version: 66.06
glider: 523
mission: 4
dive: 733
start: 7 17 113 5 18 20
data:
$ID,523
$MISSION,4
$DIVE,733
$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,157
$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,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,-50798.52
$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,2618
$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,1940
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,051130,2109.905,-15752.674,34,1.7,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.8
$GPS2,051759,2109.918,-15752.747,15,0.8,15,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,2059.119,-15752.747
$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,-17.6,-9.554
$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,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-88.28,0.000,6,0.000,0.000,45,1946,3396,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.1,-4.1,14,125,9.45,2.30,0.00,0.000,4,0.222,0.061,2361,529,3398,0,0,0,0,0,0
$GC,367,-0.76,-146.0,42.2,-12.0,61,373,0.00,2.22,0.00,0.000,6,0.000,0.043,2353,1940,3400,0,0,0,0,0,0
$GC,697,-0.76,-146.0,75.4,-9.4,122,704,0.00,2.35,0.00,0.000,4,0.000,0.064,2353,535,3400,0,0,0,0,0,0
$GC,930,-0.76,-146.0,97.7,-9.2,148,934,0.00,2.20,0.00,0.000,6,0.000,0.043,2343,1942,3400,0,0,0,0,0,0
$GC,1257,-0.76,-146.0,131.1,-9.9,178,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1942,3401,0,0,0,0,0,0
$GC,1576,-0.76,-146.0,161.0,-7.7,208,1580,0.00,2.33,0.00,0.000,4,0.000,0.064,2343,528,3401,0,0,0,0,0,0
$GC,1618,-0.76,-146.0,164.8,-9.2,211,1623,0.12,2.22,0.00,0.000,6,0.163,0.043,2365,1939,3401,0,0,0,0,0,0
$GC,1952,-0.76,-146.0,189.5,-7.7,242,1957,0.00,2.35,0.00,0.000,4,0.000,0.064,2365,531,3401,0,0,0,0,0,0
$GC,2085,-0.76,-146.0,200.9,-8.7,254,2089,0.00,2.20,0.00,0.000,6,0.000,0.042,2358,1952,3401,0,0,0,0,0,0
$GC,2412,-0.76,-146.0,227.1,-8.5,270,2416,0.00,2.35,0.00,0.000,4,0.000,0.063,2358,529,3401,0,0,0,0,0,0
$GC,2475,-0.76,-146.0,232.3,-8.4,273,2479,0.00,2.20,0.00,0.000,6,0.000,0.041,2348,1951,3401,0,0,0,0,0,0
$GC,2802,-0.76,-146.0,258.2,-7.5,289,2806,0.00,2.35,0.00,0.000,4,0.000,0.063,2348,521,3401,0,0,0,0,0,0
$GC,3032,-0.76,-146.0,276.0,-8.6,299,3037,0.12,2.20,0.00,0.000,6,0.157,0.041,2370,1944,3401,0,0,0,0,0,0
$GC,3350,-0.76,-146.0,299.8,-7.1,314,3355,0.00,2.30,0.00,0.000,4,0.000,0.064,2362,3354,3401,0,0,0,0,0,0
$GC,3384,-0.76,-146.0,302.4,-7.6,315,3388,0.00,2.28,0.00,0.000,6,0.000,0.049,2362,1931,3401,0,0,0,0,0,0
$GC,3721,-0.76,-146.0,322.0,-5.3,324,3725,0.00,2.28,0.00,0.000,4,0.000,0.066,2362,519,3401,0,0,0,0,0,0
$GC,3980,-0.76,-146.0,335.8,-6.6,329,3986,0.00,2.22,0.00,0.000,6,0.000,0.041,2352,1945,3398,0,0,0,0,0,0
$GC,4313,-0.76,-146.0,356.0,-5.7,338,4317,0.00,2.33,0.00,0.000,4,0.000,0.061,2352,520,3398,0,0,0,0,0,0
$GC,4517,-0.76,-146.0,368.8,-6.4,342,4521,0.00,2.22,0.00,0.000,6,0.000,0.041,2342,1943,3396,0,0,0,0,0,0
$GC,4865,-0.76,-146.0,389.3,-5.9,351,4869,0.00,2.33,0.00,0.000,4,0.000,0.061,2343,527,3395,0,0,0,0,0,0
$GC,4922,-0.76,-146.0,393.3,-7.3,352,4927,0.15,2.22,0.00,0.000,6,0.152,0.043,2372,1941,3395,0,0,0,0,0,0
$GC,5273,-0.76,-146.0,416.6,-7.0,361,5277,0.00,2.33,0.00,0.000,4,0.000,0.061,2372,529,3393,0,0,0,0,0,0
$GC,5440,-0.76,-146.0,427.6,-5.7,364,5445,0.00,2.20,0.00,0.000,6,0.000,0.043,2365,1945,3392,0,0,0,0,0,0
$STATE,5730,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5730,begin apogee
