version: 66.06
glider: 523
mission: 4
dive: 727
start: 7 16 113 10 11 53
data:
$ID,523
$MISSION,4
$DIVE,727
$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,200
$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,-50675.695
$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,2630
$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,1952
$C_ROLL_CLIMB,1984
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,28
$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
$GPS1,100513,2111.236,-15755.108,14,1.9,14,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.2
$GPS2,101135,2111.224,-15755.156,20,1.0,20,9.8
$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,105.6,23399,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-86.88,0.000,6,0.000,0.000,37,1947,3396,0,0,0,0,0,0
$GC,110,-0.74,-146.0,3.2,-4.1,14,125,9.60,2.28,0.00,0.000,4,0.223,0.056,2386,527,3397,0,0,0,0,0,0
$GC,320,-0.74,-146.0,33.5,-11.7,53,325,0.00,2.20,0.00,0.000,6,0.000,0.041,2378,1946,3398,0,0,0,0,0,0
$GC,651,-0.74,-146.0,71.0,-11.1,114,658,0.00,2.35,0.00,0.000,4,0.000,0.064,2378,542,3399,0,0,0,0,0,0
$GC,764,-0.74,-146.0,84.4,-11.8,131,771,0.00,2.20,0.00,0.000,6,0.000,0.041,2369,1955,3399,0,0,0,0,0,0
$GC,1100,-0.74,-146.0,115.1,-6.4,162,1104,0.00,2.35,0.00,0.000,4,0.000,0.064,2368,540,3399,0,0,0,0,0,0
$GC,1350,-0.74,-146.0,134.0,-8.0,184,1358,0.08,2.22,0.00,0.000,6,0.139,0.041,2383,1950,3400,0,0,0,0,0,0
$GC,1677,-0.74,-146.0,156.2,-7.8,215,1681,0.00,2.33,0.00,0.000,4,0.000,0.064,2384,542,3401,0,0,0,0,0,0
$GC,1924,-0.74,-146.0,175.6,-7.9,237,1932,0.00,2.22,0.00,0.000,6,0.000,0.043,2376,1947,3401,0,0,0,0,0,0
$GC,2260,-0.74,-146.0,202.3,-8.0,268,2264,0.00,2.33,0.00,0.000,4,0.000,0.064,2376,538,3401,0,0,0,0,0,0
$GC,2288,-0.74,-146.0,204.7,-8.4,269,2292,0.00,2.20,0.00,0.000,6,0.000,0.043,2367,1957,3401,0,0,0,0,0,0
$GC,2607,-0.74,-146.0,227.9,-7.6,284,2611,0.00,2.35,0.00,0.000,4,0.000,0.065,2366,541,3401,0,0,0,0,0,0
$GC,2832,-0.74,-146.0,247.1,-7.6,294,2837,0.12,2.17,0.00,0.000,6,0.158,0.041,2390,1956,3401,0,0,0,0,0,0
$GC,3156,-0.74,-146.0,265.5,-5.1,310,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1957,3401,0,0,0,0,0,0
$GC,3462,-0.74,-146.0,279.3,-4.6,325,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1957,3401,0,0,0,0,0,0
$GC,3772,-0.74,-146.0,296.1,-6.3,340,3777,0.00,2.33,0.00,0.000,4,0.000,0.062,2390,542,3401,0,0,0,0,0,0
$GC,3998,-0.74,-146.0,313.4,-6.6,347,4002,0.00,2.20,0.00,0.000,6,0.000,0.040,2382,1954,3399,0,0,0,0,0,0
$GC,4319,-0.74,-146.0,330.6,-5.1,355,4323,0.00,2.25,0.00,0.000,4,0.000,0.064,2372,3360,3398,0,0,0,0,0,0
$GC,4374,-0.74,-146.0,334.4,-6.8,356,4379,0.00,2.28,0.00,0.000,6,0.000,0.048,2371,1942,3398,0,0,0,0,0,0
$GC,4726,-0.74,-146.0,356.6,-6.3,365,4730,0.00,2.28,0.00,0.000,4,0.000,0.066,2372,535,3397,0,0,0,0,0,0
$GC,4947,-0.74,-146.0,373.3,-7.9,370,4951,0.00,2.20,0.00,0.000,6,0.000,0.039,2362,1955,3395,0,0,0,0,0,0
$GC,5273,-0.74,-146.0,392.5,-5.9,378,5278,0.10,2.33,0.00,0.000,4,0.160,0.063,2388,539,3393,0,0,0,0,0,0
$GC,5431,-0.74,-146.0,401.8,-6.1,381,5435,0.00,2.20,0.00,0.000,6,0.000,0.041,2380,1951,3393,0,0,0,0,0,0
$GC,5769,-0.74,-146.0,425.5,-7.3,390,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1951,3391,0,0,0,0,0,0
$STATE,6011,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6011,begin apogee
$GC,6018,-0.17,0.0,439.5,5.2,396,6144,0.60,0.00,122.68,0.733,6,0.117,0.000,2572,1951,2800,0,0,0,0,0,0
