version: 66.06
glider: 523
mission: 4
dive: 673
start: 7 8 113 21 16 16
data:
$ID,523
$MISSION,4
$DIVE,673
$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,-49548.523
$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,20
$R_STBD_OVSHOOT,27
$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
$GPS1,210504,2105.973,-15745.323,28,0.8,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.2
$GPS2,211559,2105.864,-15745.321,15,0.9,15,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,198.3,16678,-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,-80.38,0.000,6,0.000,0.000,29,1975,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.5,-5.3,13,119,9.62,2.33,0.00,0.000,4,0.220,0.058,2394,538,3397,0,0,0,0,0,0
$GC,358,-0.74,-146.0,44.8,-12.8,60,365,0.00,2.25,0.00,0.000,6,0.000,0.041,2386,1958,3399,0,0,0,0,0,0
$GC,694,-0.74,-146.0,81.7,-10.5,120,698,0.00,2.28,0.00,0.000,4,0.000,0.062,2376,3373,3400,0,0,0,0,0,0
$GC,833,-0.74,-146.0,95.5,-9.5,132,837,0.00,2.28,0.00,0.000,6,0.000,0.048,2376,1951,3400,0,0,0,0,0,0
$GC,1160,-0.74,-146.0,121.4,-7.8,162,1164,0.00,2.25,0.00,0.000,4,0.000,0.058,2366,3365,3401,0,0,0,0,0,0
$GC,1379,-0.74,-146.0,140.1,-9.7,181,1386,0.10,2.28,0.00,0.000,6,0.123,0.048,2398,1954,3401,0,0,0,0,0,0
$GC,1707,-0.74,-146.0,165.2,-5.4,212,1711,0.00,2.25,0.00,0.000,4,0.000,0.062,2399,541,3402,0,0,0,0,0,0
$GC,1961,-0.74,-146.0,182.3,-7.3,234,1969,0.00,2.22,0.00,0.000,6,0.000,0.038,2391,1965,3402,0,0,0,0,0,0
$GC,2285,-0.74,-146.0,204.6,-6.7,262,2292,0.00,2.35,0.00,0.000,4,0.000,0.059,2391,542,3402,0,0,0,0,0,0
$GC,2467,-0.74,-146.0,216.7,-6.5,270,2471,0.00,2.20,0.00,0.000,6,0.000,0.038,2381,1961,3402,0,0,0,0,0,0
$GC,2797,-0.74,-146.0,242.9,-8.0,286,2801,0.00,2.30,0.00,0.000,4,0.000,0.057,2381,544,3402,0,0,0,0,0,0
$GC,3057,-0.74,-146.0,263.9,-7.8,297,3062,0.00,2.20,0.00,0.000,6,0.000,0.039,2372,1961,3402,0,0,0,0,0,0
$GC,3374,-0.74,-146.0,282.6,-6.0,313,3379,0.10,2.35,0.00,0.000,4,0.160,0.058,2399,536,3401,0,0,0,0,0,0
$GC,3485,-0.74,-146.0,290.4,-6.9,318,3489,0.00,2.20,0.00,0.000,6,0.000,0.039,2390,1967,3400,0,0,0,0,0,0
$GC,3832,-0.74,-146.0,315.5,-7.0,330,3836,0.00,2.33,0.00,0.000,4,0.000,0.058,2391,538,3399,0,0,0,0,0,0
$GC,3922,-0.74,-146.0,321.7,-6.3,332,3926,0.00,2.20,0.00,0.000,6,0.000,0.040,2381,1965,3398,0,0,0,0,0,0
$GC,4243,-0.74,-146.0,341.2,-6.3,340,4247,0.00,2.30,0.00,0.000,4,0.000,0.058,2381,546,3397,0,0,0,0,0,0
$GC,4382,-0.74,-146.0,350.3,-6.7,343,4387,0.12,2.20,0.00,0.000,6,0.153,0.041,2405,1957,3396,0,0,0,0,0,0
$GC,4703,-0.74,-146.0,367.6,-5.2,351,4707,0.00,2.33,0.00,0.000,4,0.000,0.058,2405,535,3395,0,0,0,0,0,0
$GC,4916,-0.74,-146.0,379.9,-6.1,355,4921,0.00,2.22,0.00,0.000,6,0.000,0.041,2398,1958,3394,0,0,0,0,0,0
$GC,5254,-0.74,-146.0,401.5,-6.7,364,5258,0.00,2.28,0.00,0.000,4,0.000,0.064,2387,3374,3392,0,0,0,0,0,0
$GC,5316,-0.74,-146.0,406.0,-7.0,365,5320,0.00,2.25,0.00,0.000,6,0.000,0.048,2387,1956,3392,0,0,0,0,0,0
$STATE,5417,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5417,begin apogee
$GC,5424,-0.17,0.0,412.5,6.2,368,5549,0.60,0.00,122.62,0.718,6,0.115,0.000,2579,1956,2799,0,0,0,0,0,0
