version: 66.06
glider: 523
mission: 4
dive: 680
start: 7 9 113 17 34 34
data:
$ID,523
$MISSION,4
$DIVE,680
$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,-49681.672
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,172801,2058.863,-15748.663,35,0.8,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.4
$GPS2,173418,2058.853,-15748.707,19,0.9,19,9.8
$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,219.2,2641,-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,15,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,-81.70,0.000,6,0.000,0.000,52,1963,3396,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.4,-5.0,13,121,9.48,2.28,0.00,0.000,4,0.220,0.052,2395,552,3398,0,0,0,0,0,0
$GC,283,-0.74,-146.0,33.7,-14.3,45,288,0.00,2.22,0.00,0.000,6,0.000,0.042,2387,1965,3400,0,0,0,0,0,0
$GC,614,-0.74,-146.0,72.5,-12.0,106,621,0.00,2.35,0.00,0.000,4,0.000,0.061,2388,554,3401,0,0,0,0,0,0
$GC,739,-0.74,-146.0,87.2,-12.4,123,743,0.00,2.20,0.00,0.000,6,0.000,0.042,2378,1962,3401,0,0,0,0,0,0
$GC,1067,-0.74,-146.0,115.3,-6.8,153,1071,0.00,2.30,0.00,0.000,4,0.000,0.061,2378,550,3402,0,0,0,0,0,0
$GC,1211,-0.74,-146.0,125.1,-7.6,165,1216,0.12,2.20,0.00,0.000,6,0.160,0.043,2401,1955,3403,0,0,0,0,0,0
$GC,1538,-0.74,-146.0,151.0,-9.1,195,1542,0.00,2.30,0.00,0.000,4,0.000,0.061,2402,554,3403,0,0,0,0,0,0
$GC,1650,-0.74,-146.0,161.4,-9.2,205,1654,0.00,2.20,0.00,0.000,6,0.000,0.043,2394,1961,3403,0,0,0,0,0,0
$GC,1984,-0.74,-146.0,186.8,-7.9,236,1988,0.00,2.28,0.00,0.000,4,0.000,0.061,2394,554,3403,0,0,0,0,0,0
$GC,2238,-0.74,-146.0,209.0,-7.4,253,2243,0.00,2.17,0.00,0.000,6,0.000,0.042,2384,1960,3403,0,0,0,0,0,0
$GC,2556,-0.74,-146.0,226.1,-4.7,269,2560,0.00,2.30,0.00,0.000,4,0.000,0.061,2383,547,3403,0,0,0,0,0,0
$GC,2814,-0.74,-146.0,246.6,-9.7,280,2818,0.00,2.17,0.00,0.000,6,0.000,0.042,2374,1957,3403,0,0,0,0,0,0
$GC,3134,-0.74,-146.0,273.1,-6.6,295,3138,0.00,2.30,0.00,0.000,4,0.000,0.062,2375,551,3402,0,0,0,0,0,0
$GC,3392,-0.74,-146.0,285.6,-4.1,306,3398,0.12,2.20,0.00,0.000,6,0.152,0.043,2398,1957,3403,0,0,0,0,0,0
$GC,3711,-0.74,-146.0,300.4,-5.7,322,3715,0.00,2.33,0.00,0.000,4,0.000,0.063,2399,553,3401,0,0,0,0,0,0
$GC,3854,-0.74,-146.0,309.9,-6.5,325,3859,0.00,2.20,0.00,0.000,6,0.000,0.043,2391,1956,3400,0,0,0,0,0,0
$GC,4175,-0.74,-146.0,325.3,-4.4,333,4179,0.00,2.33,0.00,0.000,4,0.000,0.064,2391,551,3398,0,0,0,0,0,0
$GC,4301,-0.74,-146.0,332.8,-6.2,335,4307,0.00,2.22,0.00,0.000,6,0.000,0.044,2381,1961,3398,0,0,0,0,0,0
$GC,4634,-0.74,-146.0,349.6,-5.1,344,4638,0.00,2.30,0.00,0.000,4,0.000,0.064,2381,556,3396,0,0,0,0,0,0
$GC,4778,-0.74,-146.0,358.4,-6.1,347,4782,0.00,2.20,0.00,0.000,6,0.000,0.042,2372,1964,3395,0,0,0,0,0,0
$GC,5092,-0.74,-146.0,378.9,-6.5,355,5097,0.10,2.33,0.00,0.000,4,0.160,0.058,2399,551,3394,0,0,0,0,0,0
$GC,5153,-0.74,-146.0,382.9,-6.8,356,5157,0.00,2.17,0.00,0.000,6,0.000,0.038,2391,1957,3393,0,0,0,0,0,0
$STATE,5414,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5414,begin apogee
