version: 66.06
glider: 523
mission: 4
dive: 674
start: 7 9 113 0 10 15
data:
$ID,523
$MISSION,4
$DIVE,674
$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,-49569.84
$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,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
$GPS1,000306,2104.885,-15745.561,26,1.3,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.4
$GPS2,000959,2104.881,-15745.631,20,1.2,20,9.8
$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,199.8,14826,-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,15,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-79.35,0.000,6,0.000,0.000,31,1973,3395,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.4,-4.8,13,118,9.55,2.30,0.00,0.000,4,0.218,0.056,2395,541,3396,0,0,0,0,0,0
$GC,357,-0.74,-146.0,43.9,-14.1,60,364,0.00,2.22,0.00,0.000,6,0.000,0.038,2387,1957,3398,0,0,0,0,0,0
$GC,697,-0.74,-146.0,84.8,-10.8,118,702,0.00,2.30,0.00,0.000,4,0.000,0.061,2387,545,3399,0,0,0,0,0,0
$GC,851,-0.74,-146.0,98.8,-9.4,132,855,0.00,2.20,0.00,0.000,6,0.000,0.038,2377,1967,3399,0,0,0,0,0,0
$GC,1178,-0.74,-146.0,129.3,-9.0,162,1182,0.00,2.33,0.00,0.000,4,0.000,0.060,2378,536,3400,0,0,0,0,0,0
$GC,1428,-0.74,-146.0,152.0,-9.1,184,1435,0.08,2.22,0.00,0.000,6,0.137,0.039,2392,1956,3400,0,0,0,0,0,0
$GC,1756,-0.74,-146.0,172.9,-6.5,215,1760,0.00,2.33,0.00,0.000,4,0.000,0.058,2393,545,3401,0,0,0,0,0,0
$GC,1965,-0.74,-146.0,191.4,-8.9,233,1969,0.00,2.20,0.00,0.000,6,0.000,0.038,2384,1965,3401,0,0,0,0,0,0
$GC,2296,-0.74,-146.0,215.9,-6.9,253,2300,0.00,2.30,0.00,0.000,4,0.000,0.058,2384,546,3401,0,0,0,0,0,0
$GC,2441,-0.74,-146.0,228.7,-8.3,259,2446,0.00,2.17,0.00,0.000,6,0.000,0.039,2376,1957,3401,0,0,0,0,0,0
$GC,2759,-0.74,-146.0,252.1,-7.7,275,2763,0.00,2.33,0.00,0.000,4,0.000,0.058,2375,535,3401,0,0,0,0,0,0
$GC,2961,-0.74,-146.0,271.2,-9.4,284,2966,0.12,2.22,0.00,0.000,6,0.152,0.039,2399,1967,3401,0,0,0,0,0,0
$GC,3285,-0.74,-146.0,289.6,-4.8,300,3289,0.00,2.35,0.00,0.000,4,0.000,0.058,2400,535,3401,0,0,0,0,0,0
$GC,3504,-0.74,-146.0,304.5,-8.6,309,3508,0.00,2.20,0.00,0.000,6,0.000,0.039,2392,1964,3399,0,0,0,0,0,0
$GC,3831,-0.74,-146.0,332.3,-7.8,317,3835,0.00,2.35,0.00,0.000,4,0.000,0.059,2392,535,3398,0,0,0,0,0,0
$GC,3975,-0.74,-146.0,341.7,-5.5,320,3979,0.00,2.20,0.00,0.000,6,0.000,0.040,2382,1955,3397,0,0,0,0,0,0
$GC,4326,-0.74,-146.0,357.0,-4.6,329,4330,0.00,2.33,0.00,0.000,4,0.000,0.059,2382,536,3396,0,0,0,0,0,0
$GC,4584,-0.74,-146.0,377.2,-8.2,334,4590,0.00,2.20,0.00,0.000,6,0.000,0.041,2372,1963,3394,0,0,0,0,0,0
$GC,4917,-0.74,-146.0,397.2,-5.3,343,4918,0.10,0.00,0.00,0.000,6,0.159,0.000,2399,1963,3393,0,0,0,0,0,0
$GC,5241,-0.74,-146.0,412.8,-4.9,351,5245,0.00,2.35,0.00,0.000,4,0.000,0.060,2399,538,3391,0,0,0,0,0,0
$GC,5389,-0.74,-146.0,421.3,-5.3,354,5393,0.00,2.25,0.00,0.000,6,0.000,0.042,2391,1968,3390,0,0,0,0,0,0
$STATE,5408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5408,begin apogee