$STATE,5550,end apogee,CONTROL_FINISHED_OK
$STATE,5550,begin climb
$GC,5554,0.74,146.0,413.1,0.0,371,5691,0.85,2.40,127.05,0.696,4,0.075,0.054,2876,3392,2203,0,0,0,0,0,0
$GC,5766,0.74,146.0,389.3,13.2,376,5770,0.00,2.30,0.00,0.000,6,0.000,0.044,2885,1976,2199,0,0,0,0,0,0
$GC,6090,0.74,146.0,352.9,11.0,384,6094,0.00,2.28,0.00,0.000,4,0.000,0.058,2885,3392,2196,0,0,0,0,0,0
$GC,6190,0.74,146.0,339.5,13.4,386,6194,0.00,2.28,0.00,0.000,6,0.000,0.046,2894,1974,2195,0,0,0,0,0,0
$GC,6538,0.74,146.0,300.8,10.3,395,6542,0.00,2.28,0.00,0.000,4,0.000,0.059,2894,3388,2194,0,0,0,0,0,0
$GC,6627,0.74,146.0,290.4,12.0,398,6631,0.00,2.22,0.00,0.000,6,0.000,0.047,2904,1980,2193,0,0,0,0,0,0
$GC,6948,0.74,146.0,255.7,10.9,414,6952,0.00,2.28,0.00,0.000,4,0.000,0.059,2904,3389,2192,0,0,0,0,0,0
$GC,7039,0.74,146.0,245.5,11.0,418,7044,0.12,2.28,0.00,0.000,6,0.143,0.049,2877,1972,2191,0,0,0,0,0,0
$GC,7365,0.79,188.3,220.3,7.3,434,7407,0.00,2.30,35.45,0.607,4,0.000,0.058,2877,3386,2031,0,0,0,0,0,0
$GC,7460,0.79,188.8,212.5,9.0,438,7464,0.00,2.25,0.00,0.000,6,0.000,0.049,2884,1982,2029,0,0,0,0,0,0
$GC,7785,0.81,204.5,184.9,8.4,461,7809,0.00,2.33,15.18,0.555,4,0.000,0.060,2884,3386,1964,0,0,0,0,0,0
$GC,7912,0.81,204.5,173.2,9.5,472,7916,0.00,2.25,0.00,0.000,6,0.000,0.051,2892,1980,1962,0,0,0,0,0,0
$GC,8244,0.81,204.5,143.9,9.6,503,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1980,1962,0,0,0,0,0,0
$GC,8564,0.88,261.0,117.1,6.7,533,8623,0.00,2.35,49.80,0.530,4,0.000,0.061,2892,3386,1735,0,0,0,0,0,0
$GC,8663,0.91,287.1,110.3,7.9,541,8693,0.08,2.30,24.17,0.503,6,0.041,0.051,2964,1983,1628,0,0,0,0,0,0
$GC,9013,0.91,287.1,74.2,9.7,579,9019,0.12,2.33,0.00,0.000,4,0.134,0.061,2927,3389,1627,0,0,0,0,0,0
$GC,9071,0.91,288.6,68.8,9.0,589,9077,0.00,2.28,0.00,0.000,6,0.000,0.049,2934,1977,1626,0,0,0,0,0,0
$GC,9407,0.92,296.1,39.9,8.7,650,9426,0.00,2.33,9.15,0.414,4,0.000,0.060,2934,3386,1590,0,0,0,0,0,0
$GC,9522,0.92,296.1,29.5,9.5,670,9529,0.00,2.28,0.00,0.000,6,0.000,0.048,2941,1978,1590,0,0,0,0,0,0
$GC,9693,0.94,307.9,15.4,8.5,701,9707,0.00,0.00,11.62,0.413,6,0.000,0.000,2941,1979,1542,0,0,0,0,0,0
$STATE,9837,end climb,SURFACE_DEPTH_REACHED
$STATE,9837,begin surface coast
$FINISH,0.6,1.010206
$STATE,9869,end surface coast,CONTROL_FINISHED_OK
$STATE,9869,begin surface
$SM_CCo,9948,0.00,0.000,0,0,1539,309.07
$SM_GC,1.43,7.43,0.00,0.00,0.028,0.000,0.000,37,1976,1539,-8.00,0.57,309.07
$IRIDIUM_FIX,2057.14,-15741.46,021002,212120
$TT8_MAMPS,0.027612
$HUMID,67.60
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.4,57.836
$10V_AH,10.1,63.822
$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,19.150,91.100,395.050,0.000,0.000,60.138,81.817,295.697,17.250,0.000,15.608,1338.874,5519.735,412.819,2569.952,753.292,0.000,1320.448,0.000,2525.396,0.000,107.468,0.000
$DEVICE_MAMPS,220.129,63.661,717.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,498.863,431.615,1507.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,41261,734
$CAP_FILE_SIZE,115998,0
$CFSIZE,260165632,221872128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090713,000306,2104.885,-15745.561,26,1.3,26,9.8