version: 66.06
glider: 523
mission: 4
dive: 707
start: 7 13 113 20 5 18
data:
$ID,523
$MISSION,4
$DIVE,707
$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,-50283.543
$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,23
$R_STBD_OVSHOOT,21
$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
$GPS1,195446,2109.124,-15802.757,25,0.8,25,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.4
$GPS2,200459,2109.119,-15802.900,17,0.8,17,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,90.3,35065,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-76.28,0.000,2,0.000,0.000,28,1973,3364,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-4.1,12,114,9.73,2.33,-0.73,0.000,4,0.224,0.068,2378,3379,3398,0,0,0,0,0,0
$GC,140,-0.74,-146.0,12.8,-22.8,18,147,0.00,2.30,0.00,0.000,6,0.000,0.047,2378,1953,3399,0,0,0,0,0,0
$GC,309,-0.74,-146.0,36.1,-13.6,49,314,0.00,2.30,0.00,0.000,4,0.000,0.064,2378,538,3400,0,0,0,0,0,0
$GC,441,-0.74,-146.0,55.0,-14.1,73,447,0.12,2.25,0.00,0.000,6,0.163,0.041,2400,1968,3400,0,0,0,0,0,0
$GC,778,-0.74,-146.0,86.2,-7.9,128,782,0.00,2.33,0.00,0.000,4,0.000,0.062,2401,542,3401,0,0,0,0,0,0
$GC,942,-0.74,-146.0,101.5,-9.6,142,946,0.00,2.20,0.00,0.000,6,0.000,0.041,2393,1964,3401,0,0,0,0,0,0
$GC,1270,-0.74,-146.0,130.2,-8.5,172,1274,0.00,2.33,0.00,0.000,4,0.000,0.062,2393,534,3401,0,0,0,0,0,0
$GC,1312,-0.74,-146.0,134.8,-9.9,175,1323,0.00,2.25,0.00,0.000,6,0.000,0.041,2383,1958,3402,0,0,0,0,0,0
$GC,1640,-0.74,-146.0,166.6,-9.2,206,1644,0.00,2.30,0.00,0.000,4,0.000,0.063,2383,542,3401,0,0,0,0,0,0
$GC,1815,-0.74,-146.0,182.0,-8.2,221,1819,0.00,2.20,0.00,0.000,6,0.000,0.041,2374,1965,3402,0,0,0,0,0,0
$GC,2147,-0.74,-146.0,207.6,-7.2,247,2152,0.00,2.35,0.00,0.000,4,0.000,0.062,2375,534,3401,0,0,0,0,0,0
$GC,2293,-0.74,-146.0,217.2,-6.3,253,2299,0.12,2.20,0.00,0.000,6,0.157,0.041,2398,1966,3402,0,0,0,0,0,0
$GC,2612,-0.74,-146.0,231.0,-4.2,269,2616,0.00,2.35,0.00,0.000,4,0.000,0.061,2398,532,3401,0,0,0,0,0,0
$GC,2750,-0.74,-146.0,239.3,-6.5,275,2754,0.00,2.22,0.00,0.000,6,0.000,0.041,2390,1962,3402,0,0,0,0,0,0
$GC,3079,-0.74,-146.0,257.3,-4.6,291,3083,0.00,2.30,0.00,0.000,4,0.000,0.064,2379,3371,3402,0,0,0,0,0,0
$GC,3113,-0.74,-146.0,258.8,-4.6,292,3118,0.00,2.25,0.00,0.000,6,0.000,0.048,2379,1947,3402,0,0,0,0,0,0
$GC,3429,-0.74,-146.0,274.5,-5.5,308,3433,0.00,2.25,0.00,0.000,4,0.000,0.064,2379,547,3402,0,0,0,0,0,0
$GC,3652,-0.74,-146.0,288.4,-5.6,318,3656,0.00,2.17,0.00,0.000,6,0.000,0.040,2370,1961,3401,0,0,0,0,0,0
$GC,3972,-0.74,-146.0,308.8,-7.1,331,3976,0.00,2.30,0.00,0.000,4,0.000,0.060,2370,541,3401,0,0,0,0,0,0
$GC,4079,-0.74,-146.0,317.0,-7.7,333,4083,0.15,2.22,0.00,0.000,6,0.148,0.041,2401,1966,3400,0,0,0,0,0,0
$GC,4423,-0.74,-146.0,330.2,-3.2,342,4427,0.00,2.28,0.00,0.000,4,0.000,0.064,2392,3373,3399,0,0,0,0,0,0
$GC,4542,-0.74,-146.0,334.5,-4.1,344,4546,0.00,2.25,0.00,0.000,6,0.000,0.047,2392,1946,3398,0,0,0,0,0,0
$GC,4874,-0.74,-146.0,350.3,-5.1,352,4878,0.00,2.28,0.00,0.000,4,0.000,0.063,2392,536,3397,0,0,0,0,0,0
$GC,5004,-0.74,-146.0,358.2,-6.5,354,5010,0.00,2.22,0.00,0.000,6,0.000,0.040,2382,1966,3395,0,0,0,0,0,0
$GC,5336,-0.74,-146.0,374.7,-4.5,363,5340,0.00,2.30,0.00,0.000,4,0.000,0.060,2382,544,3394,0,0,0,0,0,0
