version: 66.06
glider: 523
mission: 4
dive: 675
start: 7 9 113 3 6 13
data:
$ID,523
$MISSION,4
$DIVE,675
$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,-49585.844
$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,48
$R_STBD_OVSHOOT,22
$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
$GPS1,025933,2103.711,-15746.562,20,1.4,22,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.9
$GPS2,030554,2103.680,-15746.645,14,1.4,14,9.8
$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,197.7,12035,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-83.60,0.000,6,0.000,0.000,36,1918,3395,0,0,0,0,0,0
$GC,110,-0.74,-146.0,4.0,-6.7,14,125,9.52,2.15,0.00,0.000,4,0.218,0.045,2392,566,3396,0,0,0,0,0,0
$GC,336,-0.74,-146.0,41.7,-13.5,55,342,0.00,2.17,0.00,0.000,6,0.000,0.039,2384,1962,3397,0,0,0,0,0,0
$GC,665,-0.74,-146.0,79.4,-9.1,116,672,0.00,2.30,0.00,0.000,4,0.000,0.056,2384,572,3398,0,0,0,0,0,0
$GC,919,-0.74,-146.0,109.4,-13.4,140,924,0.00,2.15,0.00,0.000,6,0.000,0.040,2375,1967,3399,0,0,0,0,0,0
$GC,1252,-0.74,-146.0,137.0,-5.8,171,1256,0.00,2.25,0.00,0.000,4,0.000,0.058,2375,575,3399,0,0,0,0,0,0
$GC,1501,-0.74,-146.0,154.0,-8.2,193,1509,0.10,2.17,0.00,0.000,6,0.133,0.039,2397,1958,3400,0,0,0,0,0,0
$GC,1829,-0.74,-146.0,180.8,-8.6,224,1834,0.00,2.25,0.00,0.000,4,0.000,0.058,2398,575,3400,0,0,0,0,0,0
$GC,2081,-0.74,-146.0,202.6,-7.6,245,2086,0.00,2.12,0.00,0.000,6,0.000,0.039,2390,1959,3400,0,0,0,0,0,0
$GC,2399,-0.74,-146.0,223.5,-6.9,261,2403,0.00,2.25,0.00,0.000,4,0.000,0.057,2390,575,3400,0,0,0,0,0,0
$GC,2483,-0.74,-146.0,230.9,-8.0,264,2488,0.00,2.15,0.00,0.000,6,0.000,0.039,2381,1958,3400,0,0,0,0,0,0
$GC,2801,-0.74,-146.0,253.0,-6.1,280,2805,0.00,2.28,0.00,0.000,4,0.000,0.058,2381,566,3400,0,0,0,0,0,0
$GC,3059,-0.74,-146.0,268.9,-6.6,291,3066,0.12,2.15,0.00,0.000,6,0.152,0.039,2405,1965,3400,0,0,0,0,0,0
$GC,3377,-0.74,-146.0,288.8,-6.2,307,3381,0.00,2.28,0.00,0.000,4,0.000,0.057,2406,571,3400,0,0,0,0,0,0
$GC,3636,-0.74,-146.0,303.4,-5.5,317,3641,0.00,2.15,0.00,0.000,6,0.000,0.038,2398,1958,3399,0,0,0,0,0,0
$GC,3969,-0.74,-146.0,322.1,-5.3,326,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1958,3398,0,0,0,0,0,0
$GC,4295,-0.74,-146.0,336.9,-5.1,334,4299,0.00,2.25,0.00,0.000,4,0.000,0.057,2398,575,3396,0,0,0,0,0,0
$GC,4516,-0.74,-146.0,354.3,-8.2,339,4520,0.00,2.15,0.00,0.000,6,0.000,0.040,2389,1957,3395,0,0,0,0,0,0
$GC,4840,-0.74,-146.0,368.0,-3.0,347,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1957,3393,0,0,0,0,0,0
$GC,5165,-0.74,-146.0,385.5,-5.8,355,5169,0.00,2.28,0.00,0.000,4,0.000,0.058,2389,574,3391,0,0,0,0,0,0
$GC,5345,-0.74,-146.0,400.5,-8.5,359,5349,0.00,2.15,0.00,0.000,6,0.000,0.041,2379,1962,3390,0,0,0,0,0,0
$STATE,5418,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5418,begin apogee
$GC,5425,-0.17,0.0,406.4,7.8,361,5551,0.62,0.00,122.53,0.715,6,0.115,0.000,2579,1962,2799,0,0,0,0,0,0
$STATE,5552,end apogee,CONTROL_FINISHED_OK
$STATE,5552,begin climb
