version: 66.06
glider: 523
mission: 4
dive: 676
start: 7 9 113 5 53 46
data:
$ID,523
$MISSION,4
$DIVE,676
$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,-49603.086
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,054734,2102.697,-15747.077,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.1
$GPS2,055329,2102.705,-15747.147,16,1.0,16,9.8
$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,198.1,10030,-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,-82.35,0.000,2,0.000,0.000,36,1976,3378,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.2,-4.1,13,119,9.45,2.33,-0.40,0.000,4,0.216,0.067,2394,542,3396,0,0,0,0,0,0
$GC,293,-0.74,-146.0,33.8,-12.6,48,300,0.00,2.22,0.00,0.000,6,0.000,0.041,2386,1951,3398,0,0,0,0,0,0
$GC,628,-0.74,-146.0,69.8,-11.3,109,634,0.00,2.30,0.00,0.000,4,0.000,0.061,2386,541,3399,0,0,0,0,0,0
$GC,885,-0.74,-146.0,100.6,-11.1,140,889,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1963,3400,0,0,0,0,0,0
$GC,1218,-0.74,-146.0,133.7,-9.9,171,1222,0.00,2.33,0.00,0.000,4,0.000,0.061,2376,541,3401,0,0,0,0,0,0
$GC,1469,-0.74,-146.0,160.2,-9.4,193,1477,0.08,2.22,0.00,0.000,6,0.137,0.041,2392,1957,3401,0,0,0,0,0,0
$GC,1796,-0.74,-146.0,181.4,-5.9,224,1800,0.00,2.30,0.00,0.000,4,0.000,0.060,2392,535,3402,0,0,0,0,0,0
$GC,1837,-0.74,-146.0,184.4,-7.4,227,1844,0.00,2.20,0.00,0.000,6,0.000,0.041,2384,1961,3402,0,0,0,0,0,0
$GC,2176,-0.74,-146.0,208.7,-6.5,253,2180,0.00,2.25,0.00,0.000,4,0.000,0.062,2374,3365,3402,0,0,0,0,0,0
$GC,2360,-0.74,-146.0,221.5,-7.8,261,2364,0.00,2.22,0.00,0.000,6,0.000,0.046,2374,1956,3402,0,0,0,0,0,0
$GC,2678,-0.74,-146.0,244.9,-7.0,276,2683,0.00,2.30,0.00,0.000,4,0.000,0.063,2374,541,3402,0,0,0,0,0,0
$GC,2881,-0.74,-146.0,258.0,-5.9,285,2886,0.12,2.20,0.00,0.000,6,0.152,0.041,2398,1960,3402,0,0,0,0,0,0
$GC,3209,-0.74,-146.0,280.4,-7.2,301,3213,0.00,2.33,0.00,0.000,4,0.000,0.058,2398,534,3402,0,0,0,0,0,0
$GC,3387,-0.74,-146.0,290.9,-5.6,309,3391,0.00,2.22,0.00,0.000,6,0.000,0.040,2390,1962,3402,0,0,0,0,0,0
$GC,3730,-0.74,-146.0,306.3,-4.9,323,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1962,3401,0,0,0,0,0,0
$GC,4052,-0.74,-146.0,324.5,-5.8,331,4056,0.00,2.35,0.00,0.000,4,0.000,0.059,2390,541,3400,0,0,0,0,0,0
$GC,4310,-0.74,-146.0,338.8,-4.5,336,4316,0.00,2.20,0.00,0.000,6,0.000,0.041,2380,1960,3398,0,0,0,0,0,0
$GC,4642,-0.74,-146.0,359.7,-7.2,345,4647,0.00,2.30,0.00,0.000,4,0.000,0.058,2380,542,3397,0,0,0,0,0,0
$GC,4737,-0.74,-146.0,366.8,-7.0,347,4741,0.12,2.20,0.00,0.000,6,0.150,0.041,2405,1956,3396,0,0,0,0,0,0
$GC,5064,-0.74,-146.0,384.6,-5.2,355,5068,0.00,2.35,0.00,0.000,4,0.000,0.059,2405,532,3394,0,0,0,0,0,0
$GC,5153,-0.74,-146.0,389.7,-5.6,357,5157,0.00,2.22,0.00,0.000,6,0.000,0.041,2397,1962,3394,0,0,0,0,0,0
$STATE,5431,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5431,begin apogee
$GC,5438,-0.17,0.0,405.1,5.8,364,5565,0.57,0.00,123.35,0.718,6,0.111,0.000,2583,1962,2799,0,0,0,0,0,0
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5565,begin climb
