version: 66.06
glider: 523
mission: 4
dive: 731
start: 7 16 113 22 55 29
data:
$ID,523
$MISSION,4
$DIVE,731
$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,-50755.758
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,224834,2111.197,-15753.376,30,0.8,30,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.7
$GPS2,225511,2111.185,-15753.439,18,0.9,18,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,HEADING
$TGT_LATLONG,2100.386,-15753.439
$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,12,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,106,0.00,0.00,-87.78,0.000,6,0.000,0.000,32,1947,3396,0,0,0,0,0,0
$GC,110,-0.74,-146.0,3.1,-4.0,14,125,9.60,2.28,0.00,0.000,4,0.221,0.058,2378,540,3398,0,0,0,0,0,0
$GC,345,-0.74,-146.0,37.9,-13.3,57,350,0.00,2.20,0.00,0.000,6,0.000,0.041,2371,1944,3399,0,0,0,0,0,0
$GC,674,-0.74,-146.0,78.6,-11.0,118,681,0.00,2.33,0.00,0.000,4,0.000,0.062,2371,547,3400,0,0,0,0,0,0
$GC,934,-0.74,-146.0,106.3,-10.3,142,938,0.00,2.20,0.00,0.000,6,0.000,0.042,2361,1954,3400,0,0,0,0,0,0
$GC,1266,-0.74,-146.0,132.6,-7.1,173,1271,0.00,2.35,0.00,0.000,4,0.000,0.063,2361,532,3401,0,0,0,0,0,0
$GC,1518,-0.74,-146.0,150.6,-7.1,195,1525,0.10,2.25,0.00,0.000,6,0.133,0.042,2383,1954,3401,0,0,0,0,0,0
$GC,1846,-0.74,-146.0,172.0,-6.6,226,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1954,3402,0,0,0,0,0,0
$GC,2175,-0.74,-146.0,194.3,-6.0,257,2179,0.00,2.33,0.00,0.000,4,0.000,0.061,2384,542,3402,0,0,0,0,0,0
$GC,2407,-0.74,-146.0,208.1,-5.9,271,2413,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1958,3402,0,0,0,0,0,0
$GC,2728,-0.74,-146.0,225.9,-7.0,287,2732,0.00,2.33,0.00,0.000,4,0.000,0.061,2376,542,3401,0,0,0,0,0,0
$GC,2796,-0.74,-146.0,231.6,-7.4,290,2799,0.00,2.20,0.00,0.000,6,0.000,0.041,2367,1958,3402,0,0,0,0,0,0
$GC,3125,-0.74,-146.0,255.3,-6.7,306,3130,0.00,2.35,0.00,0.000,4,0.000,0.061,2367,538,3402,0,0,0,0,0,0
$GC,3221,-0.74,-146.0,262.4,-7.1,310,3226,0.12,2.20,0.00,0.000,6,0.158,0.041,2390,1955,3401,0,0,0,0,0,0
$GC,3541,-0.74,-146.0,281.0,-6.0,325,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1955,3401,0,0,0,0,0,0
$GC,3847,-0.74,-146.0,298.7,-5.5,340,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1955,3400,0,0,0,0,0,0
$GC,4173,-0.74,-146.0,311.4,-3.9,349,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1955,3399,0,0,0,0,0,0
$GC,4497,-0.74,-146.0,333.8,-7.3,357,4502,0.00,2.35,0.00,0.000,4,0.000,0.059,2390,535,3398,0,0,0,0,0,0
$GC,4655,-0.74,-146.0,343.7,-6.7,360,4659,0.00,2.22,0.00,0.000,6,0.000,0.041,2382,1955,3397,0,0,0,0,0,0
$GC,4993,-0.74,-146.0,360.5,-4.6,369,4997,0.00,2.35,0.00,0.000,4,0.000,0.061,2382,535,3395,0,0,0,0,0,0
$GC,5044,-0.74,-146.0,363.4,-5.2,370,5048,0.00,2.20,0.00,0.000,6,0.000,0.041,2373,1947,3394,0,0,0,0,0,0
$GC,5359,-0.74,-146.0,379.4,-4.9,378,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1947,3393,0,0,0,0,0,0
$GC,5683,-0.74,-146.0,395.9,-5.4,386,5687,0.00,2.33,0.00,0.000,4,0.000,0.062,2373,534,3392,0,0,0,0,0,0
$GC,5738,-0.74,-146.0,399.8,-7.4,387,5743,0.00,2.20,0.00,0.000,6,0.000,0.042,2364,1947,3392,0,0,0,0,0,0
$STATE,6010,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6010,begin apogee
$GC,6018,-0.17,0.0,415.5,5.4,394,6144,0.65,0.00,122.68,0.721,6,0.118,0.000,2569,1985,2800,0,0,0,0,0,0
$STATE,6145,end apogee,CONTROL_FINISHED_OK
