version: 66.06
glider: 523
mission: 4
dive: 732
start: 7 17 113 2 5 21
data:
$ID,523
$MISSION,4
$DIVE,732
$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,-50781.738
$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,2622
$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,1943
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,33
$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
$GPS1,015747,2110.531,-15752.917,15,0.9,15,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.2
$GPS2,020503,2110.526,-15752.936,24,1.0,24,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,HEADING
$TGT_LATLONG,2059.727,-15752.936
$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,15,-0.74,-146.0,0.0,0.0,0,106,0.00,0.00,-83.53,0.000,6,0.000,0.000,29,1940,3396,0,0,0,0,0,0
$GC,110,-0.74,-146.0,3.8,-5.7,14,125,9.65,2.25,0.00,0.000,4,0.222,0.056,2371,530,3398,0,0,0,0,0,0
$GC,314,-0.74,-146.0,35.5,-12.4,51,320,0.00,2.20,0.00,0.000,6,0.000,0.040,2364,1938,3399,0,0,0,0,0,0
$GC,643,-0.74,-146.0,69.2,-9.7,112,651,0.00,2.35,0.00,0.000,4,0.000,0.064,2364,532,3400,0,0,0,0,0,0
$GC,901,-0.74,-146.0,94.5,-9.9,145,906,0.00,2.20,0.00,0.000,6,0.000,0.041,2354,1942,3400,0,0,0,0,0,0
$GC,1234,-0.74,-146.0,123.7,-8.8,176,1239,0.10,2.33,0.00,0.000,4,0.173,0.065,2379,531,3400,0,0,0,0,0,0
$GC,1486,-0.74,-146.0,146.5,-7.8,198,1494,0.00,2.22,0.00,0.000,6,0.000,0.041,2372,1940,3401,0,0,0,0,0,0
$GC,1814,-0.74,-146.0,170.9,-7.7,229,1818,0.00,2.30,0.00,0.000,4,0.000,0.066,2372,534,3401,0,0,0,0,0,0
$GC,2066,-0.74,-146.0,190.6,-7.3,251,2074,0.00,2.22,0.00,0.000,6,0.000,0.041,2362,1947,3401,0,0,0,0,0,0
$GC,2397,-0.74,-146.0,214.8,-7.5,274,2401,0.00,2.33,0.00,0.000,4,0.000,0.063,2362,529,3401,0,0,0,0,0,0
$GC,2524,-0.74,-146.0,225.4,-9.4,279,2528,0.12,2.17,0.00,0.000,6,0.155,0.040,2385,1948,3401,0,0,0,0,0,0
$GC,2843,-0.74,-146.0,246.0,-5.4,294,2847,0.00,2.33,0.00,0.000,4,0.000,0.062,2386,531,3401,0,0,0,0,0,0
$GC,2975,-0.74,-146.0,253.5,-6.6,300,2979,0.00,2.20,0.00,0.000,6,0.000,0.039,2378,1944,3401,0,0,0,0,0,0
$GC,3305,-0.74,-146.0,275.5,-6.3,316,3309,0.00,2.22,0.00,0.000,4,0.000,0.061,2368,3353,3400,0,0,0,0,0,0
$GC,3338,-0.74,-146.0,278.0,-6.7,317,3344,0.00,2.22,0.00,0.000,6,0.000,0.048,2368,1943,3400,0,0,0,0,0,0
$GC,3657,-0.74,-146.0,301.0,-7.5,333,3661,0.00,2.28,0.00,0.000,4,0.000,0.065,2367,531,3400,0,0,0,0,0,0
$GC,3811,-0.74,-146.0,312.7,-7.2,336,3815,0.00,2.20,0.00,0.000,6,0.000,0.040,2358,1945,3399,0,0,0,0,0,0
$GC,4160,-0.74,-146.0,330.5,-4.7,345,4164,0.00,2.28,0.00,0.000,4,0.000,0.062,2348,3348,3397,0,0,0,0,0,0
$GC,4293,-0.74,-146.0,338.4,-6.1,348,4298,0.12,2.22,0.00,0.000,6,0.146,0.049,2381,1943,3397,0,0,0,0,0,0
$GC,4620,-0.74,-146.0,358.0,-6.1,356,4624,0.00,2.33,0.00,0.000,4,0.000,0.067,2381,523,3395,0,0,0,0,0,0
$GC,4740,-0.74,-146.0,365.8,-6.8,358,4744,0.00,2.20,0.00,0.000,6,0.000,0.041,2373,1943,3394,0,0,0,0,0,0
$GC,5077,-0.74,-146.0,386.2,-6.0,367,5081,0.00,2.35,0.00,0.000,4,0.000,0.063,2373,531,3393,0,0,0,0,0,0
$GC,5139,-0.74,-146.0,389.8,-6.1,368,5146,0.00,2.20,0.00,0.000,6,0.000,0.042,2364,1947,3393,0,0,0,0,0,0
$GC,5490,-0.74,-146.0,405.4,-4.2,377,5495,0.00,2.35,0.00,0.000,4,0.000,0.063,2364,528,3391,0,0,0,0,0,0
$GC,5693,-0.74,-146.0,415.6,-5.5,381,5697,0.00,2.22,0.00,0.000,6,0.000,0.042,2355,1941,3389,0,0,0,0,0,0
$STATE,6027,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6028,begin apogee
