version: 66.06
glider: 523
mission: 4
dive: 711
start: 7 14 113 7 59 15
data:
$ID,523
$MISSION,4
$DIVE,711
$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,-50364.172
$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,24
$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
$GPS1,075225,2109.432,-15801.570,23,0.9,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.2
$GPS2,075859,2109.442,-15801.654,22,0.9,22,9.8
$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,91.9,33064,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-79.97,0.000,6,0.000,0.000,31,1988,3395,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.3,-4.1,13,120,9.73,2.38,0.00,0.000,4,0.224,0.057,2389,540,3396,0,0,0,0,0,0
$GC,208,-0.74,-146.0,22.3,-14.4,31,215,0.00,2.28,0.00,0.000,6,0.000,0.043,2381,1963,3398,0,0,0,0,0,0
$GC,378,-0.74,-146.0,44.4,-12.0,62,385,0.00,2.33,0.00,0.000,4,0.000,0.062,2370,3371,3398,0,0,0,0,0,0
$GC,410,-0.74,-146.0,48.3,-12.1,67,416,0.00,2.28,0.00,0.000,6,0.000,0.049,2371,1956,3398,0,0,0,0,0,0
$GC,749,-0.74,-146.0,86.9,-10.3,123,753,0.00,2.28,0.00,0.000,4,0.000,0.066,2370,548,3399,0,0,0,0,0,0
$GC,985,-0.74,-146.0,115.7,-12.7,144,989,0.15,2.22,0.00,0.000,6,0.155,0.042,2400,1968,3400,0,0,0,0,0,0
$GC,1312,-0.74,-146.0,141.9,-6.5,174,1316,0.00,2.22,0.00,0.000,4,0.000,0.062,2392,3368,3401,0,0,0,0,0,0
$GC,1343,-0.74,-146.0,143.8,-6.1,176,1347,0.00,2.25,0.00,0.000,6,0.000,0.049,2392,1954,3401,0,0,0,0,0,0
$GC,1670,-0.74,-146.0,165.8,-6.7,206,1674,0.00,2.30,0.00,0.000,4,0.000,0.068,2392,539,3401,0,0,0,0,0,0
$GC,1921,-0.74,-146.0,186.2,-9.0,228,1928,0.00,2.25,0.00,0.000,6,0.000,0.042,2382,1965,3402,0,0,0,0,0,0
$GC,2251,-0.74,-146.0,212.0,-6.8,252,2255,0.00,2.28,0.00,0.000,4,0.000,0.062,2371,3365,3402,0,0,0,0,0,0
$GC,2388,-0.74,-146.0,222.8,-8.8,258,2392,0.00,2.25,0.00,0.000,6,0.000,0.049,2372,1946,3402,0,0,0,0,0,0
$GC,2712,-0.74,-146.0,248.5,-8.3,274,2716,0.00,2.25,0.00,0.000,4,0.000,0.067,2372,548,3402,0,0,0,0,0,0
$GC,2943,-0.74,-146.0,265.4,-6.9,284,2948,0.12,2.20,0.00,0.000,6,0.154,0.041,2395,1961,3402,0,0,0,0,0,0
$GC,3261,-0.74,-146.0,281.7,-5.6,299,3265,0.00,2.35,0.00,0.000,4,0.000,0.062,2395,538,3402,0,0,0,0,0,0
$GC,3422,-0.74,-146.0,294.9,-8.8,306,3427,0.00,2.20,0.00,0.000,6,0.000,0.041,2387,1955,3402,0,0,0,0,0,0
$GC,3740,-0.74,-146.0,317.0,-6.4,316,3744,0.00,2.33,0.00,0.000,4,0.000,0.062,2387,545,3401,0,0,0,0,0,0
$GC,3866,-0.74,-146.0,323.1,-5.0,318,3871,0.00,2.20,0.00,0.000,6,0.000,0.041,2378,1960,3401,0,0,0,0,0,0
$GC,4198,-0.74,-146.0,335.9,-3.8,327,4202,0.00,2.30,0.00,0.000,4,0.000,0.061,2378,546,3399,0,0,0,0,0,0
$GC,4244,-0.74,-146.0,337.6,-3.9,328,4248,0.12,2.20,0.00,0.000,6,0.157,0.042,2402,1963,3399,0,0,0,0,0,0
$GC,4576,-0.74,-146.0,352.7,-5.1,336,4580,0.00,2.28,0.00,0.000,4,0.000,0.064,2393,3370,3397,0,0,0,0,0,0
$GC,4604,-0.74,-146.0,354.1,-5.2,336,4608,0.00,2.28,0.00,0.000,6,0.000,0.050,2393,1952,3397,0,0,0,0,0,0
$GC,4937,-0.74,-146.0,371.3,-4.5,344,4941,0.00,2.28,0.00,0.000,4,0.000,0.065,2393,544,3396,0,0,0,0,0,0
$GC,5009,-0.74,-146.0,374.4,-3.2,345,5014,0.00,2.22,0.00,0.000,6,0.000,0.042,2383,1963,3395,0,0,0,0,0,0
$GC,5347,-0.74,-146.0,384.8,-3.2,354,5354,0.00,2.33,0.00,0.000,4,0.000,0.061,2383,544,3393,0,0,0,0,0,0
$GC,5506,-0.74,-146.0,393.7,-6.3,357,5510,0.00,2.22,0.00,0.000,6,0.000,0.043,2374,1956,3393,0,0,0,0,0,0
