version: 66.06
glider: 523
mission: 4
dive: 706
start: 7 13 113 16 59 28
data:
$ID,523
$MISSION,4
$DIVE,706
$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,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,-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,-50264.965
$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,2637
$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,19
$R_STBD_OVSHOOT,27
$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
$GPS1,165003,2108.830,-15802.845,24,0.8,24,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.9
$GPS2,165911,2108.858,-15802.962,12,1.0,12,9.8
$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,89.4,35089,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.57,0.000,2,0.000,0.000,31,1976,3340,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.0,-4.2,12,119,9.68,2.38,-1.30,0.000,4,0.223,0.075,2389,546,3399,0,0,0,0,0,0
$GC,176,-0.74,-146.0,18.8,-15.8,25,183,0.00,2.22,0.00,0.000,6,0.000,0.042,2381,1949,3399,0,0,0,0,0,0
$GC,345,-0.74,-146.0,41.9,-13.0,56,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1949,3399,0,0,0,0,0,0
$GC,681,-0.74,-146.0,79.0,-9.1,117,686,0.00,2.28,0.00,0.000,4,0.000,0.061,2381,547,3400,0,0,0,0,0,0
$GC,752,-0.74,-146.0,86.5,-10.6,124,760,0.00,2.22,0.00,0.000,6,0.000,0.041,2372,1960,3400,0,0,0,0,0,0
$GC,1080,-0.74,-146.0,114.1,-8.5,155,1084,0.00,2.28,0.00,0.000,4,0.000,0.062,2362,3374,3401,0,0,0,0,0,0
$GC,1111,-0.74,-146.0,116.8,-8.7,157,1116,0.12,2.25,0.00,0.000,6,0.150,0.047,2394,1949,3401,0,0,0,0,0,0
$GC,1439,-0.74,-146.0,145.3,-9.6,187,1443,0.00,2.28,0.00,0.000,4,0.000,0.066,2394,548,3402,0,0,0,0,0,0
$GC,1691,-0.74,-146.0,169.9,-8.9,209,1699,0.00,2.20,0.00,0.000,6,0.000,0.040,2387,1951,3402,0,0,0,0,0,0
$GC,2018,-0.74,-146.0,196.1,-7.8,240,2022,0.00,2.30,0.00,0.000,4,0.000,0.062,2387,543,3402,0,0,0,0,0,0
$GC,2274,-0.74,-146.0,219.1,-9.1,253,2280,0.00,2.17,0.00,0.000,6,0.000,0.039,2378,1962,3402,0,0,0,0,0,0
$GC,2594,-0.74,-146.0,245.0,-7.8,269,2599,0.00,2.30,0.00,0.000,4,0.000,0.060,2378,538,3402,0,0,0,0,0,0
$GC,2763,-0.74,-146.0,257.4,-6.0,276,2768,0.12,2.20,0.00,0.000,6,0.156,0.040,2401,1956,3402,0,0,0,0,0,0
$GC,3084,-0.74,-146.0,275.9,-5.7,291,3088,0.00,2.30,0.00,0.000,4,0.000,0.059,2401,548,3402,0,0,0,0,0,0
$GC,3163,-0.74,-146.0,281.0,-6.3,294,3168,0.00,2.20,0.00,0.000,6,0.000,0.039,2393,1964,3402,0,0,0,0,0,0
$GC,3479,-0.74,-146.0,297.4,-4.9,310,3484,0.00,2.30,0.00,0.000,4,0.000,0.059,2394,546,3402,0,0,0,0,0,0
$GC,3606,-0.74,-146.0,305.3,-6.8,314,3611,0.00,2.20,0.00,0.000,6,0.000,0.040,2384,1963,3402,0,0,0,0,0,0
$GC,3938,-0.74,-146.0,324.9,-4.7,323,3943,0.00,2.25,0.00,0.000,4,0.000,0.063,2374,3363,3401,0,0,0,0,0,0
$GC,4028,-0.74,-146.0,330.2,-6.6,325,4032,0.00,2.22,0.00,0.000,6,0.000,0.045,2374,1950,3401,0,0,0,0,0,0
$GC,4355,-0.74,-146.0,351.7,-6.4,333,4359,0.00,2.30,0.00,0.000,4,0.000,0.061,2374,535,3400,0,0,0,0,0,0
$GC,4614,-0.74,-146.0,371.8,-7.1,338,4620,0.12,2.20,0.00,0.000,6,0.154,0.040,2397,1963,3398,0,0,0,0,0,0
$GC,4947,-0.74,-146.0,391.1,-5.7,347,4951,0.00,2.30,0.00,0.000,4,0.000,0.059,2398,538,3397,0,0,0,0,0,0
$GC,5027,-0.74,-146.0,396.6,-6.7,348,5032,0.00,2.22,0.00,0.000,6,0.000,0.041,2390,1959,3396,0,0,0,0,0,0
$GC,5358,-0.74,-146.0,418.8,-6.7,357,5362,0.00,2.28,0.00,0.000,4,0.000,0.064,2379,3362,3394,0,0,0,0,0,0
$GC,5385,-0.74,-146.0,420.6,-6.9,357,5390,0.00,2.22,0.00,0.000,6,0.000,0.048,2379,1953,3394,0,0,0,0,0,0
