version: 66.06
glider: 523
mission: 4
dive: 678
start: 7 9 113 11 39 34
data:
$ID,523
$MISSION,4
$DIVE,678
$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,-49643.02
$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,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
$GPS1,113305,2101.407,-15747.290,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.0
$GPS2,113918,2101.414,-15747.314,18,0.9,18,9.8
$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,204.4,7830,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-80.45,0.000,6,0.000,0.000,46,1945,3396,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.4,-4.8,13,120,9.52,2.25,0.00,0.000,4,0.221,0.058,2394,545,3398,0,0,0,0,0,0
$GC,360,-0.74,-146.0,42.9,-12.7,60,367,0.00,2.25,0.00,0.000,6,0.000,0.042,2387,1964,3400,0,0,0,0,0,0
$GC,699,-0.74,-146.0,81.4,-9.7,121,703,0.00,2.30,0.00,0.000,4,0.000,0.062,2386,548,3400,0,0,0,0,0,0
$GC,737,-0.74,-146.0,85.8,-11.2,124,744,0.00,2.22,0.00,0.000,6,0.000,0.042,2377,1960,3401,0,0,0,0,0,0
$GC,1064,-0.74,-146.0,114.7,-9.7,155,1068,0.00,2.30,0.00,0.000,4,0.000,0.061,2377,538,3401,0,0,0,0,0,0
$GC,1319,-0.74,-146.0,141.8,-9.9,178,1324,0.12,2.20,0.00,0.000,6,0.157,0.041,2400,1965,3402,0,0,0,0,0,0
$GC,1646,-0.74,-146.0,164.3,-7.3,208,1651,0.00,2.33,0.00,0.000,4,0.000,0.062,2401,548,3403,0,0,0,0,0,0
$GC,1896,-0.74,-146.0,188.3,-10.4,230,1904,0.00,2.22,0.00,0.000,6,0.000,0.040,2393,1964,3403,0,0,0,0,0,0
$GC,2226,-0.74,-146.0,217.4,-8.1,252,2230,0.00,2.33,0.00,0.000,4,0.000,0.062,2393,541,3403,0,0,0,0,0,0
$GC,2483,-0.74,-146.0,237.0,-7.1,263,2487,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1959,3403,0,0,0,0,0,0
$GC,2802,-0.74,-146.0,254.6,-6.0,278,2809,0.00,2.30,0.00,0.000,4,0.000,0.059,2383,544,3403,0,0,0,0,0,0
$GC,2901,-0.74,-146.0,262.3,-7.2,282,2905,0.00,2.20,0.00,0.000,6,0.000,0.041,2374,1959,3403,0,0,0,0,0,0
$GC,3225,-0.74,-146.0,284.5,-6.0,298,3230,0.00,2.30,0.00,0.000,4,0.000,0.060,2374,545,3403,0,0,0,0,0,0
$GC,3405,-0.74,-146.0,296.9,-6.0,306,3410,0.12,2.20,0.00,0.000,6,0.153,0.040,2398,1960,3403,0,0,0,0,0,0
$GC,3752,-0.74,-146.0,316.2,-5.6,316,3756,0.00,2.33,0.00,0.000,4,0.000,0.058,2398,535,3402,0,0,0,0,0,0
$GC,3824,-0.74,-146.0,321.1,-6.6,317,3828,0.00,2.22,0.00,0.000,6,0.000,0.040,2390,1963,3402,0,0,0,0,0,0
$GC,4157,-0.74,-146.0,344.8,-8.0,325,4161,0.00,2.33,0.00,0.000,4,0.000,0.060,2390,538,3400,0,0,0,0,0,0
$GC,4190,-0.74,-146.0,347.6,-7.9,325,4194,0.00,2.22,0.00,0.000,6,0.000,0.041,2380,1963,3399,0,0,0,0,0,0
$GC,4528,-0.74,-146.0,366.6,-4.6,334,4532,0.00,2.33,0.00,0.000,4,0.000,0.059,2380,546,3398,0,0,0,0,0,0
$GC,4719,-0.74,-146.0,375.9,-5.6,338,4724,0.12,2.20,0.00,0.000,6,0.153,0.041,2405,1958,3397,0,0,0,0,0,0
$GC,5070,-0.74,-146.0,398.7,-7.6,347,5074,0.00,2.30,0.00,0.000,4,0.000,0.059,2405,542,3395,0,0,0,0,0,0
$GC,5182,-0.74,-146.0,407.5,-7.5,349,5186,0.00,2.22,0.00,0.000,6,0.000,0.041,2397,1965,3394,0,0,0,0,0,0
$STATE,5440,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5440,begin apogee
$GC,5447,-0.17,0.0,424.7,6.6,356,5573,0.57,0.00,122.97,0.726,6,0.111,0.000,2583,1965,2799,0,0,0,0,0,0
$STATE,5574,end apogee,CONTROL_FINISHED_OK
$STATE,5574,begin climb