$STATE,5730,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5730,begin apogee
$GC,5737,-0.17,0.0,408.7,7.0,363,5863,0.65,0.00,122.65,0.718,6,0.118,0.000,2580,1957,2799,0,0,0,0,0,0
$STATE,5863,end apogee,CONTROL_FINISHED_OK
$STATE,5864,begin climb
$GC,5866,0.74,146.0,409.9,0.0,366,6004,0.88,2.42,127.43,0.697,4,0.077,0.062,2878,3381,2203,0,0,0,0,0,0
$GC,6049,0.74,146.0,391.6,13.5,370,6053,0.00,2.28,0.00,0.000,6,0.000,0.048,2886,1977,2200,0,0,0,0,0,0
$GC,6381,0.74,146.0,358.0,9.6,378,6385,0.00,2.33,0.00,0.000,4,0.000,0.059,2886,3389,2197,0,0,0,0,0,0
$GC,6499,0.74,146.0,345.1,10.4,380,6503,0.00,2.22,0.00,0.000,6,0.000,0.048,2895,1979,2196,0,0,0,0,0,0
$GC,6830,0.77,170.0,315.4,8.0,388,6856,0.00,2.30,20.77,0.644,4,0.000,0.059,2894,3394,2106,0,0,0,0,0,0
$GC,6992,0.80,201.0,302.6,7.7,391,7026,0.00,2.25,28.08,0.642,6,0.000,0.049,2904,1980,1981,0,0,0,0,0,0
$GC,7354,0.83,225.1,275.5,8.0,408,7383,0.00,2.38,22.50,0.622,4,0.000,0.061,2904,3389,1880,0,0,0,0,0,0
$GC,7540,0.83,225.1,253.8,12.3,416,7544,0.00,2.30,0.00,0.000,6,0.000,0.051,2911,1973,1878,0,0,0,0,0,0
$GC,7856,0.83,225.1,219.2,10.3,431,7860,0.00,2.30,0.00,0.000,4,0.000,0.064,2911,3386,1878,0,0,0,0,0,0
$GC,7968,0.83,225.1,207.3,10.1,436,7972,0.00,2.25,0.00,0.000,6,0.000,0.050,2920,1965,1877,0,0,0,0,0,0
$GC,8299,0.83,225.1,176.8,9.4,463,8303,0.00,2.28,0.00,0.000,4,0.000,0.052,2920,3392,1877,0,0,0,0,0,0
$GC,8376,0.83,225.1,168.0,10.4,469,8383,0.00,2.28,0.00,0.000,6,0.000,0.051,2922,1984,1876,0,0,0,0,0,0
$GC,8704,0.83,225.1,136.3,10.2,500,8708,0.00,2.25,0.00,0.000,4,0.000,0.054,2923,3390,1876,0,0,0,0,0,0
$GC,8800,0.83,225.1,124.6,12.8,508,8804,0.00,2.25,0.00,0.000,6,0.000,0.047,2932,1968,1876,0,0,0,0,0,0
$GC,9127,0.83,225.1,89.6,10.4,538,9131,0.00,2.30,0.00,0.000,4,0.000,0.054,2932,3392,1876,0,0,0,0,0,0
$GC,9192,0.83,225.1,81.6,11.7,543,9199,0.10,2.25,0.00,0.000,6,0.103,0.048,2904,1981,1876,0,0,0,0,0,0
$GC,9527,0.91,290.7,58.5,6.3,603,9590,0.00,2.28,56.70,0.486,4,0.000,0.051,2903,3401,1614,0,0,0,0,0,0
$GC,9695,0.94,307.7,45.5,8.3,633,9720,0.10,2.25,15.73,0.443,6,0.084,0.044,2954,1980,1545,0,0,0,0,0,0
$GC,10045,0.94,307.7,12.6,9.8,697,10052,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1980,1544,0,0,0,0,0,0
$STATE,10145,end climb,SURFACE_DEPTH_REACHED
$STATE,10145,begin surface coast
$FINISH,0.7,1.011908
$STATE,10180,end surface coast,CONTROL_FINISHED_OK
$STATE,10180,begin surface
$SM_CCo,10258,0.00,0.000,0,0,1543,308.34
$SM_GC,1.46,7.38,0.00,0.00,0.021,0.000,0.000,48,1978,1543,-7.97,0.68,308.34
$IRIDIUM_FIX,2106.38,-15807.62,081002,050507
$TT8_MAMPS,0.027612
$HUMID,67.09
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.4,61.583
$10V_AH,10.0,68.140
$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,19.225,100.075,393.850,0.000,0.000,27.882,38.105,167.273,16.750,0.000,23.027,1326.371,5844.009,429.167,2500.552,541.306,0.000,1323.671,0.000,2443.052,0.000,103.327,0.000
$DEVICE_MAMPS,223.964,68.263,717.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,489.599,410.803,1409.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,41252,722
$CAP_FILE_SIZE,113335,0
$CFSIZE,260165632,219529216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140713,105129,2109.649,-15801.009,40,0.9,40,9.8