$STATE,6144,end apogee,CONTROL_FINISHED_OK
$STATE,6145,begin climb
$GC,6147,0.74,146.0,438.7,0.0,399,6286,0.82,2.40,127.68,0.711,4,0.076,0.060,2860,3389,2202,0,0,0,0,0,0
$GC,6438,0.74,146.0,407.0,11.7,405,6442,0.00,2.25,0.00,0.000,6,0.000,0.044,2869,1982,2198,0,0,0,0,0,0
$GC,6769,0.74,146.0,371.8,10.4,413,6773,0.00,2.30,0.00,0.000,4,0.000,0.058,2869,3395,2196,0,0,0,0,0,0
$GC,6847,0.74,146.0,363.0,11.4,414,6852,0.00,2.25,0.00,0.000,6,0.000,0.047,2878,1983,2194,0,0,0,0,0,0
$GC,7178,0.74,146.0,332.0,9.3,423,7182,0.00,2.28,0.00,0.000,4,0.000,0.060,2878,3396,2193,0,0,0,0,0,0
$GC,7234,0.74,146.0,326.1,10.7,424,7238,0.00,2.25,0.00,0.000,6,0.000,0.049,2888,1986,2193,0,0,0,0,0,0
$GC,7563,0.74,146.0,290.9,10.7,434,7567,0.00,2.30,0.00,0.000,4,0.000,0.061,2888,3396,2192,0,0,0,0,0,0
$GC,7710,0.74,146.0,273.0,11.7,440,7716,0.00,2.28,0.00,0.000,6,0.000,0.049,2896,1978,2191,0,0,0,0,0,0
$GC,8026,0.74,146.0,242.2,9.4,456,8030,0.00,2.30,0.00,0.000,4,0.000,0.062,2896,3396,2190,0,0,0,0,0,0
$GC,8156,0.74,146.0,228.6,10.5,462,8161,0.12,2.28,0.00,0.000,6,0.137,0.051,2869,1982,2189,0,0,0,0,0,0
$GC,8483,0.82,210.0,205.0,6.4,478,8545,0.00,2.35,53.45,0.604,4,0.000,0.062,2877,573,1943,0,0,0,0,0,0
$GC,8558,0.88,262.1,200.1,6.9,481,8616,0.10,2.25,47.12,0.583,6,0.084,0.042,2946,1989,1731,0,0,0,0,0,0
$GC,8936,0.88,262.1,158.5,10.9,516,8940,0.12,2.35,0.00,0.000,4,0.133,0.064,2916,566,1729,0,0,0,0,0,0
$GC,9008,0.88,262.1,151.1,9.5,522,9013,0.00,2.22,0.00,0.000,6,0.000,0.042,2916,1984,1729,0,0,0,0,0,0
$GC,9337,0.88,262.1,120.1,9.4,552,9341,0.00,2.25,0.00,0.000,4,0.000,0.057,2916,3398,1728,0,0,0,0,0,0
$GC,9421,0.88,262.1,111.9,9.2,559,9425,0.00,2.25,0.00,0.000,6,0.000,0.047,2925,1973,1728,0,0,0,0,0,0
$GC,9748,0.89,271.6,85.0,8.6,589,9764,0.00,2.28,9.73,0.456,4,0.000,0.061,2934,582,1690,0,0,0,0,0,0
$GC,9805,0.89,271.6,79.7,9.5,594,9813,0.00,2.22,0.00,0.000,6,0.000,0.039,2934,1999,1691,0,0,0,0,0,0
$GC,10141,0.94,311.9,50.6,7.4,655,10182,0.00,2.38,35.45,0.470,4,0.000,0.067,2934,571,1526,0,0,0,0,0,0
$GC,10203,0.98,343.0,46.0,7.7,665,10238,0.00,2.22,26.80,0.453,6,0.000,0.042,2934,1984,1401,0,0,0,0,0,0
$GC,10564,0.98,343.0,16.0,10.0,731,10572,0.00,2.35,0.00,0.000,4,0.000,0.068,2934,583,1399,0,0,0,0,0,0
$GC,10642,0.98,343.0,8.2,10.1,745,10649,0.00,2.25,0.00,0.000,6,0.000,0.046,2934,1982,1399,0,0,0,0,0,0
$STATE,10691,end climb,SURFACE_DEPTH_REACHED
$STATE,10691,begin surface coast
$FINISH,0.7,1.014282
$STATE,10719,end surface coast,CONTROL_FINISHED_OK
$STATE,10719,begin surface
$SM_CCo,10798,0.00,0.000,0,0,1397,344.15
$SM_GC,1.55,7.43,0.00,0.00,0.028,0.000,0.000,49,1982,1397,-7.96,0.88,344.15
$IRIDIUM_FIX,2108.69,-15757.32,101002,070711
$TT8_MAMPS,0.027612
$HUMID,68.94
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,24.3,63.098
$10V_AH,10.0,69.920
$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,19.100,95.500,422.900,0.000,0.000,24.822,32.999,170.696,18.500,0.000,20.495,1373.237,6223.240,444.944,2595.930,533.982,0.000,1382.537,0.000,2542.694,0.000,119.804,0.000
$DEVICE_MAMPS,223.197,68.263,733.252,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,514.813,443.276,1489.536,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41220,759
$CAP_FILE_SIZE,117031,0
$CFSIZE,260165632,218566656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160713,131305,2111.535,-15754.770,38,0.8,38,9.8