$GC,5414,-0.17,0.0,422.7,5.5,354,5540,0.57,0.00,122.65,0.724,6,0.115,0.000,2580,1968,2800,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,421.8,0.0,358,5676,0.88,0.00,128.43,0.700,6,0.071,0.000,2882,1968,2204,0,0,0,0,0,0
$GC,5986,0.74,146.0,374.3,10.2,369,5990,0.00,2.33,0.00,0.000,4,0.000,0.063,2882,3396,2198,0,0,0,0,0,0
$GC,6133,0.74,146.0,357.0,11.7,372,6138,0.00,2.30,0.00,0.000,6,0.000,0.048,2892,1977,2196,0,0,0,0,0,0
$GC,6482,0.74,146.0,322.3,9.3,381,6486,0.00,2.28,0.00,0.000,4,0.000,0.058,2892,3392,2194,0,0,0,0,0,0
$GC,6594,0.74,146.0,309.8,11.2,383,6598,0.00,2.25,0.00,0.000,6,0.000,0.048,2900,1979,2193,0,0,0,0,0,0
$GC,6914,0.74,146.0,277.4,10.0,397,6918,0.00,2.30,0.00,0.000,4,0.000,0.060,2901,3390,2193,0,0,0,0,0,0
$GC,7021,0.74,146.0,266.1,10.4,402,7026,0.12,2.28,0.00,0.000,6,0.143,0.050,2874,1979,2192,0,0,0,0,0,0
$GC,7347,0.74,146.0,236.5,9.6,418,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1978,2190,0,0,0,0,0,0
$GC,7657,0.79,186.3,211.9,7.4,433,7699,0.00,2.35,33.78,0.603,4,0.000,0.062,2874,3381,2039,0,0,0,0,0,0
$GC,7812,0.79,186.3,199.1,9.3,440,7816,0.00,2.25,0.00,0.000,6,0.000,0.051,2880,1981,2037,0,0,0,0,0,0
$GC,8144,0.79,186.3,169.6,9.4,471,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1981,2035,0,0,0,0,0,0
$GC,8465,0.89,270.3,148.4,5.5,501,8547,0.12,2.35,73.55,0.553,4,0.077,0.061,2983,568,1697,0,0,0,0,0,0
$GC,8671,0.89,270.3,127.4,11.5,519,8676,0.20,2.22,0.00,0.000,6,0.120,0.042,2924,1985,1695,0,0,0,0,0,0
$GC,8999,0.89,270.3,88.6,12.8,549,9003,0.00,2.35,0.00,0.000,4,0.000,0.064,2932,569,1695,0,0,0,0,0,0
$GC,9105,0.89,270.3,76.0,11.1,561,9111,0.00,2.22,0.00,0.000,6,0.000,0.043,2931,1973,1695,0,0,0,0,0,0
$GC,9436,0.95,319.9,49.5,7.0,622,9490,0.00,2.40,43.00,0.471,4,0.000,0.065,2935,567,1493,0,0,0,0,0,0
$GC,9580,0.95,319.9,38.3,9.4,647,9585,0.00,2.22,0.00,0.000,6,0.000,0.041,2935,1984,1492,0,0,0,0,0,0
$GC,9906,0.96,330.4,10.0,8.6,708,9921,0.00,2.30,9.68,0.397,4,0.000,0.065,2937,571,1451,0,0,0,0,0,0
$GC,9961,0.97,335.9,5.0,8.8,717,9975,0.00,2.25,6.38,0.365,6,0.000,0.041,2937,1984,1428,0,0,0,0,0,0
$STATE,9987,end climb,SURFACE_DEPTH_REACHED
$STATE,9987,begin surface coast
$FINISH,0.7,1.010410
$STATE,10020,end surface coast,CONTROL_FINISHED_OK
$STATE,10020,begin surface
$SM_CCo,10099,0.00,0.000,0,0,1426,336.79
$SM_GC,1.57,7.43,0.00,0.00,0.028,0.000,0.000,37,1924,1426,-8.00,-0.88,336.79
$IRIDIUM_FIX,2057.14,-15732.04,021002,212159
$TT8_MAMPS,0.027612
$HUMID,66.81
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.4,57.929
$10V_AH,10.0,63.929
$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,19.175,82.050,417.450,0.000,0.000,29.866,36.301,194.763,17.500,0.000,20.686,1320.097,5657.420,450.021,2503.692,570.985,0.000,1322.270,0.000,2468.138,0.000,107.975,0.000
$DEVICE_MAMPS,217.828,142.662,724.048,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,493.700,421.495,1437.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,41123,727
$CAP_FILE_SIZE,108848,0
$CFSIZE,260165632,221822976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090713,025933,2103.711,-15746.562,20,1.4,22,9.8