934,3397,0,0,0,0,0,0
$GC,280,-0.74,-146.0,30.7,-13.9,45,286,0.00,2.22,0.00,0.000,4,0.000,0.061,2392,548,3400,0,0,0,0,0,0
$GC,394,-0.74,-146.0,47.0,-12.8,66,401,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1964,3399,0,0,0,0,0,0
$GC,726,-0.74,-146.0,89.0,-12.8,121,730,0.00,2.28,0.00,0.000,4,0.000,0.058,2384,547,3400,0,0,0,0,0,0
$GC,822,-0.74,-146.0,101.2,-12.7,129,826,0.00,2.17,0.00,0.000,6,0.000,0.039,2375,1968,3400,0,0,0,0,0,0
$GC,1149,-0.74,-146.0,131.6,-9.2,159,1153,0.00,2.28,0.00,0.000,4,0.000,0.054,2375,541,3401,0,0,0,0,0,0
$GC,1403,-0.74,-146.0,157.1,-10.2,182,1407,0.12,2.17,0.00,0.000,6,0.159,0.040,2398,1963,3402,0,0,0,0,0,0
$GC,1730,-0.74,-146.0,184.6,-6.7,212,1735,0.00,2.28,0.00,0.000,4,0.000,0.058,2398,542,3403,0,0,0,0,0,0
$GC,1949,-0.74,-146.0,201.3,-7.9,232,1953,0.00,2.17,0.00,0.000,6,0.000,0.038,2390,1950,3403,0,0,0,0,0,0
$GC,2279,-0.74,-146.0,225.8,-7.9,248,2283,0.00,2.28,0.00,0.000,4,0.000,0.058,2390,537,3403,0,0,0,0,0,0
$GC,2454,-0.74,-146.0,240.3,-8.1,256,2458,0.00,2.20,0.00,0.000,6,0.000,0.038,2380,1960,3403,0,0,0,0,0,0
$GC,2785,-0.74,-146.0,259.3,-5.3,272,2789,0.00,2.28,0.00,0.000,4,0.000,0.058,2381,548,3403,0,0,0,0,0,0
$GC,3043,-0.74,-146.0,279.9,-8.3,283,3050,0.12,2.20,0.00,0.000,6,0.155,0.039,2404,1967,3403,0,0,0,0,0,0
$GC,3362,-0.74,-146.0,297.6,-4.6,299,3366,0.00,2.33,0.00,0.000,4,0.000,0.059,2405,543,3403,0,0,0,0,0,0
$GC,3418,-0.74,-146.0,300.8,-5.4,301,3424,0.00,2.17,0.00,0.000,6,0.000,0.041,2397,1953,3402,0,0,0,0,0,0
$GC,3750,-0.74,-146.0,317.4,-5.2,310,3754,0.00,2.30,0.00,0.000,4,0.000,0.060,2398,551,3402,0,0,0,0,0,0
$GC,3777,-0.74,-146.0,319.1,-6.4,310,3781,0.00,2.17,0.00,0.000,6,0.000,0.042,2388,1957,3402,0,0,0,0,0,0
$GC,4109,-0.74,-146.0,339.0,-6.1,318,4113,0.00,2.33,0.00,0.000,4,0.000,0.061,2388,545,3400,0,0,0,0,0,0
$GC,4137,-0.74,-146.0,340.8,-6.3,318,4141,0.00,2.17,0.00,0.000,6,0.000,0.040,2378,1968,3399,0,0,0,0,0,0
$GC,4477,-0.74,-146.0,360.3,-6.3,327,4481,0.00,2.28,0.00,0.000,4,0.000,0.053,2378,546,3398,0,0,0,0,0,0
$GC,4702,-0.74,-146.0,376.6,-7.5,332,4707,0.12,2.17,0.00,0.000,6,0.158,0.035,2402,1965,3397,0,0,0,0,0,0
$GC,5024,-0.74,-146.0,397.5,-6.4,340,5028,0.00,2.20,0.00,0.000,4,0.000,0.052,2393,3360,3395,0,0,0,0,0,0
$GC,5047,-0.74,-146.0,398.8,-5.1,340,5052,0.00,2.28,0.00,0.000,6,0.000,0.051,2393,1960,3395,0,0,0,0,0,0
$GC,5386,-0.74,-146.0,415.0,-5.0,349,5390,0.00,2.28,0.00,0.000,4,0.000,0.058,2393,534,3394,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5405,begin apogee
$GC,5414,-0.17,0.0,416.5,5.9,349,5540,0.60,0.00,122.95,0.724,6,0.117,0.000,2578,1979,2800,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,417.4,0.0,352,5682,0.85,2.35,127.28,0.703,4,0.075,0.054,2875,3376,2203,0,0,0,0,0,0
$GC,5846,0.74,146.0,381.0,13.3,359,5851,0.00,2.30,0.00,0.000,6,0.000,0.050,2885,1974,2198,0,0,0,0,0,0