$GC,5458,-0.74,-146.0,380.0,-4.5,365,5462,0.00,2.22,0.00,0.000,6,0.000,0.041,2373,1966,3394,0,0,0,0,0,0
$STATE,5708,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5708,begin apogee
$GC,5714,-0.17,0.0,390.1,4.1,371,5840,0.65,0.00,122.35,0.706,6,0.117,0.000,2580,1966,2799,0,0,0,0,0,0
$STATE,5841,end apogee,CONTROL_FINISHED_OK
$STATE,5841,begin climb
$GC,5844,0.74,146.0,390.0,0.0,374,5976,0.82,0.00,127.45,0.684,6,0.074,0.000,2869,1966,2204,0,0,0,0,0,0
$GC,6293,0.78,180.8,354.0,7.6,385,6328,0.00,2.33,30.27,0.658,4,0.000,0.061,2868,3391,2062,0,0,0,0,0,0
$GC,6491,0.78,180.8,335.8,10.3,388,6495,0.00,2.25,0.00,0.000,6,0.000,0.047,2878,1980,2059,0,0,0,0,0,0
$GC,6828,0.78,180.8,301.2,10.4,397,6832,0.00,2.30,0.00,0.000,4,0.000,0.058,2878,3388,2057,0,0,0,0,0,0
$GC,6906,0.78,180.8,292.9,10.7,399,6912,0.00,2.25,0.00,0.000,6,0.000,0.047,2886,1969,2057,0,0,0,0,0,0
$GC,7222,0.80,196.7,264.4,8.4,415,7243,0.00,2.33,14.45,0.604,4,0.000,0.060,2886,3395,1997,0,0,0,0,0,0
$GC,7306,0.80,196.7,256.7,10.2,418,7312,0.00,2.28,0.00,0.000,6,0.000,0.049,2893,1980,1995,0,0,0,0,0,0
$GC,7622,0.80,196.7,225.9,10.1,434,7626,0.00,2.30,0.00,0.000,4,0.000,0.061,2893,3386,1995,0,0,0,0,0,0
$GC,7700,0.80,196.7,217.3,11.4,437,7704,0.00,2.25,0.00,0.000,6,0.000,0.051,2894,1974,1994,0,0,0,0,0,0
$GC,8022,0.85,234.1,190.2,7.5,457,8062,0.00,0.00,33.78,0.588,6,0.000,0.000,2894,1974,1844,0,0,0,0,0,0
$GC,8383,0.87,253.1,161.9,8.2,491,8406,0.00,0.00,17.50,0.543,6,0.000,0.000,2893,1974,1768,0,0,0,0,0,0
$GC,8728,0.89,273.9,132.3,8.2,523,8752,0.00,2.30,19.50,0.520,4,0.000,0.058,2893,3392,1683,0,0,0,0,0,0
$GC,8845,0.92,291.8,122.9,8.3,533,8870,0.10,2.28,17.33,0.505,6,0.084,0.048,2969,1976,1610,0,0,0,0,0,0
$GC,9188,0.92,291.8,85.0,12.4,565,9193,0.12,2.28,0.00,0.000,4,0.130,0.054,2933,3395,1608,0,0,0,0,0,0
$GC,9261,0.92,291.8,76.3,11.9,573,9267,0.00,2.25,0.00,0.000,6,0.000,0.048,2940,1968,1608,0,0,0,0,0,0
$GC,9592,0.92,291.8,43.6,9.0,634,9599,0.00,2.25,0.00,0.000,4,0.000,0.061,2950,582,1608,0,0,0,0,0,0
$GC,9657,0.92,291.8,37.9,9.2,645,9662,0.00,2.20,0.00,0.000,6,0.000,0.044,2950,1978,1608,0,0,0,0,0,0
$GC,9981,0.92,291.8,6.5,10.0,706,9988,0.00,2.25,0.00,0.000,4,0.000,0.052,2950,3398,1608,0,0,0,0,0,0
$STATE,10015,end climb,SURFACE_DEPTH_REACHED
$STATE,10015,begin surface coast
$FINISH,0.6,1.023298
$STATE,10044,end surface coast,CONTROL_FINISHED_OK
$STATE,10044,begin surface
$SM_CCo,10064,5.03,0.337,0,0,1574,300.24
$SM_GC,1.96,0.00,0.00,5.03,0.000,0.000,0.337,28,1947,1574,-8.16,-0.28,300.24
$IRIDIUM_FIX,2057.14,-15756.04,071002,202055
$TT8_MAMPS,0.028379
$HUMID,67.24
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.80
$XPDR_PINGS,3
$24V_AH,24.4,61.232
$10V_AH,10.0,67.713
$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,19.250,95.375,382.625,5.025,0.000,55.611,74.333,259.521,16.500,0.000,17.946,1311.975,5839.476,449.726,2381.258,698.149,0.000,1282.866,0.000,2336.198,0.000,98.674,0.000
$DEVICE_MAMPS,223.964,68.263,705.640,337.480,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,486.362,426.983,1404.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,41113,717
$CAP_FILE_SIZE,111489,0
$CFSIZE,260165632,219758592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130713,225429,2109.192,-15802.108,41,1.0,41,9.8