$GC,5555,0.74,146.0,408.6,0.0,364,5693,0.85,2.35,127.40,0.693,4,0.081,0.055,2875,3383,2203,0,0,0,0,0,0
$GC,5767,0.74,146.0,389.8,11.1,369,5771,0.00,2.28,0.00,0.000,6,0.000,0.047,2884,1995,2199,0,0,0,0,0,0
$GC,6092,0.74,146.0,354.4,10.7,377,6096,0.00,2.28,0.00,0.000,4,0.000,0.058,2884,3388,2196,0,0,0,0,0,0
$GC,6210,0.74,146.0,339.5,13.5,379,6214,0.00,2.25,0.00,0.000,6,0.000,0.048,2893,1983,2195,0,0,0,0,0,0
$GC,6541,0.74,146.0,297.2,12.0,387,6545,0.00,2.28,0.00,0.000,4,0.000,0.058,2893,3385,2194,0,0,0,0,0,0
$GC,6681,0.74,146.0,280.8,11.4,393,6685,0.00,2.28,0.00,0.000,6,0.000,0.051,2901,1975,2193,0,0,0,0,0,0
$GC,6996,0.74,146.0,249.3,10.0,408,7000,0.00,2.28,0.00,0.000,4,0.000,0.060,2902,3385,2192,0,0,0,0,0,0
$GC,7097,0.74,146.0,238.4,11.7,412,7102,0.12,2.25,0.00,0.000,6,0.140,0.052,2874,1978,2192,0,0,0,0,0,0
$GC,7413,0.74,146.0,207.2,9.2,427,7417,0.00,2.30,0.00,0.000,4,0.000,0.061,2874,3389,2191,0,0,0,0,0,0
$GC,7522,0.76,166.3,197.7,8.2,433,7547,0.00,2.28,16.83,0.574,6,0.000,0.052,2881,1978,2120,0,0,0,0,0,0
$GC,7867,0.83,220.9,171.8,6.8,465,7926,0.00,2.35,48.28,0.574,4,0.000,0.061,2881,3386,1897,0,0,0,0,0,0
$GC,7940,0.90,277.3,166.7,6.7,471,7999,0.12,2.30,50.80,0.558,6,0.071,0.049,2971,1966,1667,0,0,0,0,0,0
$GC,8318,0.90,277.3,116.3,14.4,506,8323,0.15,2.30,0.00,0.000,4,0.128,0.058,2927,3389,1666,0,0,0,0,0,0
$GC,8434,0.90,277.3,102.2,9.4,516,8438,0.00,2.25,0.00,0.000,6,0.000,0.050,2934,1975,1664,0,0,0,0,0,0
$GC,8762,0.90,277.3,69.5,9.5,555,8768,0.00,2.30,0.00,0.000,4,0.000,0.057,2934,3389,1664,0,0,0,0,0,0
$GC,8821,0.90,277.3,63.6,10.9,565,8826,0.00,2.25,0.00,0.000,6,0.000,0.050,2940,1983,1664,0,0,0,0,0,0
$GC,9150,0.96,331.1,34.7,6.8,626,9203,0.00,2.33,45.42,0.464,4,0.000,0.058,2940,3386,1449,0,0,0,0,0,0
$GC,9243,0.96,331.1,27.3,9.4,642,9250,0.00,2.30,0.00,0.000,6,0.000,0.050,2948,1979,1448,0,0,0,0,0,0
$GC,9411,0.96,331.1,10.9,9.2,673,9419,0.00,2.30,0.00,0.000,4,0.000,0.062,2955,573,1447,0,0,0,0,0,0
$GC,9435,0.96,331.1,8.7,9.1,676,9442,0.00,2.22,0.00,0.000,6,0.000,0.040,2955,1973,1448,0,0,0,0,0,0
$STATE,9494,end climb,SURFACE_DEPTH_REACHED
$STATE,9494,begin surface coast
$FINISH,0.6,1.002648
$STATE,9527,end surface coast,CONTROL_FINISHED_OK
$STATE,9527,begin surface
$SM_CCo,9606,0.00,0.000,0,0,1445,332.38
$SM_GC,1.49,7.43,0.00,0.00,0.021,0.000,0.000,40,1976,1445,-8.00,0.57,332.38
$IRIDIUM_FIX,2059.45,-15745.74,031002,000014
$TT8_MAMPS,0.028379
$HUMID,67.91
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,24.4,58.019
$10V_AH,10.1,64.032
$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,19.050,85.350,411.250,0.000,0.000,27.187,33.694,172.920,17.250,0.000,15.372,1259.472,5361.862,422.428,2429.460,507.550,0.000,1319.840,0.000,2382.277,0.000,103.317,0.000
$DEVICE_MAMPS,217.828,62.127,714.844,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,469.178,409.115,1374.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,38172,693
$CAP_FILE_SIZE,107756,0
$CFSIZE,260165632,221769728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090713,054734,2102.697,-15747.077,38,0.9,38,9.8