version: 66.06
glider: 523
mission: 4
dive: 671
start: 7 8 113 15 26 46
data:
$ID,523
$MISSION,4
$DIVE,671
$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,-49512.199
$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,20
$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
$GPS1,151634,2105.233,-15745.891,30,0.8,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.3
$GPS2,152629,2105.229,-15745.938,17,0.7,17,9.8
$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,68.5,5330,-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,-80.45,0.000,6,0.000,0.000,39,1984,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.3,-5.1,13,118,9.52,2.38,0.00,0.000,4,0.218,0.050,2391,535,3398,0,0,0,0,0,0
$GC,205,-0.74,-146.0,22.4,-14.7,31,213,0.00,2.25,0.00,0.000,6,0.000,0.038,2383,1955,3399,0,0,0,0,0,0
$GC,375,-0.74,-146.0,44.6,-12.1,62,382,0.00,2.35,0.00,0.000,4,0.000,0.058,2383,542,3399,0,0,0,0,0,0
$GC,429,-0.74,-146.0,51.9,-13.5,71,435,0.00,2.22,0.00,0.000,6,0.000,0.038,2374,1969,3399,0,0,0,0,0,0
$GC,763,-0.74,-146.0,88.8,-10.2,124,767,0.00,2.35,0.00,0.000,4,0.000,0.057,2374,535,3400,0,0,0,0,0,0
$GC,1010,-0.74,-146.0,119.8,-13.2,146,1021,0.10,2.22,0.00,0.000,6,0.135,0.037,2396,1959,3401,0,0,0,0,0,0
$GC,1338,-0.74,-146.0,149.9,-6.6,177,1343,0.00,2.30,0.00,0.000,4,0.000,0.056,2397,545,3401,0,0,0,0,0,0
$GC,1596,-0.74,-146.0,170.1,-9.5,200,1600,0.00,2.17,0.00,0.000,6,0.000,0.035,2389,1970,3401,0,0,0,0,0,0
$GC,1928,-0.74,-146.0,199.2,-8.7,231,1933,0.00,2.30,0.00,0.000,4,0.000,0.054,2389,538,3401,0,0,0,0,0,0
$GC,2084,-0.74,-146.0,213.4,-8.9,238,2088,0.00,2.17,0.00,0.000,6,0.000,0.035,2379,1960,3401,0,0,0,0,0,0
$GC,2414,-0.74,-146.0,234.4,-5.6,254,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1960,3401,0,0,0,0,0,0
$GC,2721,-0.74,-146.0,253.4,-5.8,269,2725,0.00,2.30,0.00,0.000,4,0.000,0.054,2379,543,3401,0,0,0,0,0,0
$GC,2872,-0.74,-146.0,263.9,-7.1,276,2877,0.12,2.17,0.00,0.000,6,0.153,0.035,2403,1967,3401,0,0,0,0,0,0
$GC,3208,-0.74,-146.0,279.3,-4.0,292,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1968,3401,0,0,0,0,0,0
$GC,3515,-0.74,-146.0,293.1,-4.4,307,3519,0.00,2.35,0.00,0.000,4,0.000,0.054,2404,532,3401,0,0,0,0,0,0
$GC,3690,-0.74,-146.0,302.7,-6.1,315,3694,0.00,2.17,0.00,0.000,6,0.000,0.036,2396,1955,3399,0,0,0,0,0,0
$GC,4019,-0.74,-146.0,322.5,-6.4,323,4023,0.00,2.30,0.00,0.000,4,0.000,0.055,2396,538,3398,0,0,0,0,0,0
$GC,4092,-0.74,-146.0,327.8,-6.5,324,4096,0.00,2.17,0.00,0.000,6,0.000,0.037,2386,1957,3397,0,0,0,0,0,0
$GC,4426,-0.74,-146.0,345.3,-4.8,332,4430,0.00,2.33,0.00,0.000,4,0.000,0.057,2386,542,3396,0,0,0,0,0,0
$GC,4684,-0.74,-146.0,359.8,-5.5,337,4690,0.00,2.20,0.00,0.000,6,0.000,0.039,2377,1960,3394,0,0,0,0,0,0
$GC,5016,-0.74,-146.0,382.7,-7.3,346,5020,0.00,2.33,0.00,0.000,4,0.000,0.059,2377,541,3393,0,0,0,0,0,0
$GC,5153,-0.74,-146.0,393.2,-7.4,349,5157,0.12,2.17,0.00,0.000,6,0.153,0.040,2401,1956,3392,0,0,0,0,0,0
$STATE,5428,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5428,begin apogee
$GC,5434,-0.17,0.0,408.5,5.2,356,5559,0.55,0.00,122.28,0.719,6,0.110,0.000,2581,1956,2800,0,0,0,0,0,0
