version: 66.06
glider: 523
mission: 4
dive: 629
start: 7 3 113 13 13 23
data:
$ID,523
$MISSION,4
$DIVE,629
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$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,180
$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,-48682.316
$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,2640
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,25
$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
$GPS1,130642,2108.395,-15802.291,14,1.5,14,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.5
$GPS2,131306,2108.421,-15802.310,15,1.5,15,9.8
$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,88.4,33853,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-80.85,0.000,6,0.000,0.000,29,1952,3397,0,0,0,0,0,0
$GC,105,-0.74,-146.0,3.3,-4.6,13,120,9.38,2.25,0.00,0.000,4,0.212,0.058,2392,544,3398,0,0,0,0,0,0
$GC,180,-0.74,-146.0,20.0,-17.2,26,187,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1952,3399,0,0,0,0,0,0
$GC,354,-0.74,-146.0,44.5,-14.3,57,359,0.00,2.28,0.00,0.000,4,0.000,0.062,2384,546,3400,0,0,0,0,0,0
$GC,411,-0.74,-146.0,53.0,-14.6,67,417,0.00,2.22,0.00,0.000,6,0.000,0.041,2375,1967,3400,0,0,0,0,0,0
$GC,747,-0.74,-146.0,93.3,-9.6,117,751,0.00,2.25,0.00,0.000,4,0.000,0.064,2364,3365,3401,0,0,0,0,0,0
$GC,779,-0.74,-146.0,97.2,-10.6,119,787,0.10,2.28,0.00,0.000,6,0.126,0.048,2396,1955,3402,0,0,0,0,0,0
$GC,1107,-0.74,-146.0,126.9,-9.7,150,1111,0.00,2.28,0.00,0.000,4,0.000,0.065,2396,544,3403,0,0,0,0,0,0
$GC,1362,-0.74,-146.0,152.6,-9.2,173,1366,0.00,2.20,0.00,0.000,6,0.000,0.038,2389,1964,3403,0,0,0,0,0,0
$GC,1690,-0.74,-146.0,180.9,-9.4,203,1694,0.00,2.33,0.00,0.000,4,0.000,0.061,2389,538,3403,0,0,0,0,0,0
$GC,1940,-0.74,-146.0,200.7,-6.0,225,1946,0.00,2.20,0.00,0.000,6,0.000,0.040,2379,1958,3403,0,0,0,0,0,0
$GC,2261,-0.74,-146.0,220.1,-7.4,241,2265,0.00,2.30,0.00,0.000,4,0.000,0.059,2379,545,3403,0,0,0,0,0,0
$GC,2473,-0.74,-146.0,238.6,-9.1,250,2479,0.12,2.17,0.00,0.000,6,0.156,0.040,2404,1961,3403,0,0,0,0,0,0
$GC,2793,-0.74,-146.0,257.7,-5.9,266,2797,0.00,2.30,0.00,0.000,4,0.000,0.058,2404,536,3404,0,0,0,0,0,0
$GC,3040,-0.74,-146.0,275.2,-7.1,277,3044,0.00,2.22,0.00,0.000,6,0.000,0.040,2396,1965,3403,0,0,0,0,0,0
$GC,3365,-0.74,-146.0,296.4,-7.1,293,3369,0.00,2.30,0.00,0.000,4,0.000,0.064,2385,3371,3403,0,0,0,0,0,0
$GC,3406,-0.74,-146.0,299.9,-7.7,295,3411,0.00,2.28,0.00,0.000,6,0.000,0.049,2385,1955,3403,0,0,0,0,0,0
$GC,3758,-0.74,-146.0,326.6,-7.4,304,3762,0.00,2.28,0.00,0.000,4,0.000,0.064,2385,542,3402,0,0,0,0,0,0
$GC,3988,-0.74,-146.0,343.7,-7.1,309,3992,0.00,2.22,0.00,0.000,6,0.000,0.041,2376,1970,3400,0,0,0,0,0,0
$GC,4302,-0.74,-146.0,366.2,-7.2,317,4306,0.00,2.28,0.00,0.000,4,0.000,0.064,2365,3364,3398,0,0,0,0,0,0
$GC,4388,-0.74,-146.0,372.2,-7.2,319,4392,0.12,2.25,0.00,0.000,6,0.141,0.048,2399,1946,3398,0,0,0,0,0,0
$GC,4716,-0.74,-146.0,391.4,-5.7,327,4720,0.00,2.28,0.00,0.000,4,0.000,0.062,2400,544,3396,0,0,0,0,0,0
$GC,4818,-0.74,-146.0,397.5,-5.9,329,4822,0.00,2.22,0.00,0.000,6,0.000,0.041,2392,1968,3396,0,0,0,0,0,0
$GC,5169,-0.74,-146.0,415.4,-5.4,338,5173,0.00,2.35,0.00,0.000,4,0.000,0.060,2392,536,3393,0,0,0,0,0,0
$GC,5282,-0.74,-146.0,422.6,-6.4,340,5286,0.00,2.22,0.00,0.000,6,0.000,0.042,2382,1957,3393,0,0,0,0,0,0
$STATE,5413,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5413,begin apogee