$STATE,5715,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5715,begin apogee
$GC,5722,-0.17,0.0,440.3,5.6,365,5848,0.62,0.00,122.97,0.743,6,0.116,0.000,2579,1952,2799,0,0,0,0,0,0
$STATE,5849,end apogee,CONTROL_FINISHED_OK
$STATE,5849,begin climb
$GC,5852,0.74,146.0,440.2,0.0,368,5990,0.82,2.40,127.35,0.719,4,0.072,0.057,2869,3381,2202,0,0,0,0,0,0
$GC,6136,0.74,146.0,412.6,10.8,374,6141,0.00,2.25,0.00,0.000,6,0.000,0.044,2879,1970,2197,0,0,0,0,0,0
$GC,6474,0.75,154.8,382.8,8.7,383,6488,0.00,2.35,7.62,0.590,4,0.000,0.057,2879,3388,2169,0,0,0,0,0,0
$GC,6604,0.75,154.8,369.2,10.3,385,6609,0.00,2.25,0.00,0.000,6,0.000,0.044,2889,1971,2167,0,0,0,0,0,0
$GC,6935,0.75,154.8,331.8,10.5,394,6939,0.00,2.33,0.00,0.000,4,0.000,0.058,2889,3386,2165,0,0,0,0,0,0
$GC,7058,0.75,154.8,318.2,11.7,396,7063,0.00,2.20,0.00,0.000,6,0.000,0.046,2897,1980,2165,0,0,0,0,0,0
$GC,7371,0.76,162.6,288.3,8.7,407,7385,0.00,2.33,8.12,0.578,4,0.000,0.058,2897,3386,2136,0,0,0,0,0,0
$GC,7460,0.76,162.6,279.7,9.6,411,7464,0.00,2.25,0.00,0.000,6,0.000,0.049,2906,1980,2135,0,0,0,0,0,0
$GC,7787,0.77,169.9,252.3,8.7,427,7801,0.00,2.33,7.93,0.555,4,0.000,0.060,2906,3385,2106,0,0,0,0,0,0
$GC,7930,0.77,169.9,235.8,11.5,433,7935,0.12,2.25,0.00,0.000,6,0.140,0.049,2880,1983,2104,0,0,0,0,0,0
$GC,8245,0.77,169.9,207.8,10.0,448,8249,0.00,2.28,0.00,0.000,4,0.000,0.061,2889,558,2101,0,0,0,0,0,0
$GC,8302,0.81,205.6,203.2,7.6,450,8341,0.00,2.25,32.15,0.600,6,0.000,0.042,2889,1995,1960,0,0,0,0,0,0
$GC,8669,0.88,265.4,176.7,6.5,483,8728,0.00,2.40,52.78,0.577,4,0.000,0.064,2889,571,1718,0,0,0,0,0,0
$GC,8779,0.93,299.7,168.9,7.6,492,8822,0.10,2.28,31.33,0.552,6,0.035,0.043,2973,1970,1577,0,0,0,0,0,0
$GC,9141,0.93,299.7,124.5,14.1,526,9146,0.12,2.30,0.00,0.000,4,0.132,0.054,2936,3399,1576,0,0,0,0,0,0
$GC,9225,0.93,299.7,113.1,12.6,533,9229,0.00,2.28,0.00,0.000,6,0.000,0.051,2944,1978,1575,0,0,0,0,0,0
$GC,9552,0.93,299.7,80.0,10.2,563,9557,0.00,2.30,0.00,0.000,4,0.000,0.061,2944,3395,1575,0,0,0,0,0,0
$GC,9712,0.93,299.7,63.2,9.3,592,9719,0.00,2.30,0.00,0.000,6,0.000,0.050,2951,1974,1575,0,0,0,0,0,0
$GC,10049,0.93,299.7,31.7,10.0,653,10055,0.00,2.28,0.00,0.000,4,0.000,0.057,2951,3395,1575,0,0,0,0,0,0
$GC,10162,0.93,299.7,19.7,10.7,674,10170,0.00,2.28,0.00,0.000,6,0.000,0.048,2960,1979,1575,0,0,0,0,0,0
$GC,10330,0.93,299.7,3.5,9.8,705,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1979,1575,0,0,0,0,0,0
$STATE,10343,end climb,SURFACE_DEPTH_REACHED
$STATE,10343,begin surface coast
$FINISH,0.7,1.023072
$STATE,10379,end surface coast,CONTROL_FINISHED_OK
$STATE,10379,begin surface
$SM_CCo,10457,0.00,0.000,0,0,1573,300.73
$SM_GC,1.54,7.43,0.00,0.00,0.022,0.000,0.000,37,1976,1573,-7.99,0.57,300.73
$IRIDIUM_FIX,2057.14,-15816.63,071002,141447
$TT8_MAMPS,0.027612
$HUMID,67.28
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,24.3,61.137
$10V_AH,10.0,67.607
$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,19.275,99.925,390.250,0.000,0.000,60.635,113.083,165.648,18.750,0.000,15.302,1321.659,6135.250,434.185,2465.992,638.387,0.000,1342.672,0.000,2417.008,0.000,116.155,0.000
$DEVICE_MAMPS,223.197,75.166,743.223,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,483.592,406.571,1374.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,41249,713
$CAP_FILE_SIZE,115797,0
$CFSIZE,260165632,219811840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130713,195446,2109.124,-15802.757,25,0.8,25,9.8