version: 66.06
glider: 523
mission: 4
dive: 704
start: 7 13 113 10 54 22
data:
$ID,523
$MISSION,4
$DIVE,704
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$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,190
$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,-50232.867
$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,2637
$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,22
$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
$GPS1,103704,2109.002,-15803.651,35,0.9,35,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.4
$GPS2,105405,2109.066,-15803.894,16,0.9,16,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,103.4,3439,-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,-75.85,0.000,2,0.000,0.000,41,1946,3364,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.0,-3.3,12,113,9.77,0.00,-0.73,0.000,6,0.222,0.000,2388,1946,3398,0,0,0,0,0,0
$GC,272,-0.74,-146.0,31.3,-13.3,44,279,0.00,2.33,0.00,0.000,4,0.000,0.062,2389,547,3399,0,0,0,0,0,0
$GC,337,-0.74,-146.0,39.8,-12.6,55,343,0.00,2.22,0.00,0.000,6,0.000,0.041,2380,1959,3399,0,0,0,0,0,0
$GC,672,-0.74,-146.0,82.7,-12.9,114,676,0.00,2.30,0.00,0.000,4,0.000,0.059,2380,541,3400,0,0,0,0,0,0
$GC,866,-0.74,-146.0,102.6,-8.4,131,870,0.00,2.20,0.00,0.000,6,0.000,0.041,2371,1957,3400,0,0,0,0,0,0
$GC,1194,-0.74,-146.0,127.5,-7.7,161,1198,0.00,2.33,0.00,0.000,4,0.000,0.060,2371,542,3401,0,0,0,0,0,0
$GC,1335,-0.74,-146.0,139.9,-8.5,173,1341,0.12,2.20,0.00,0.000,6,0.157,0.041,2394,1958,3401,0,0,0,0,0,0
$GC,1668,-0.74,-146.0,167.6,-7.9,204,1672,0.00,2.30,0.00,0.000,4,0.000,0.058,2394,546,3401,0,0,0,0,0,0
$GC,1823,-0.74,-146.0,180.0,-8.0,217,1827,0.00,2.20,0.00,0.000,6,0.000,0.041,2387,1959,3402,0,0,0,0,0,0
$GC,2157,-0.74,-146.0,204.3,-6.8,245,2161,0.00,2.25,0.00,0.000,4,0.000,0.061,2376,3364,3402,0,0,0,0,0,0
$GC,2197,-0.74,-146.0,207.3,-7.9,247,2201,0.00,2.25,0.00,0.000,6,0.000,0.044,2376,1949,3401,0,0,0,0,0,0
$GC,2527,-0.74,-146.0,229.6,-6.9,263,2532,0.00,2.28,0.00,0.000,4,0.000,0.061,2376,539,3401,0,0,0,0,0,0
$GC,2785,-0.74,-146.0,250.0,-6.7,274,2790,0.12,2.20,0.00,0.000,6,0.155,0.040,2399,1965,3401,0,0,0,0,0,0
$GC,3110,-0.74,-146.0,266.0,-4.5,290,3114,0.00,2.30,0.00,0.000,4,0.000,0.057,2400,538,3402,0,0,0,0,0,0
$GC,3347,-0.74,-146.0,282.0,-6.8,300,3353,0.00,2.22,0.00,0.000,6,0.000,0.040,2392,1965,3401,0,0,0,0,0,0
$GC,3662,-0.74,-146.0,303.2,-6.1,315,3667,0.00,2.33,0.00,0.000,4,0.000,0.057,2391,539,3401,0,0,0,0,0,0
$GC,3820,-0.74,-146.0,314.6,-6.6,318,3824,0.00,2.20,0.00,0.000,6,0.000,0.040,2382,1959,3400,0,0,0,0,0,0
$GC,4157,-0.74,-146.0,334.2,-5.3,327,4161,0.00,2.28,0.00,0.000,4,0.000,0.056,2382,544,3399,0,0,0,0,0,0
$GC,4225,-0.74,-146.0,338.1,-5.9,328,4229,0.00,2.20,0.00,0.000,6,0.000,0.040,2373,1969,3398,0,0,0,0,0,0
$GC,4570,-0.74,-146.0,355.7,-5.3,337,4574,0.00,2.30,0.00,0.000,4,0.000,0.056,2373,547,3397,0,0,0,0,0,0
$GC,4753,-0.74,-146.0,365.6,-5.4,341,4758,0.12,2.20,0.00,0.000,6,0.152,0.039,2397,1959,3396,0,0,0,0,0,0
$GC,5068,-0.74,-146.0,378.0,-4.3,349,5072,0.00,2.30,0.00,0.000,4,0.000,0.056,2397,541,3394,0,0,0,0,0,0
$GC,5153,-0.74,-146.0,382.4,-5.2,351,5157,0.00,2.20,0.00,0.000,6,0.000,0.039,2390,1956,3394,0,0,0,0,0,0
$GC,5486,-0.74,-146.0,405.5,-7.8,359,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1957,3392,0,0,0,0,0,0
$STATE,5724,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5724,begin apogee