$GC,6171,0.74,146.0,340.0,12.6,367,6175,0.00,2.28,0.00,0.000,4,0.000,0.058,2884,3383,2196,0,0,0,0,0,0
$GC,6336,0.74,146.0,320.2,12.4,370,6340,0.00,2.25,0.00,0.000,6,0.000,0.050,2893,1978,2195,0,0,0,0,0,0
$GC,6655,0.77,170.9,291.3,8.0,381,6681,0.00,2.28,21.27,0.637,4,0.000,0.058,2892,3386,2102,0,0,0,0,0,0
$GC,6762,0.77,170.9,281.5,9.4,386,6767,0.00,2.28,0.00,0.000,6,0.000,0.052,2900,1976,2099,0,0,0,0,0,0
$GC,7090,0.77,170.9,252.4,9.8,402,7094,0.00,2.30,0.00,0.000,4,0.000,0.061,2900,3386,2098,0,0,0,0,0,0
$GC,7276,0.77,170.9,229.6,12.0,410,7280,0.00,2.25,0.00,0.000,6,0.000,0.051,2908,1973,2097,0,0,0,0,0,0
$GC,7594,0.77,170.9,196.7,9.4,426,7598,0.00,2.28,0.00,0.000,4,0.000,0.061,2908,3382,2097,0,0,0,0,0,0
$GC,7732,0.77,170.9,183.4,10.0,438,7737,0.12,2.28,0.00,0.000,6,0.136,0.052,2881,1973,2097,0,0,0,0,0,0
$GC,8059,0.81,208.0,160.4,7.5,468,8099,0.00,0.00,32.72,0.564,6,0.000,0.000,2881,1973,1949,0,0,0,0,0,0
$GC,8419,0.81,208.0,127.6,9.5,502,8423,0.00,2.28,0.00,0.000,4,0.000,0.060,2881,3382,1947,0,0,0,0,0,0
$GC,8484,0.81,208.0,121.2,9.4,507,8492,0.00,2.28,0.00,0.000,6,0.000,0.051,2885,1986,1946,0,0,0,0,0,0
$GC,8813,0.83,218.4,94.6,8.6,538,8829,0.00,2.30,10.23,0.463,4,0.000,0.059,2885,3382,1908,0,0,0,0,0,0
$GC,8882,0.83,224.4,88.6,8.8,544,8895,0.00,2.25,6.97,0.427,6,0.000,0.051,2893,1979,1884,0,0,0,0,0,0
$GC,9220,0.95,315.9,70.0,5.2,593,9307,0.15,2.30,78.75,0.487,4,0.070,0.059,2997,561,1511,0,0,0,0,0,0
$GC,9361,0.95,315.9,56.6,11.2,617,9367,0.17,2.25,0.00,0.000,6,0.120,0.041,2946,1971,1510,0,0,0,0,0,0
$GC,9692,0.95,315.9,22.0,10.2,678,9699,0.00,2.35,0.00,0.000,4,0.000,0.063,2951,556,1509,0,0,0,0,0,0
$GC,9759,0.95,315.9,15.4,9.9,690,9766,0.00,2.28,0.00,0.000,6,0.000,0.041,2951,1983,1510,0,0,0,0,0,0
$STATE,9892,end climb,SURFACE_DEPTH_REACHED
$STATE,9893,begin surface coast
$FINISH,0.7,1.002988
$STATE,9922,end surface coast,CONTROL_FINISHED_OK
$STATE,9922,begin surface
$SM_CCo,10000,0.00,0.000,0,0,1507,316.92
$SM_GC,1.48,7.47,0.00,0.00,0.028,0.000,0.000,41,1984,1507,-8.01,0.79,316.92
$IRIDIUM_FIX,2059.45,-15733.30,021002,090911
$TT8_MAMPS,0.027612
$HUMID,65.39
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.4,57.561
$10V_AH,10.1,63.493
$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,19.225,94.800,400.175,0.000,0.000,23.713,41.814,159.795,17.500,0.000,15.694,1315.768,5628.530,416.264,2474.461,521.202,0.000,1310.943,0.000,2432.936,0.000,111.050,0.000
$DEVICE_MAMPS,218.595,62.894,724.048,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,488.469,431.499,1443.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41222,720
$CAP_FILE_SIZE,110868,0
$CFSIZE,260165632,222048256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080713,151634,2105.233,-15745.891,30,0.8,30,9.8