$STATE,6145,begin climb
$GC,6148,0.74,146.0,415.6,0.0,397,6286,0.82,2.38,127.30,0.698,4,0.076,0.054,2857,3389,2202,0,0,0,0,0,0
$GC,6336,0.74,146.0,397.1,11.2,401,6341,0.00,2.33,0.00,0.000,6,0.000,0.051,2866,1980,2200,0,0,0,0,0,0
$GC,6679,0.74,149.0,364.3,8.9,410,6683,0.00,2.33,0.00,0.000,4,0.000,0.061,2866,3397,2196,0,0,0,0,0,0
$GC,6798,0.76,160.8,354.1,8.5,412,6817,0.00,2.28,13.07,0.627,6,0.000,0.053,2875,1981,2143,0,0,0,0,0,0
$GC,7137,0.76,160.8,324.1,9.8,421,7141,0.00,2.35,0.00,0.000,4,0.000,0.062,2875,3400,2139,0,0,0,0,0,0
$GC,7238,0.76,160.8,313.3,11.1,423,7242,0.00,2.30,0.00,0.000,6,0.000,0.054,2885,1981,2139,0,0,0,0,0,0
$GC,7554,0.77,171.9,282.9,8.6,435,7569,0.00,2.28,10.80,0.591,4,0.000,0.061,2885,3391,2097,0,0,0,0,0,0
$GC,7661,0.77,171.9,271.9,10.8,439,7665,0.00,2.25,0.00,0.000,6,0.000,0.054,2893,1987,2096,0,0,0,0,0,0
$GC,7988,0.77,171.9,241.3,9.2,455,7992,0.00,2.33,0.00,0.000,4,0.000,0.063,2893,3401,2094,0,0,0,0,0,0
$GC,8055,0.77,171.9,234.6,10.0,458,8059,0.00,2.28,0.00,0.000,6,0.000,0.056,2897,1987,2094,0,0,0,0,0,0
$GC,8377,0.78,181.4,204.8,8.6,474,8391,0.00,2.30,9.38,0.542,4,0.000,0.064,2897,3392,2059,0,0,0,0,0,0
$GC,8456,0.78,181.4,197.5,9.9,478,8460,0.00,2.28,0.00,0.000,6,0.000,0.056,2905,1982,2058,0,0,0,0,0,0
$GC,8784,0.80,194.8,169.5,8.5,508,8808,0.00,2.38,13.35,0.545,4,0.000,0.064,2906,3399,2003,0,0,0,0,0,0
$GC,8865,0.80,194.8,162.0,9.5,515,8869,0.12,2.28,0.00,0.000,6,0.132,0.056,2877,1987,2002,0,0,0,0,0,0
$GC,9192,0.83,220.0,137.9,8.0,545,9220,0.00,2.30,23.02,0.539,4,0.000,0.062,2877,3396,1902,0,0,0,0,0,0
$GC,9302,0.83,220.0,127.6,10.5,554,9306,0.00,2.22,0.00,0.000,6,0.000,0.043,2883,1979,1901,0,0,0,0,0,0
$GC,9634,0.85,239.6,98.1,8.2,585,9659,0.00,2.22,18.42,0.497,4,0.000,0.055,2887,580,1822,0,0,0,0,0,0
$GC,9685,0.88,262.1,94.2,8.1,589,9712,0.00,2.17,21.38,0.495,6,0.000,0.035,2887,2002,1729,0,0,0,0,0,0
$GC,10039,0.91,283.6,63.1,8.1,639,10064,0.00,2.20,19.30,0.463,4,0.000,0.052,2886,3393,1644,0,0,0,0,0,0
$GC,10145,0.93,299.6,54.4,8.4,657,10170,0.00,2.22,15.15,0.447,6,0.000,0.044,2892,1988,1579,0,0,0,0,0,0
$GC,10501,0.97,332.5,28.0,7.7,721,10536,0.12,2.28,28.83,0.444,4,0.080,0.054,2945,3396,1444,0,0,0,0,0,0
$GC,10609,0.97,332.5,18.4,10.1,739,10617,0.00,2.28,0.00,0.000,6,0.000,0.047,2946,1989,1443,0,0,0,0,0,0
$STATE,10775,end climb,SURFACE_DEPTH_REACHED
$STATE,10775,begin surface coast
$FINISH,0.9,1.023285
$STATE,10807,end surface coast,CONTROL_FINISHED_OK
$STATE,10807,begin surface
$SM_CCo,10887,0.00,0.000,0,0,1441,333.36
$SM_GC,1.51,7.50,0.00,0.00,0.027,0.000,0.000,36,1943,1441,-7.97,-0.14,333.36
$IRIDIUM_FIX,2059.45,-15750.89,101002,191901
$TT8_MAMPS,0.027612
$HUMID,70.12
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,24.3,63.476
$10V_AH,10.0,70.371
$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,19.050,91.175,422.675,0.000,0.000,23.905,31.721,189.221,17.500,0.000,20.861,1380.262,6347.791,427.580,2570.417,548.472,0.000,1344.870,0.000,2522.788,0.000,108.420,0.000
$DEVICE_MAMPS,220.896,161.070,720.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,526.714,453.712,1550.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,44474,776
$CAP_FILE_SIZE,115764,0
$CFSIZE,260165632,218324992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170713,015747,2110.531,-15752.917,15,0.9,15,9.8