version: 66.06
glider: 523
mission: 4
dive: 730
start: 7 16 113 19 44 28
data:
$ID,523
$MISSION,4
$DIVE,730
$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,180
$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,-50734.27
$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,2627
$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,1948
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,193336,2111.728,-15753.570,17,1.5,17,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.5
$GPS2,194412,2111.795,-15753.773,19,0.8,19,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,HEADING
$TGT_LATLONG,2100.996,-15753.773
$TGT_RADIUS,1852.000
$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,170.2,20000,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-78.75,0.000,6,0.000,0.000,30,1940,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.4,-4.7,13,118,9.70,2.28,0.00,0.000,4,0.223,0.057,2377,533,3396,0,0,0,0,0,0
$GC,289,-0.74,-146.0,34.1,-13.5,47,294,0.00,2.22,0.00,0.000,6,0.000,0.041,2370,1948,3398,0,0,0,0,0,0
$GC,621,-0.74,-146.0,69.5,-7.7,108,628,0.00,2.33,0.00,0.000,4,0.000,0.061,2370,542,3398,0,0,0,0,0,0
$GC,877,-0.74,-146.0,94.4,-9.5,142,884,0.00,2.20,0.00,0.000,6,0.000,0.041,2360,1959,3399,0,0,0,0,0,0
$GC,1212,-0.74,-146.0,128.4,-10.7,173,1216,0.00,2.33,0.00,0.000,4,0.000,0.062,2360,538,3399,0,0,0,0,0,0
$GC,1340,-0.74,-146.0,143.3,-11.4,184,1345,0.15,2.20,0.00,0.000,6,0.154,0.041,2390,1956,3399,0,0,0,0,0,0
$GC,1673,-0.74,-146.0,170.5,-6.4,215,1677,0.00,2.33,0.00,0.000,4,0.000,0.063,2390,536,3400,0,0,0,0,0,0
$GC,1748,-0.74,-146.0,175.3,-6.1,221,1752,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1945,3400,0,0,0,0,0,0
$GC,2081,-0.74,-146.0,199.4,-8.5,252,2085,0.00,2.33,0.00,0.000,4,0.000,0.063,2383,530,3400,0,0,0,0,0,0
$GC,2158,-0.74,-146.0,206.4,-8.8,256,2162,0.00,2.22,0.00,0.000,6,0.000,0.040,2374,1960,3400,0,0,0,0,0,0
$GC,2477,-0.74,-146.0,232.6,-7.6,271,2481,0.00,2.30,0.00,0.000,4,0.000,0.061,2374,538,3400,0,0,0,0,0,0
$GC,2577,-0.74,-146.0,239.6,-6.5,275,2583,0.00,2.17,0.00,0.000,6,0.000,0.040,2364,1951,3400,0,0,0,0,0,0
$GC,2896,-0.74,-146.0,257.9,-5.6,291,2900,0.00,2.30,0.00,0.000,4,0.000,0.060,2364,533,3400,0,0,0,0,0,0
$GC,3153,-0.74,-146.0,272.4,-6.0,302,3158,0.12,2.17,0.00,0.000,6,0.156,0.040,2387,1949,3400,0,0,0,0,0,0
$GC,3471,-0.74,-146.0,292.9,-7.0,317,3475,0.00,2.33,0.00,0.000,4,0.000,0.061,2387,527,3399,0,0,0,0,0,0
$GC,3556,-0.74,-146.0,298.4,-5.8,321,3560,0.00,2.20,0.00,0.000,6,0.000,0.040,2379,1951,3399,0,0,0,0,0,0
$GC,3881,-0.74,-146.0,312.9,-4.9,330,3885,0.00,2.30,0.00,0.000,4,0.000,0.060,2379,529,3398,0,0,0,0,0,0
$GC,3987,-0.74,-146.0,319.2,-6.4,332,3991,0.00,2.17,0.00,0.000,6,0.000,0.040,2370,1949,3398,0,0,0,0,0,0
$GC,4331,-0.74,-146.0,337.7,-5.6,341,4335,0.00,2.30,0.00,0.000,4,0.000,0.060,2370,536,3396,0,0,0,0,0,0
$GC,4515,-0.74,-146.0,350.2,-7.3,345,4519,0.00,2.20,0.00,0.000,6,0.000,0.041,2361,1948,3395,0,0,0,0,0,0
$GC,4835,-0.74,-146.0,371.2,-6.4,353,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1949,3393,0,0,0,0,0,0
$GC,5160,-0.74,-146.0,389.4,-5.1,361,5164,0.00,2.38,0.00,0.000,4,0.000,0.060,2361,531,3392,0,0,0,0,0,0
$GC,5380,-0.74,-146.0,402.7,-5.4,366,5384,0.15,2.22,0.00,0.000,6,0.151,0.042,2391,1954,3391,0,0,0,0,0,0
$GC,5711,-0.74,-146.0,417.6,-4.5,374,5716,0.00,2.28,0.00,0.000,4,0.000,0.065,2382,3354,3389,0,0,0,0,0,0
$GC,5775,-0.74,-146.0,420.9,-4.8,375,5779,0.00,2.25,0.00,0.000,6,0.000,0.050,2382,1948,3389,0,0,0,0,0,0
$STATE,6035,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6035,begin apogee