$GC,5421,-0.17,0.0,396.5,5.1,363,5547,0.60,0.00,122.53,0.716,6,0.114,0.000,2583,1956,2799,0,0,0,0,0,0
$STATE,5547,end apogee,CONTROL_FINISHED_OK
$STATE,5548,begin climb
$GC,5550,0.74,146.0,396.5,0.0,366,5689,0.85,2.40,126.53,0.694,4,0.081,0.055,2875,3383,2203,0,0,0,0,0,0
$GC,5926,0.74,146.0,356.7,12.7,374,5930,0.00,2.30,0.00,0.000,6,0.000,0.051,2884,1980,2197,0,0,0,0,0,0
$GC,6262,0.74,146.0,320.1,10.4,383,6266,0.00,2.30,0.00,0.000,4,0.000,0.060,2884,3386,2194,0,0,0,0,0,0
$GC,6510,0.74,146.0,293.6,10.6,389,6514,0.00,2.28,0.00,0.000,6,0.000,0.052,2893,1977,2194,0,0,0,0,0,0
$GC,6836,0.74,146.0,260.3,11.0,405,6840,0.00,2.28,0.00,0.000,4,0.000,0.060,2893,3381,2192,0,0,0,0,0,0
$GC,6990,0.74,146.0,242.3,11.7,411,6996,0.00,2.28,0.00,0.000,6,0.000,0.054,2900,1977,2191,0,0,0,0,0,0
$GC,7306,0.76,161.0,212.7,8.4,427,7327,0.00,2.35,12.20,0.578,4,0.000,0.061,2899,3386,2143,0,0,0,0,0,0
$GC,7486,0.76,161.0,195.6,9.6,437,7490,0.00,2.28,0.00,0.000,6,0.000,0.054,2908,1980,2141,0,0,0,0,0,0
$GC,7813,0.76,161.0,164.6,10.2,467,7817,0.00,2.33,0.00,0.000,4,0.000,0.061,2908,3388,2140,0,0,0,0,0,0
$GC,7940,0.76,161.0,151.2,10.8,478,7944,0.12,2.28,0.00,0.000,6,0.138,0.053,2881,1980,2139,0,0,0,0,0,0
$GC,8267,0.83,220.3,126.3,6.6,508,8325,0.00,2.33,51.62,0.553,4,0.000,0.061,2881,3395,1900,0,0,0,0,0,0
$GC,8375,0.86,242.2,118.5,8.1,517,8401,0.00,2.28,20.40,0.517,6,0.000,0.042,2888,1965,1811,0,0,0,0,0,0
$GC,8731,0.90,275.5,92.5,7.7,550,8766,0.12,2.30,29.60,0.505,4,0.075,0.052,2984,3394,1676,0,0,0,0,0,0
$GC,8838,0.90,275.5,79.7,13.6,559,8845,0.17,2.28,0.00,0.000,6,0.107,0.044,2935,1980,1675,0,0,0,0,0,0
$GC,9170,0.91,284.6,48.3,8.7,620,9190,0.00,2.28,9.43,0.428,4,0.000,0.054,2935,3381,1637,0,0,0,0,0,0
$GC,9218,0.91,284.6,43.6,10.1,628,9226,0.00,2.22,0.00,0.000,6,0.000,0.042,2941,1983,1637,0,0,0,0,0,0
$GC,9548,0.92,297.1,13.4,8.5,689,9569,0.00,2.28,12.18,0.420,4,0.000,0.054,2941,3383,1587,0,0,0,0,0,0
$GC,9578,0.93,302.8,10.7,8.8,693,9593,0.00,2.30,6.43,0.376,6,0.000,0.057,2949,1985,1564,0,0,0,0,0,0
$STATE,9666,end climb,SURFACE_DEPTH_REACHED
$STATE,9666,begin surface coast
$FINISH,0.6,1.010286
$STATE,9701,end surface coast,CONTROL_FINISHED_OK
$STATE,9701,begin surface
$SM_CCo,9781,0.00,0.000,0,0,1560,303.92
$SM_GC,1.47,7.45,0.00,0.00,0.026,0.000,0.000,37,1949,1560,-8.00,-0.23,303.92
$IRIDIUM_FIX,2047.91,-15755.64,031002,141400
$TT8_MAMPS,0.027612
$HUMID,67.75
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,24.4,58.462
$10V_AH,10.0,64.573
$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,19.150,90.900,390.900,0.000,0.000,30.931,35.595,158.808,16.500,0.000,20.018,1323.352,5318.564,407.685,2576.796,521.164,0.000,1330.808,0.000,2525.253,0.000,100.220,0.000
$DEVICE_MAMPS,220.129,162.604,716.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,486.084,427.661,1467.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41237,715
$CAP_FILE_SIZE,111643,0
$CFSIZE,260165632,221478912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090713,201831,2058.501,-15748.843,19,0.8,19,9.8