$GC,5568,0.74,146.0,405.8,0.0,367,5706,0.82,2.38,127.62,0.696,4,0.075,0.062,2870,3385,2203,0,0,0,0,0,0
$GC,5813,0.74,146.0,380.9,11.9,372,5818,0.00,2.30,0.00,0.000,6,0.000,0.047,2880,1975,2199,0,0,0,0,0,0
$GC,6145,0.74,146.0,345.9,10.7,380,6149,0.00,2.30,0.00,0.000,4,0.000,0.058,2880,3389,2196,0,0,0,0,0,0
$GC,6246,0.74,146.0,334.3,11.0,382,6250,0.00,2.28,0.00,0.000,6,0.000,0.048,2888,1969,2195,0,0,0,0,0,0
$GC,6594,0.74,150.4,302.9,8.9,391,6598,0.00,2.35,0.00,0.000,4,0.000,0.059,2888,3396,2194,0,0,0,0,0,0
$GC,6768,0.74,150.4,284.1,11.5,398,6772,0.00,2.28,0.00,0.000,6,0.000,0.049,2897,1982,2193,0,0,0,0,0,0
$GC,7100,0.74,150.4,250.9,10.0,414,7104,0.00,2.28,0.00,0.000,4,0.000,0.061,2897,3385,2192,0,0,0,0,0,0
$GC,7168,0.74,150.4,243.8,10.3,417,7172,0.00,2.28,0.00,0.000,6,0.000,0.051,2906,1969,2192,0,0,0,0,0,0
$GC,7495,0.77,173.0,213.3,8.1,433,7524,0.00,2.33,22.90,0.604,4,0.000,0.053,2906,3393,2093,0,0,0,0,0,0
$GC,7675,0.77,173.0,194.1,12.6,443,7684,0.00,2.30,0.00,0.000,6,0.000,0.053,2906,1989,2090,0,0,0,0,0,0
$GC,8002,0.77,173.0,160.6,9.8,474,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1989,2089,0,0,0,0,0,0
$GC,8323,0.81,204.5,131.8,7.7,504,8359,0.00,2.33,27.60,0.547,4,0.000,0.061,2906,3387,1966,0,0,0,0,0,0
$GC,8463,0.81,204.5,118.7,10.1,516,8470,0.00,2.30,0.00,0.000,6,0.000,0.049,2906,1978,1964,0,0,0,0,0,0
$GC,8790,0.86,245.0,92.5,7.4,547,8838,0.00,2.35,36.12,0.513,4,0.000,0.061,2907,562,1800,0,0,0,0,0,0
$GC,8909,0.88,258.6,83.3,8.5,557,8933,0.00,2.22,13.62,0.472,6,0.000,0.040,2906,1989,1744,0,0,0,0,0,0
$GC,9254,0.91,284.2,50.9,8.0,618,9285,0.00,2.25,23.45,0.465,4,0.000,0.051,2907,3390,1639,0,0,0,0,0,0
$GC,9333,0.95,316.1,44.9,7.7,631,9369,0.10,2.28,28.38,0.457,6,0.084,0.047,2991,1968,1510,0,0,0,0,0,0
$GC,9692,0.95,316.1,10.2,10.6,697,9700,0.17,2.33,0.00,0.000,4,0.117,0.068,2946,574,1509,0,0,0,0,0,0
$GC,9767,0.95,321.1,3.6,8.8,710,9776,0.00,2.22,3.88,0.304,2,0.000,0.040,2945,1976,1498,0,0,0,0,0,0
$STATE,9776,end climb,SURFACE_DEPTH_REACHED
$STATE,9777,begin surface coast
$FINISH,0.5,1.011088
$STATE,9811,end surface coast,CONTROL_FINISHED_OK
$STATE,9811,begin surface
$SM_CCo,9890,0.00,0.000,0,0,1495,320.11
$SM_GC,1.56,7.47,0.00,0.00,0.027,0.000,0.000,38,1977,1495,-7.99,0.59,320.11
$IRIDIUM_FIX,2101.76,-15756.04,031002,030338
$TT8_MAMPS,0.028379
$HUMID,67.68
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,24.4,58.105
$10V_AH,10.1,64.138
$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,18.925,86.575,406.925,0.000,0.000,28.964,40.627,146.559,17.000,0.000,16.612,1307.388,5505.098,420.304,2500.257,504.039,0.000,1327.172,0.000,2454.651,0.000,105.983,0.000
$DEVICE_MAMPS,215.527,68.263,717.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,487.574,413.685,1433.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,41339,717
$CAP_FILE_SIZE,108587,0
$CFSIZE,260165632,221712384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090713,083943,2102.308,-15747.225,31,0.8,31,9.8