$GC,5420,-0.17,0.0,430.9,6.1,344,5545,0.62,0.00,122.45,0.743,6,0.113,0.000,2583,1957,2800,0,0,0,0,0,0
$STATE,5546,end apogee,CONTROL_FINISHED_OK
$STATE,5546,begin climb
$GC,5550,0.74,146.0,432.0,0.0,347,5687,0.82,2.38,127.12,0.718,4,0.074,0.061,2872,3382,2202,0,0,0,0,0,0
$GC,5802,0.74,146.0,406.2,13.2,352,5808,0.00,2.28,0.00,0.000,6,0.000,0.045,2881,1971,2199,0,0,0,0,0,0
$GC,6133,0.74,146.0,365.6,12.2,361,6137,0.00,2.30,0.00,0.000,4,0.000,0.057,2881,3392,2195,0,0,0,0,0,0
$GC,6190,0.74,146.0,358.3,13.3,362,6195,0.00,2.28,0.00,0.000,6,0.000,0.046,2891,1974,2195,0,0,0,0,0,0
$GC,6504,0.74,146.0,322.1,11.4,370,6508,0.00,2.28,0.00,0.000,4,0.000,0.059,2890,3389,2194,0,0,0,0,0,0
$GC,6559,0.74,146.0,315.2,12.9,371,6563,0.00,2.22,0.00,0.000,6,0.000,0.048,2899,1981,2194,0,0,0,0,0,0
$GC,6890,0.74,146.0,277.0,11.0,384,6894,0.00,2.28,0.00,0.000,4,0.000,0.060,2899,3389,2193,0,0,0,0,0,0
$GC,6942,0.74,146.0,271.0,12.5,386,6947,0.12,2.22,0.00,0.000,6,0.144,0.048,2873,1982,2192,0,0,0,0,0,0
$GC,7263,0.74,146.0,240.2,10.3,402,7267,0.00,2.28,0.00,0.000,4,0.000,0.061,2873,3392,2191,0,0,0,0,0,0
$GC,7303,0.74,146.0,236.0,11.0,404,7307,0.00,2.25,0.00,0.000,6,0.000,0.051,2880,1979,2190,0,0,0,0,0,0
$GC,7630,0.77,176.0,210.5,7.8,420,7660,0.00,2.33,24.70,0.607,4,0.000,0.062,2880,3386,2082,0,0,0,0,0,0
$GC,7770,0.77,176.0,197.3,9.5,427,7774,0.00,2.30,0.00,0.000,6,0.000,0.051,2889,1971,2078,0,0,0,0,0,0
$GC,8097,0.82,214.0,173.9,7.5,457,8136,0.00,2.33,34.00,0.581,4,0.000,0.061,2889,3388,1925,0,0,0,0,0,0
$GC,8183,0.82,217.5,166.4,8.9,464,8196,0.00,2.28,4.15,0.396,6,0.000,0.051,2894,1980,1913,0,0,0,0,0,0
$GC,8516,0.83,218.7,138.5,9.0,495,8520,0.00,2.33,0.00,0.000,4,0.000,0.063,2894,3391,1912,0,0,0,0,0,0
$GC,8579,0.83,218.7,132.3,10.1,500,8583,0.00,2.25,0.00,0.000,6,0.000,0.041,2902,1968,1911,0,0,0,0,0,0
$GC,8905,0.83,218.7,100.8,9.8,530,8909,0.00,2.25,0.00,0.000,4,0.000,0.051,2902,3395,1911,0,0,0,0,0,0
$GC,8957,0.83,218.7,95.5,10.7,534,8961,0.00,2.22,0.00,0.000,6,0.000,0.041,2911,1975,1911,0,0,0,0,0,0
$GC,9284,0.85,236.9,65.6,8.3,580,9308,0.00,2.22,18.05,0.475,4,0.000,0.050,2911,3391,1834,0,0,0,0,0,0
$GC,9439,0.87,253.1,52.9,8.4,608,9463,0.00,2.25,15.55,0.456,6,0.000,0.040,2920,1980,1768,0,0,0,0,0,0
$GC,9792,0.87,253.1,23.0,10.4,672,9799,0.00,2.28,0.00,0.000,4,0.000,0.052,2920,3388,1767,0,0,0,0,0,0
$GC,9845,0.87,253.1,17.7,10.5,681,9852,0.00,2.25,0.00,0.000,6,0.000,0.041,2928,1973,1767,0,0,0,0,0,0
$STATE,9995,end climb,SURFACE_DEPTH_REACHED
$STATE,9995,begin surface coast
$FINISH,0.6,1.023237
$STATE,10028,end surface coast,CONTROL_FINISHED_OK
$STATE,10028,begin surface
$SM_CCo,10046,22.25,0.421,0,0,1576,300.24
$SM_GC,1.51,0.00,0.00,22.25,0.000,0.000,0.421,24,1967,1576,-8.18,0.28,300.24
$IRIDIUM_FIX,2106.38,-15807.62,270902,101055
$TT8_MAMPS,0.027612
$HUMID,66.26
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.4,53.888
$10V_AH,10.1,59.171
$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,18.700,104.200,346.025,22.250,0.000,26.281,54.133,164.810,18.250,0.000,15.614,1323.120,5720.408,412.009,2455.457,536.972,0.000,1293.447,0.000,2407.770,0.000,111.080,0.000
$DEVICE_MAMPS,212.459,65.195,743.223,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,485.249,422.270,1403.982,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,38089,715
$CAP_FILE_SIZE,113509,0
$CFSIZE,260165632,224346112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030713,160228,2108.881,-15801.183,37,0.8,37,9.8