version: 66.06
glider: 523
mission: 4
dive: 679
start: 7 9 113 14 40 42
data:
$ID,523
$MISSION,4
$DIVE,679
$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,-49661.02
$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,18
$R_STBD_OVSHOOT,19
$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
$GPS1,143027,2059.859,-15747.924,20,1.1,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.9
$GPS2,144023,2059.802,-15748.045,14,0.9,14,9.8
$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,212.2,4693,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.18,0.000,2,0.000,0.000,24,1957,3350,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-3.8,12,119,9.55,2.35,-1.02,0.000,4,0.218,0.070,2391,540,3397,0,0,0,0,0,0
$GC,355,-0.74,-146.0,41.8,-12.5,60,363,0.00,2.25,0.00,0.000,6,0.000,0.042,2383,1955,3398,0,0,0,0,0,0
$GC,696,-0.74,-146.0,82.8,-12.4,120,700,0.00,2.33,0.00,0.000,4,0.000,0.061,2383,541,3399,0,0,0,0,0,0
$GC,827,-0.74,-146.0,99.4,-12.1,131,835,0.00,2.22,0.00,0.000,6,0.000,0.041,2373,1955,3399,0,0,0,0,0,0
$GC,1154,-0.74,-146.0,126.5,-7.3,162,1159,0.00,2.28,0.00,0.000,4,0.000,0.061,2374,544,3400,0,0,0,0,0,0
$GC,1403,-0.74,-146.0,148.5,-10.6,184,1411,0.10,2.22,0.00,0.000,6,0.134,0.041,2396,1958,3400,0,0,0,0,0,0
$GC,1730,-0.74,-146.0,178.4,-8.6,215,1734,0.00,2.30,0.00,0.000,4,0.000,0.062,2396,546,3401,0,0,0,0,0,0
$GC,1980,-0.74,-146.0,198.1,-6.9,237,1987,0.00,2.22,0.00,0.000,6,0.000,0.041,2388,1958,3400,0,0,0,0,0,0
$GC,2299,-0.74,-146.0,220.4,-6.7,254,2304,0.00,2.30,0.00,0.000,4,0.000,0.061,2388,537,3400,0,0,0,0,0,0
$GC,2378,-0.74,-146.0,226.5,-7.6,257,2384,0.00,2.22,0.00,0.000,6,0.000,0.041,2378,1966,3400,0,0,0,0,0,0
$GC,2696,-0.74,-146.0,247.1,-6.1,273,2700,0.00,2.35,0.00,0.000,4,0.000,0.062,2379,537,3400,0,0,0,0,0,0
$GC,2936,-0.74,-146.0,263.9,-7.7,283,2942,0.12,2.20,0.00,0.000,6,0.156,0.041,2403,1957,3400,0,0,0,0,0,0
$GC,3256,-0.74,-146.0,285.3,-5.8,299,3260,0.00,2.33,0.00,0.000,4,0.000,0.061,2403,547,3400,0,0,0,0,0,0
$GC,3508,-0.74,-146.0,297.9,-4.5,310,3512,0.00,2.20,0.00,0.000,6,0.000,0.040,2396,1958,3400,0,0,0,0,0,0
$GC,3822,-0.74,-146.0,312.5,-5.0,319,3826,0.00,2.33,0.00,0.000,4,0.000,0.061,2395,543,3399,0,0,0,0,0,0
$GC,3933,-0.74,-146.0,319.9,-6.0,321,3938,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1957,3398,0,0,0,0,0,0
$GC,4276,-0.74,-146.0,337.8,-5.2,330,4280,0.00,2.30,0.00,0.000,4,0.000,0.061,2385,545,3397,0,0,0,0,0,0
$GC,4478,-0.74,-146.0,351.8,-7.1,334,4482,0.00,2.20,0.00,0.000,6,0.000,0.042,2377,1960,3395,0,0,0,0,0,0
$GC,4826,-0.74,-146.0,374.6,-6.6,343,4831,0.00,2.30,0.00,0.000,4,0.000,0.060,2377,545,3394,0,0,0,0,0,0
$GC,5057,-0.74,-146.0,390.5,-6.2,348,5061,0.12,2.22,0.00,0.000,6,0.152,0.042,2400,1966,3392,0,0,0,0,0,0
$GC,5379,-0.74,-146.0,407.2,-5.1,356,5383,0.00,2.30,0.00,0.000,4,0.000,0.064,2392,3373,3390,0,0,0,0,0,0
$STATE,5403,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5403,begin apogee
$GC,5413,-0.17,0.0,408.9,5.4,356,5538,0.57,0.00,122.00,0.718,6,0.114,0.000,2582,1967,2800,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5542,0.74,146.0,410.3,0.0,359,5681,0.82,2.42,126.93,0.695,4,0.071,0.057,2872,3379,2203,0,0,0,0,0,0