$GC,6042,-0.17,0.0,433.8,4.8,382,6168,0.57,0.00,122.90,0.737,6,0.116,0.000,2566,2012,2800,0,0,0,0,0,0
$STATE,6169,end apogee,CONTROL_FINISHED_OK
$STATE,6169,begin climb
$GC,6172,0.74,146.0,433.3,0.0,385,6311,0.85,2.28,127.80,0.712,4,0.076,0.059,2860,3367,2202,0,0,0,0,0,0
$GC,6380,0.74,146.0,410.5,12.7,389,6385,0.00,2.22,0.00,0.000,6,0.000,0.044,2868,1982,2200,0,0,0,0,0,0
$GC,6711,0.74,146.0,374.8,10.1,398,6715,0.00,2.28,0.00,0.000,4,0.000,0.058,2868,3370,2196,0,0,0,0,0,0
$GC,6913,0.74,146.0,353.3,11.1,402,6917,0.00,2.20,0.00,0.000,6,0.000,0.046,2877,1980,2195,0,0,0,0,0,0
$GC,7250,0.74,146.0,318.9,10.4,411,7254,0.00,2.22,0.00,0.000,4,0.000,0.058,2877,3367,2194,0,0,0,0,0,0
$GC,7329,0.74,146.0,311.0,10.2,412,7334,0.00,2.20,0.00,0.000,6,0.000,0.048,2885,1981,2193,0,0,0,0,0,0
$GC,7642,0.77,173.8,285.4,7.9,424,7671,0.00,2.30,23.62,0.645,4,0.000,0.061,2886,3365,2091,0,0,0,0,0,0
$GC,7796,0.77,173.8,271.2,9.7,431,7800,0.00,2.20,0.00,0.000,6,0.000,0.050,2893,1988,2087,0,0,0,0,0,0
$GC,8124,0.78,177.1,243.2,8.9,447,8128,0.00,2.28,0.00,0.000,4,0.000,0.063,2893,3372,2086,0,0,0,0,0,0
$GC,8187,0.78,177.1,236.9,10.7,450,8191,0.00,2.17,0.00,0.000,6,0.000,0.042,2898,1978,2085,0,0,0,0,0,0
$GC,8514,0.80,196.2,207.3,8.2,466,8539,0.00,2.22,20.27,0.589,4,0.000,0.050,2898,3371,1999,0,0,0,0,0,0
$GC,8612,0.80,196.2,198.6,9.8,470,8618,0.00,2.15,0.00,0.000,6,0.000,0.041,2907,1986,1997,0,0,0,0,0,0
$GC,8940,0.83,225.6,172.9,7.8,501,8975,0.00,2.28,26.85,0.567,4,0.000,0.053,2907,3378,1879,0,0,0,0,0,0
$GC,9033,0.85,234.9,165.1,8.7,509,9049,0.00,2.20,10.05,0.509,6,0.000,0.041,2909,1984,1840,0,0,0,0,0,0
$GC,9377,0.86,247.8,135.8,8.5,541,9401,0.00,2.30,12.77,0.506,4,0.000,0.056,2918,578,1787,0,0,0,0,0,0
$GC,9480,0.86,247.8,126.0,10.1,550,9485,0.00,2.12,0.00,0.000,6,0.000,0.035,2918,1968,1788,0,0,0,0,0,0
$GC,9809,0.86,247.8,93.6,10.3,580,9813,0.00,2.22,0.00,0.000,4,0.000,0.053,2918,3390,1788,0,0,0,0,0,0
$GC,9863,0.86,247.8,87.3,12.0,584,9870,0.00,2.22,0.00,0.000,6,0.000,0.044,2926,1992,1788,0,0,0,0,0,0
$GC,10195,0.91,286.2,59.8,7.4,638,10237,0.00,2.28,33.85,0.474,4,0.000,0.052,2926,3388,1633,0,0,0,0,0,0
$GC,10254,0.94,312.6,55.0,7.9,648,10286,0.00,2.22,24.35,0.467,6,0.000,0.042,2934,1992,1525,0,0,0,0,0,0
$GC,10616,0.94,315.2,24.4,8.9,713,10625,0.00,2.20,3.42,0.287,4,0.000,0.051,2934,3398,1515,0,0,0,0,0,0
$GC,10655,0.94,315.2,21.0,9.2,719,10662,0.00,2.25,0.00,0.000,6,0.000,0.043,2937,1987,1515,0,0,0,0,0,0
$GC,10822,1.01,369.2,6.1,6.8,750,10862,0.00,0.00,37.75,0.430,2,0.000,0.000,2937,1987,1334,0,0,0,0,0,0
$STATE,10863,end climb,SURFACE_DEPTH_REACHED
$STATE,10863,begin surface coast
$FINISH,0.7,1.009705
$STATE,10900,end surface coast,CONTROL_FINISHED_OK
$STATE,10900,begin surface
$SM_CCo,10980,0.00,0.000,0,0,1329,360.83
$SM_GC,1.43,7.50,0.00,0.00,0.028,0.000,0.000,32,1950,1329,-7.96,0.06,360.83
$IRIDIUM_FIX,2101.76,-15800.33,101002,191947
$TT8_MAMPS,0.027612
$HUMID,67.75
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,24.3,63.384
$10V_AH,10.0,70.259
$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,19.050,103.325,443.650,0.000,0.000,54.717,69.382,273.502,18.250,0.000,19.591,1391.999,6413.222,445.785,2614.901,737.968,0.000,1415.421,0.000,2566.984,0.000,113.097,0.000
$DEVICE_MAMPS,223.197,160.303,737.087,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,518.572,433.001,1476.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,41339,763
$CAP_FILE_SIZE,124640,0
$CFSIZE,260165632,218378240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160713,224834,2111.197,-15753.376,30,0.8,30,9.8