$GC,5577,0.74,146.0,425.9,0.0,359,5715,0.82,2.40,127.22,0.705,4,0.073,0.059,2872,3383,2203,0,0,0,0,0,0
$GC,5800,0.74,146.0,402.7,12.0,364,5804,0.00,2.30,0.00,0.000,6,0.000,0.045,2882,1969,2199,0,0,0,0,0,0
$GC,6112,0.74,146.0,372.0,9.5,372,6116,0.00,2.33,0.00,0.000,4,0.000,0.058,2882,3386,2197,0,0,0,0,0,0
$GC,6224,0.74,146.0,359.8,10.8,374,6228,0.00,2.25,0.00,0.000,6,0.000,0.045,2891,1978,2195,0,0,0,0,0,0
$GC,6560,0.74,146.0,326.8,10.0,383,6564,0.00,2.28,0.00,0.000,4,0.000,0.059,2891,3389,2194,0,0,0,0,0,0
$GC,6720,0.74,146.0,311.3,9.9,386,6724,0.00,2.25,0.00,0.000,6,0.000,0.048,2899,1981,2193,0,0,0,0,0,0
$GC,7039,0.74,146.0,277.7,11.9,399,7043,0.00,2.28,0.00,0.000,4,0.000,0.060,2899,3385,2192,0,0,0,0,0,0
$GC,7187,0.74,146.0,259.8,11.7,405,7193,0.12,2.25,0.00,0.000,6,0.143,0.050,2873,1980,2192,0,0,0,0,0,0
$GC,7503,0.78,183.7,232.3,7.5,421,7539,0.00,2.30,31.33,0.617,4,0.000,0.059,2873,3386,2051,0,0,0,0,0,0
$GC,7630,0.78,183.7,220.6,10.6,426,7634,0.00,2.25,0.00,0.000,6,0.000,0.051,2880,1981,2048,0,0,0,0,0,0
$GC,7950,0.86,243.6,196.3,6.5,444,8010,0.10,2.33,53.40,0.592,4,0.088,0.061,2950,3385,1804,0,0,0,0,0,0
$GC,8103,0.86,243.6,180.6,11.2,457,8108,0.15,2.30,0.00,0.000,6,0.135,0.051,2917,1976,1803,0,0,0,0,0,0
$GC,8430,0.86,243.6,149.1,9.9,487,8434,0.00,2.30,0.00,0.000,4,0.000,0.062,2917,3385,1803,0,0,0,0,0,0
$GC,8581,0.86,243.6,132.9,11.2,500,8585,0.00,2.28,0.00,0.000,6,0.000,0.052,2924,1977,1801,0,0,0,0,0,0
$GC,8913,0.86,247.2,102.0,8.9,531,8926,0.00,2.33,4.05,0.359,4,0.000,0.062,2924,3381,1790,0,0,0,0,0,0
$GC,9005,0.86,247.2,93.1,9.1,539,9009,0.00,2.25,0.00,0.000,6,0.000,0.051,2933,1980,1790,0,0,0,0,0,0
$GC,9338,0.91,288.0,63.9,7.3,585,9385,0.00,2.35,36.45,0.483,4,0.000,0.061,2933,3385,1623,0,0,0,0,0,0
$GC,9477,0.91,288.0,52.2,9.2,610,9485,0.00,2.30,0.00,0.000,6,0.000,0.052,2938,1982,1622,0,0,0,0,0,0
$GC,9815,0.93,304.3,25.1,8.4,671,9835,0.00,2.28,15.25,0.430,4,0.000,0.059,2938,3391,1557,0,0,0,0,0,0
$GC,9875,0.93,304.3,19.5,10.1,681,9883,0.00,2.30,0.00,0.000,6,0.000,0.051,2946,1980,1556,0,0,0,0,0,0
$GC,10044,0.93,304.3,4.7,9.4,712,10051,0.00,2.38,0.00,0.000,4,0.000,0.071,2956,562,1556,0,0,0,0,0,0
$STATE,10064,end climb,SURFACE_DEPTH_REACHED
$STATE,10064,begin surface coast
$FINISH,0.7,1.023143
$STATE,10097,end surface coast,CONTROL_FINISHED_OK
$STATE,10097,begin surface
$SM_CCo,10178,0.00,0.000,0,0,1554,305.39
$SM_GC,1.49,7.47,0.00,0.00,0.025,0.000,0.000,30,1956,1554,-8.01,-0.03,305.39
$IRIDIUM_FIX,2057.14,-15753.90,031002,080846
$TT8_MAMPS,0.027612
$HUMID,65.90
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,24.4,58.281
$10V_AH,10.1,64.355
$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,19.150,100.225,390.675,0.000,0.000,27.959,33.090,159.407,18.000,0.000,18.831,1323.336,5767.834,412.669,2513.221,523.832,0.000,1329.834,0.000,2465.866,0.000,111.936,0.000
$DEVICE_MAMPS,220.896,70.564,726.349,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,489.184,415.543,1419.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41384,721
$CAP_FILE_SIZE,112907,0
$CFSIZE,260165632,221593600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090713,143027,2059.859,-15747.924,20,1.1,39,9.8