$STATE,5560,end apogee,CONTROL_FINISHED_OK
$STATE,5560,begin climb
$GC,5564,0.74,146.0,408.6,0.0,359,5702,0.82,2.38,127.35,0.697,4,0.073,0.055,2871,3385,2203,0,0,0,0,0,0
$GC,5764,0.74,146.0,386.6,12.5,363,5768,0.00,2.33,0.00,0.000,6,0.000,0.047,2880,1967,2200,0,0,0,0,0,0
$GC,6100,0.74,146.0,345.2,11.9,372,6104,0.00,2.33,0.00,0.000,4,0.000,0.058,2880,3386,2197,0,0,0,0,0,0
$GC,6173,0.74,146.0,336.7,11.7,373,6177,0.00,2.28,0.00,0.000,6,0.000,0.048,2890,1974,2195,0,0,0,0,0,0
$GC,6510,0.74,146.0,302.2,9.5,382,6514,0.00,2.28,0.00,0.000,4,0.000,0.058,2890,3392,2194,0,0,0,0,0,0
$GC,6599,0.74,146.0,292.5,11.9,385,6603,0.00,2.25,0.00,0.000,6,0.000,0.049,2899,1978,2193,0,0,0,0,0,0
$GC,6920,0.74,146.0,258.9,10.0,401,6924,0.00,2.28,0.00,0.000,4,0.000,0.060,2899,3390,2193,0,0,0,0,0,0
$GC,7056,0.74,146.0,244.6,10.5,407,7061,0.00,2.28,0.00,0.000,6,0.000,0.050,2907,1974,2192,0,0,0,0,0,0
$GC,7383,0.74,146.0,210.8,10.3,423,7387,0.00,2.30,0.00,0.000,4,0.000,0.060,2907,3390,2191,0,0,0,0,0,0
$GC,7625,0.74,146.0,185.8,9.8,440,7629,0.15,2.28,0.00,0.000,6,0.132,0.050,2873,1974,2190,0,0,0,0,0,0
$GC,7953,0.81,206.6,164.6,6.5,470,8007,0.00,0.00,50.90,0.574,6,0.000,0.000,2873,1974,1957,0,0,0,0,0,0
$GC,8327,0.84,226.5,136.1,8.2,505,8351,0.10,2.30,18.42,0.525,4,0.085,0.058,2949,3390,1876,0,0,0,0,0,0
$GC,8494,0.84,226.5,118.1,11.4,520,8499,0.17,2.28,0.00,0.000,6,0.123,0.050,2906,1979,1874,0,0,0,0,0,0
$GC,8823,0.88,261.2,93.0,7.6,550,8859,0.00,2.28,31.12,0.502,4,0.000,0.059,2906,3386,1734,0,0,0,0,0,0
$GC,8927,0.88,261.2,84.1,9.3,559,8931,0.00,2.25,0.00,0.000,6,0.000,0.050,2909,1976,1734,0,0,0,0,0,0
$GC,9261,0.88,261.2,56.5,9.3,615,9267,0.00,2.28,0.00,0.000,4,0.000,0.058,2909,3383,1733,0,0,0,0,0,0
$GC,9363,0.88,261.2,47.2,9.4,633,9368,0.00,2.25,0.00,0.000,6,0.000,0.048,2916,1973,1733,0,0,0,0,0,0
$GC,9695,0.88,261.5,19.2,9.0,694,9702,0.00,2.30,0.00,0.000,4,0.000,0.058,2916,3385,1733,0,0,0,0,0,0
$GC,9758,0.88,261.5,13.1,10.4,705,9765,0.00,2.25,0.00,0.000,6,0.000,0.048,2920,1981,1733,0,0,0,0,0,0
$STATE,9865,end climb,SURFACE_DEPTH_REACHED
$STATE,9865,begin surface coast
$FINISH,0.6,1.023225
$STATE,9899,end surface coast,CONTROL_FINISHED_OK
$STATE,9899,begin surface
$SM_CCo,9917,19.77,0.416,0,0,1575,300.24
$SM_GC,1.87,0.00,0.00,19.77,0.000,0.000,0.416,27,1977,1575,-8.17,0.57,300.24
$IRIDIUM_FIX,2054.83,-15737.19,021002,151550
$TT8_MAMPS,0.027612
$HUMID,68.19
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,24.4,57.651
$10V_AH,10.0,63.602
$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,19.025,86.350,350.075,19.775,0.000,58.810,79.319,240.467,16.750,0.000,18.166,1335.513,5605.941,400.229,2505.432,680.147,0.000,1280.974,0.000,2461.809,0.000,103.333,0.000
$DEVICE_MAMPS,217.828,59.826,719.446,415.714,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,496.747,434.182,1455.758,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41307,731
$CAP_FILE_SIZE,111851,0
$CFSIZE,260165632,221990912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080713,181333,2105.387,-15745.945,29,1.0,31,9.8