$GC,6035,-0.17,0.0,432.7,5.3,390,6160,0.68,0.00,122.60,0.742,6,0.123,0.000,2565,1992,2800,0,0,0,0,0,0
$STATE,6161,end apogee,CONTROL_FINISHED_OK
$STATE,6161,begin climb
$GC,6165,0.74,146.0,433.2,0.0,393,6303,0.82,2.33,127.57,0.718,4,0.074,0.054,2853,3394,2202,0,0,0,0,0,0
$GC,6381,0.74,146.0,413.1,11.0,398,6386,0.00,2.33,0.00,0.000,6,0.000,0.051,2863,1985,2200,0,0,0,0,0,0
$GC,6701,0.74,146.0,383.2,9.2,406,6705,0.00,2.35,0.00,0.000,4,0.000,0.061,2863,3399,2196,0,0,0,0,0,0
$GC,6830,0.74,146.0,370.6,10.3,409,6834,0.00,2.30,0.00,0.000,6,0.000,0.051,2872,1980,2194,0,0,0,0,0,0
$GC,7155,0.74,152.5,342.1,8.8,417,7165,0.00,2.30,5.30,0.520,4,0.000,0.060,2872,3399,2178,0,0,0,0,0,0
$GC,7266,0.74,152.5,330.0,11.4,419,7270,0.00,2.25,0.00,0.000,6,0.000,0.054,2882,1986,2177,0,0,0,0,0,0
$GC,7603,0.74,152.5,297.2,9.2,428,7607,0.00,2.30,0.00,0.000,4,0.000,0.062,2882,3393,2176,0,0,0,0,0,0
$GC,7681,0.74,152.5,289.5,9.4,431,7687,0.00,2.25,0.00,0.000,6,0.000,0.054,2891,1986,2176,0,0,0,0,0,0
$GC,7998,0.76,165.4,260.9,8.5,447,8019,0.00,2.33,13.02,0.607,4,0.000,0.063,2891,3388,2124,0,0,0,0,0,0
$GC,8083,0.76,165.4,253.3,9.2,450,8089,0.12,2.25,0.00,0.000,6,0.133,0.054,2862,1984,2122,0,0,0,0,0,0
$GC,8399,0.77,173.8,227.7,8.7,466,8413,0.00,2.35,8.43,0.549,4,0.000,0.064,2863,3396,2089,0,0,0,0,0,0
$GC,8476,0.77,176.1,220.7,8.9,469,8481,0.00,2.20,0.00,0.000,6,0.000,0.041,2869,1979,2088,0,0,0,0,0,0
$GC,8792,0.87,252.5,199.2,5.9,484,8867,0.00,0.00,69.40,0.601,6,0.000,0.000,2869,1979,1771,0,0,0,0,0,0
$GC,9189,0.90,278.8,169.5,7.9,521,9224,0.12,2.33,24.40,0.558,4,0.077,0.057,2948,573,1661,0,0,0,0,0,0
$GC,9241,0.90,282.4,164.4,8.9,525,9251,0.10,2.25,4.82,0.415,6,0.103,0.035,2912,1995,1648,0,0,0,0,0,0
$GC,9578,0.90,282.4,134.1,9.1,557,9582,0.00,2.30,0.00,0.000,4,0.000,0.056,2918,574,1647,0,0,0,0,0,0
$GC,9674,0.90,282.4,125.0,9.8,565,9678,0.00,2.20,0.00,0.000,6,0.000,0.034,2918,1998,1647,0,0,0,0,0,0
$GC,10001,0.90,282.4,90.9,9.2,595,10005,0.00,2.17,0.00,0.000,4,0.000,0.054,2918,3390,1647,0,0,0,0,0,0
$GC,10074,0.90,282.4,83.8,10.6,601,10078,0.00,2.22,0.00,0.000,6,0.000,0.043,2927,1980,1647,0,0,0,0,0,0
$GC,10407,0.95,317.3,54.5,7.6,658,10449,0.00,2.30,31.02,0.472,4,0.000,0.057,2930,576,1504,0,0,0,0,0,0
$GC,10490,1.00,359.8,48.4,7.3,672,10532,0.00,2.20,36.30,0.466,6,0.000,0.035,2930,1983,1332,0,0,0,0,0,0
$GC,10858,1.01,365.5,17.2,8.8,739,10873,0.00,2.28,5.57,0.361,4,0.000,0.053,2930,3398,1305,0,0,0,0,0,0
$STATE,10996,end climb,SURFACE_DEPTH_REACHED
$STATE,10997,begin surface coast
$FINISH,0.8,1.009996
$STATE,11018,end surface coast,CONTROL_FINISHED_OK
$STATE,11018,begin surface
$SM_CCo,11099,0.00,0.000,0,0,1303,367.21
$SM_GC,1.53,7.40,0.00,0.00,0.025,0.000,0.000,46,1950,1303,-7.93,0.17,367.21
$IRIDIUM_FIX,2108.69,-15755.17,101002,232339
$TT8_MAMPS,0.027612
$HUMID,70.27
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.40
$XPDR_PINGS,3
$24V_AH,24.3,63.575
$10V_AH,10.0,70.483
$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,19.250,104.400,448.450,0.000,0.000,30.584,48.368,195.715,18.500,0.000,25.347,1392.298,6447.344,459.746,2633.521,593.396,0.000,1432.207,0.000,2576.400,0.000,111.076,0.000
$DEVICE_MAMPS,222.430,126.555,742.456,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,520.875,444.313,1488.507,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,44374,768
$CAP_FILE_SIZE,121053,0
$CFSIZE,260165632,218263552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170713,051130,2109.905,-15752.674,34,1.7,34,9.8