$GC,5731,-0.17,0.0,422.6,6.5,365,5857,0.60,0.00,122.80,0.735,6,0.114,0.000,2581,1957,2800,0,0,0,0,0,0
$STATE,5857,end apogee,CONTROL_FINISHED_OK
$STATE,5857,begin climb
$GC,5860,0.74,146.0,422.3,0.0,368,5999,0.82,2.42,127.78,0.710,4,0.074,0.054,2869,3384,2203,0,0,0,0,0,0
$GC,6167,0.74,146.0,388.6,11.7,375,6171,0.00,2.28,0.00,0.000,6,0.000,0.045,2878,1975,2198,0,0,0,0,0,0
$GC,6487,0.74,146.0,355.8,10.3,383,6491,0.00,2.30,0.00,0.000,4,0.000,0.057,2878,3391,2196,0,0,0,0,0,0
$GC,6587,0.74,146.0,343.3,12.5,385,6591,0.00,2.25,0.00,0.000,6,0.000,0.046,2887,1979,2195,0,0,0,0,0,0
$GC,6936,0.74,148.4,311.3,8.9,394,6940,0.00,2.28,0.00,0.000,4,0.000,0.057,2887,3391,2193,0,0,0,0,0,0
$GC,7101,0.74,148.4,293.7,11.8,398,7105,0.00,2.25,0.00,0.000,6,0.000,0.048,2896,1975,2193,0,0,0,0,0,0
$GC,7416,0.74,148.4,259.3,11.2,413,7420,0.00,2.28,0.00,0.000,4,0.000,0.060,2895,3385,2192,0,0,0,0,0,0
$GC,7551,0.74,148.4,243.8,11.1,419,7556,0.00,2.28,0.00,0.000,6,0.000,0.051,2905,1973,2192,0,0,0,0,0,0
$GC,7873,0.74,148.4,211.4,10.0,435,7877,0.00,2.28,0.00,0.000,4,0.000,0.060,2905,3383,2191,0,0,0,0,0,0
$GC,7901,0.74,148.4,208.5,10.3,436,7905,0.12,2.25,0.00,0.000,6,0.143,0.051,2876,1979,2191,0,0,0,0,0,0
$GC,8230,0.77,170.4,183.3,8.1,462,8257,0.00,2.35,20.05,0.577,4,0.000,0.058,2877,3392,2104,0,0,0,0,0,0
$GC,8321,0.77,170.4,175.4,9.0,470,8325,0.00,2.28,0.00,0.000,6,0.000,0.050,2883,1977,2102,0,0,0,0,0,0
$GC,8648,0.78,177.9,145.3,8.7,500,8662,0.00,2.25,8.02,0.492,4,0.000,0.058,2883,3379,2072,0,0,0,0,0,0
$GC,8679,0.78,177.9,142.4,9.1,502,8686,0.00,2.28,0.00,0.000,6,0.000,0.050,2891,1980,2072,0,0,0,0,0,0
$GC,9006,0.78,177.9,113.8,9.3,533,9010,0.00,2.30,0.00,0.000,4,0.000,0.058,2891,3388,2071,0,0,0,0,0,0
$GC,9090,0.78,177.9,105.3,10.2,540,9094,0.00,2.25,0.00,0.000,6,0.000,0.048,2898,1978,2071,0,0,0,0,0,0
$GC,9417,0.81,203.1,77.9,8.0,572,9448,0.00,2.30,22.92,0.494,4,0.000,0.058,2898,3381,1970,0,0,0,0,0,0
$GC,9518,0.83,222.4,69.8,8.2,589,9542,0.00,2.22,18.23,0.473,6,0.000,0.048,2905,1979,1892,0,0,0,0,0,0
$GC,9874,0.88,266.2,42.1,7.2,653,9922,0.00,2.33,38.95,0.469,4,0.000,0.057,2905,3382,1712,0,0,0,0,0,0
$GC,9993,0.89,273.1,32.2,8.7,673,10006,0.00,2.25,7.50,0.393,6,0.000,0.048,2907,1978,1685,0,0,0,0,0,0
$GC,10324,0.94,310.9,7.6,7.5,735,10363,0.00,2.28,33.10,0.435,4,0.000,0.058,2916,559,1530,0,0,0,0,0,0
$STATE,10386,end climb,SURFACE_DEPTH_REACHED
$STATE,10386,begin surface coast
$FINISH,0.8,1.012100
$STATE,10422,end surface coast,CONTROL_FINISHED_OK
$STATE,10422,begin surface
$SM_CCo,10502,0.00,0.000,0,0,1527,312.26
$SM_GC,1.60,7.43,0.00,0.00,0.025,0.000,0.000,35,1977,1527,-8.00,0.59,312.26
$IRIDIUM_FIX,2059.45,-15801.19,071002,101037
$TT8_MAMPS,0.027612
$HUMID,64.45
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.2,60.956
$10V_AH,10.0,67.393
$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,19.125,99.750,399.350,0.000,0.000,114.468,139.028,392.843,17.500,0.000,17.304,1363.870,6135.242,404.751,2606.915,996.622,0.000,1337.083,0.000,2558.148,0.000,112.531,0.000
$DEVICE_MAMPS,222.430,62.127,734.786,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,509.269,442.659,1520.684,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,41319,751
$CAP_FILE_SIZE,125563,0
$CFSIZE,260165632,219922432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130713,135034,2108.980,-15803.203,34,0.7,34,9.8