$GC,5737,-0.17,0.0,441.5,4.5,372,5864,0.62,0.00,123.30,0.742,6,0.118,0.000,2562,1997,2799,0,0,0,0,0,0
$STATE,5864,end apogee,CONTROL_FINISHED_OK
$STATE,5864,begin climb
$GC,5868,0.76,146.0,441.2,0.0,375,6006,0.85,2.33,128.07,0.717,4,0.071,0.064,2861,3391,2203,0,0,0,0,0,0
$GC,6063,0.76,146.0,422.8,10.2,379,6067,0.00,2.28,0.00,0.000,6,0.000,0.045,2869,1983,2200,0,0,0,0,0,0
$GC,6405,0.83,196.2,395.1,7.3,388,6455,0.00,2.38,43.92,0.696,4,0.000,0.059,2870,3391,1999,0,0,0,0,0,0
$GC,6561,0.83,196.2,381.3,10.2,391,6565,0.00,2.25,0.00,0.000,6,0.000,0.047,2878,1988,1996,0,0,0,0,0,0
$GC,6898,0.85,213.3,351.7,8.8,400,6919,0.00,2.33,16.10,0.652,4,0.000,0.059,2879,3399,1929,0,0,0,0,0,0
$GC,6993,0.85,213.3,342.0,10.7,402,6997,0.00,2.30,0.00,0.000,6,0.000,0.048,2888,1977,1928,0,0,0,0,0,0
$GC,7305,0.85,213.3,310.5,10.0,410,7310,0.00,2.33,0.00,0.000,4,0.000,0.062,2888,3393,1927,0,0,0,0,0,0
$GC,7372,0.85,213.3,303.2,11.2,411,7376,0.00,2.25,0.00,0.000,6,0.000,0.051,2895,1985,1927,0,0,0,0,0,0
$GC,7693,0.85,213.3,268.9,11.1,426,7698,0.00,2.30,0.00,0.000,4,0.000,0.064,2895,3399,1927,0,0,0,0,0,0
$GC,7794,0.85,213.3,256.2,11.8,430,7800,0.00,2.28,0.00,0.000,6,0.000,0.051,2904,1979,1925,0,0,0,0,0,0
$GC,8110,0.85,213.3,223.0,9.9,446,8114,0.00,2.30,0.00,0.000,4,0.000,0.062,2904,3391,1925,0,0,0,0,0,0
$GC,8137,0.85,213.3,220.0,11.0,447,8141,0.00,2.25,0.00,0.000,6,0.000,0.052,2910,1987,1925,0,0,0,0,0,0
$GC,8458,0.91,261.8,192.2,7.4,466,8512,0.00,2.40,43.12,0.597,4,0.000,0.064,2910,3396,1730,0,0,0,0,0,0
$GC,8529,0.96,302.4,186.3,7.8,472,8571,0.00,2.33,36.55,0.575,6,0.000,0.053,2919,1991,1566,0,0,0,0,0,0
$GC,8891,0.96,302.4,152.4,9.6,506,8895,0.00,2.33,0.00,0.000,4,0.000,0.064,2920,566,1564,0,0,0,0,0,0
$GC,8965,0.96,302.4,145.0,10.3,512,8969,0.00,2.22,0.00,0.000,6,0.000,0.040,2920,1998,1564,0,0,0,0,0,0
$GC,9294,1.00,340.4,115.7,7.9,542,9332,0.00,2.22,33.00,0.523,4,0.000,0.054,2920,3390,1411,0,0,0,0,0,0
$GC,9385,1.04,366.1,108.3,8.4,550,9413,0.00,2.22,22.50,0.502,6,0.000,0.044,2927,1977,1307,0,0,0,0,0,0
$GC,9733,1.04,366.1,75.1,10.6,586,9741,0.00,2.30,0.00,0.000,4,0.000,0.053,2927,3392,1303,0,0,0,0,0,0
$GC,9766,1.04,366.1,71.8,10.8,591,9772,0.00,2.20,0.00,0.000,6,0.000,0.041,2928,1982,1303,0,0,0,0,0,0
$GC,10097,1.04,370.2,42.3,9.4,652,10110,0.00,2.30,4.62,0.345,4,0.000,0.051,2929,3397,1287,0,0,0,0,0,0
$GC,10163,1.08,405.6,36.9,8.0,663,10199,0.10,2.22,29.98,0.451,6,0.090,0.043,2970,1981,1144,0,0,0,0,0,0
$STATE,10457,end climb,SURFACE_DEPTH_REACHED
$STATE,10459,begin surface coast
$FINISH,0.8,1.022432
$STATE,10481,end surface coast,CONTROL_FINISHED_OK
$STATE,10481,begin surface
$SM_CCo,10560,0.00,0.000,0,0,1139,407.44
$SM_GC,1.52,7.47,0.00,0.00,0.025,0.000,0.000,48,1946,1139,-7.92,0.20,407.44
$IRIDIUM_FIX,2104.07,-15640.50,111002,020212
$TT8_MAMPS,0.028379
$HUMID,69.68
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,24.3,63.680
$10V_AH,10.0,70.589
$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,18.900,100.400,481.175,0.000,0.000,29.208,36.058,172.467,18.750,0.000,16.151,1313.492,6158.791,468.093,2461.021,541.438,0.000,1392.011,0.000,2411.909,0.000,123.578,0.000
$DEVICE_MAMPS,222.430,161.070,741.689,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,490.290,409.475,1403.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41350,722
$CAP_FILE_SIZE,115805,0
$CFSIZE,260165632,218206208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170713,081513,2109.016,-15753.347,17,0.7,17,9.8