$GC,5755,0.74,146.0,388.2,12.1,364,5759,0.00,2.28,0.00,0.000,6,0.000,0.045,2881,1979,2199,0,0,0,0,0,0
$GC,6079,0.74,146.0,353.9,9.8,372,6083,0.00,2.28,0.00,0.000,4,0.000,0.058,2882,3390,2196,0,0,0,0,0,0
$GC,6197,0.74,146.0,338.9,13.0,374,6201,0.00,2.28,0.00,0.000,6,0.000,0.047,2891,1973,2195,0,0,0,0,0,0
$GC,6528,0.74,146.0,302.4,10.9,382,6532,0.00,2.28,0.00,0.000,4,0.000,0.060,2891,3387,2193,0,0,0,0,0,0
$GC,6590,0.74,146.0,295.3,11.5,384,6594,0.00,2.25,0.00,0.000,6,0.000,0.048,2900,1980,2192,0,0,0,0,0,0
$GC,6922,0.74,146.0,260.6,10.0,400,6926,0.00,2.28,0.00,0.000,4,0.000,0.061,2900,3386,2190,0,0,0,0,0,0
$GC,7005,0.74,146.0,252.1,9.8,403,7011,0.12,2.25,0.00,0.000,6,0.143,0.050,2874,1981,2190,0,0,0,0,0,0
$GC,7321,0.74,146.0,224.2,9.8,419,7325,0.00,2.30,0.00,0.000,4,0.000,0.061,2874,3393,2189,0,0,0,0,0,0
$GC,7399,0.74,146.0,215.9,10.9,422,7405,0.00,2.28,0.00,0.000,6,0.000,0.052,2881,1980,2189,0,0,0,0,0,0
$GC,7722,0.78,184.6,189.9,7.4,444,7760,0.00,2.35,32.08,0.591,4,0.000,0.062,2881,3389,2046,0,0,0,0,0,0
$GC,7868,0.78,184.6,177.3,9.5,457,7872,0.00,2.28,0.00,0.000,6,0.000,0.053,2890,1982,2043,0,0,0,0,0,0
$GC,8195,0.81,206.2,147.0,8.1,487,8220,0.00,2.28,19.75,0.544,4,0.000,0.061,2890,3386,1958,0,0,0,0,0,0
$GC,8313,0.83,224.4,136.8,8.3,497,8337,0.00,2.25,17.33,0.526,6,0.000,0.042,2898,1960,1885,0,0,0,0,0,0
$GC,8657,0.83,224.4,104.8,10.0,529,8661,0.00,2.28,0.00,0.000,4,0.000,0.050,2898,3389,1884,0,0,0,0,0,0
$GC,8730,0.83,224.4,96.9,10.7,535,8734,0.00,2.20,0.00,0.000,6,0.000,0.038,2906,1979,1883,0,0,0,0,0,0
$GC,9061,0.88,261.6,69.8,7.5,577,9097,0.00,0.00,33.35,0.491,6,0.000,0.000,2906,1979,1733,0,0,0,0,0,0
$GC,9425,0.89,271.8,36.8,8.6,643,9443,0.00,2.28,10.57,0.428,4,0.000,0.050,2906,3399,1690,0,0,0,0,0,0
$GC,9474,0.92,292.2,32.8,8.2,651,9498,0.00,2.22,18.73,0.446,6,0.000,0.039,2912,1976,1607,0,0,0,0,0,0
$GC,9820,1.02,377.3,6.1,5.5,715,9854,0.15,0.00,31.40,0.432,2,0.066,0.000,3005,1976,1460,0,0,0,0,0,0
$STATE,9856,end climb,SURFACE_DEPTH_REACHED
$STATE,9856,begin surface coast
$FINISH,0.7,1.021018
$STATE,9889,end surface coast,CONTROL_FINISHED_OK
$STATE,9890,begin surface
$SM_CCo,9968,0.00,0.000,0,0,1455,329.68
$SM_GC,1.51,7.62,0.00,0.00,0.023,0.000,0.000,52,1965,1455,-8.00,0.45,329.68
$IRIDIUM_FIX,2050.21,-15735.06,031002,141439
$TT8_MAMPS,0.027612
$HUMID,67.95
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,24.4,58.377
$10V_AH,10.0,64.465
$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,19.200,90.925,412.125,0.000,0.000,53.915,79.914,240.737,17.000,0.000,17.370,1322.913,5586.877,409.598,2550.107,688.060,0.000,1336.432,0.000,2508.107,0.000,105.878,0.000
$DEVICE_MAMPS,217.828,69.797,717.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,491.913,432.859,1466.639,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41152,726
$CAP_FILE_SIZE,114051,0
$CFSIZE,260165632,221536256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090713,172801,2058.863,-15748.663,35,0.8,35,9.8