version: 66.06
glider: 523
mission: 4
dive: 710
start: 7 14 113 4 57 53
data:
$ID,523
$MISSION,4
$DIVE,710
$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,-50340.512
$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,18
$R_STBD_OVSHOOT,29
$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
$GPS1,045104,2109.213,-15801.155,40,0.9,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.6
$GPS2,045735,2109.236,-15801.248,18,0.9,18,9.8
$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,91.5,32299,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.18,0.000,2,0.000,0.000,31,1950,3352,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.3,12,120,9.57,2.38,-0.98,0.000,4,0.222,0.077,2387,535,3398,0,0,0,0,0,0
$GC,128,-0.74,-146.0,12.1,-24.2,16,136,0.00,2.28,0.00,0.000,6,0.000,0.045,2379,1949,3398,0,0,0,0,0,0
$GC,297,-0.74,-146.0,33.6,-11.4,47,302,0.00,2.33,0.00,0.000,4,0.000,0.062,2379,539,3399,0,0,0,0,0,0
$GC,355,-0.74,-146.0,40.8,-12.3,57,360,0.00,2.22,0.00,0.000,6,0.000,0.043,2370,1969,3399,0,0,0,0,0,0
$GC,685,-0.74,-146.0,79.5,-13.2,118,695,0.00,2.38,0.00,0.000,4,0.000,0.062,2370,541,3400,0,0,0,0,0,0
$GC,737,-0.74,-146.0,85.2,-11.7,123,741,0.15,2.22,0.00,0.000,6,0.150,0.043,2400,1964,3400,0,0,0,0,0,0
$GC,1066,-0.74,-146.0,115.5,-8.2,153,1070,0.00,2.35,0.00,0.000,4,0.000,0.064,2401,542,3401,0,0,0,0,0,0
$GC,1096,-0.74,-146.0,118.0,-8.2,155,1100,0.00,2.22,0.00,0.000,6,0.000,0.043,2393,1961,3401,0,0,0,0,0,0
$GC,1424,-0.74,-146.0,145.7,-8.8,185,1428,0.00,2.33,0.00,0.000,4,0.000,0.064,2393,540,3402,0,0,0,0,0,0
$GC,1676,-0.74,-146.0,166.4,-7.6,207,1683,0.00,2.25,0.00,0.000,6,0.000,0.042,2384,1960,3403,0,0,0,0,0,0
$GC,2003,-0.74,-146.0,187.8,-6.8,238,2007,0.00,2.30,0.00,0.000,4,0.000,0.063,2384,547,3403,0,0,0,0,0,0
$GC,2256,-0.74,-146.0,211.5,-10.5,255,2261,0.00,2.20,0.00,0.000,6,0.000,0.041,2375,1959,3403,0,0,0,0,0,0
$GC,2575,-0.74,-146.0,236.5,-7.6,271,2579,0.00,2.28,0.00,0.000,4,0.000,0.064,2364,3363,3403,0,0,0,0,0,0
$GC,2737,-0.74,-146.0,248.7,-6.6,278,2742,0.12,2.25,0.00,0.000,6,0.143,0.048,2398,1952,3403,0,0,0,0,0,0
$GC,3062,-0.74,-146.0,265.4,-4.6,294,3065,0.00,2.28,0.00,0.000,4,0.000,0.065,2398,545,3403,0,0,0,0,0,0
$GC,3265,-0.74,-146.0,276.7,-6.4,303,3269,0.00,2.17,0.00,0.000,6,0.000,0.040,2390,1959,3403,0,0,0,0,0,0
$GC,3600,-0.74,-146.0,296.4,-6.8,319,3604,0.00,2.30,0.00,0.000,4,0.000,0.061,2390,538,3403,0,0,0,0,0,0
$GC,3858,-0.74,-146.0,317.0,-7.6,326,3864,0.00,2.22,0.00,0.000,6,0.000,0.041,2381,1968,3403,0,0,0,0,0,0
$GC,4191,-0.74,-146.0,336.4,-5.5,335,4195,0.00,2.35,0.00,0.000,4,0.000,0.062,2380,537,3402,0,0,0,0,0,0
$GC,4360,-0.74,-146.0,348.3,-6.9,338,4365,0.00,2.20,0.00,0.000,6,0.000,0.041,2372,1959,3401,0,0,0,0,0,0
$GC,4694,-0.74,-146.0,370.2,-6.5,347,4698,0.00,2.33,0.00,0.000,4,0.000,0.061,2372,544,3399,0,0,0,0,0,0
$GC,4954,-0.74,-146.0,386.5,-6.2,352,4960,0.12,2.22,0.00,0.000,6,0.151,0.041,2395,1964,3398,0,0,0,0,0,0
$GC,5286,-0.74,-146.0,403.8,-5.3,361,5290,0.00,2.30,0.00,0.000,4,0.000,0.067,2387,3364,3397,0,0,0,0,0,0
$GC,5337,-0.74,-146.0,406.3,-4.8,362,5341,0.00,2.25,0.00,0.000,6,0.000,0.049,2387,1954,3397,0,0,0,0,0,0
$GC,5650,-0.74,-146.0,422.5,-5.0,370,5654,0.00,2.30,0.00,0.000,4,0.000,0.066,2387,543,3394,0,0,0,0,0,0
$GC,5701,-0.74,-146.0,425.4,-5.4,371,5705,0.00,2.05,0.00,0.000,3,0.000,0.041,2378,1880,3394,0,0,0,0,0,0
$STATE,5705,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5705,begin apogee
$GC,5712,-0.17,0.0,425.8,6.0,371,5839,0.62,0.00,123.07,0.731,6,0.118,0.000,2579,1983,2800,0,0,0,0,0,0
$STATE,5840,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5843,0.74,146.0,427.1,0.0,374,5981,0.82,2.38,127.70,0.709,4,0.073,0.062,2870,3379,2201,0,0,0,0,0,0
$GC,6037,0.74,146.0,407.4,11.4,378,6041,0.00,2.28,0.00,0.000,6,0.000,0.047,2879,1972,2198,0,0,0,0,0,0
$GC,6380,0.74,146.0,367.2,12.1,387,6384,0.00,2.30,0.00,0.000,4,0.000,0.058,2879,3389,2194,0,0,0,0,0,0
$GC,6475,0.74,146.0,354.8,12.5,389,6479,0.00,2.25,0.00,0.000,6,0.000,0.045,2889,1976,2193,0,0,0,0,0,0
$GC,6794,0.74,146.0,324.3,9.0,397,6798,0.00,2.28,0.00,0.000,4,0.000,0.059,2888,3385,2192,0,0,0,0,0,0
$GC,6860,0.74,146.0,317.7,9.7,398,6864,0.00,2.22,0.00,0.000,6,0.000,0.050,2897,1981,2192,0,0,0,0,0,0
$GC,7184,0.74,147.2,288.1,9.0,409,7188,0.00,2.28,0.00,0.000,4,0.000,0.061,2897,3389,2191,0,0,0,0,0,0
$GC,7280,0.74,147.2,279.0,9.1,413,7285,0.12,2.25,0.00,0.000,6,0.140,0.051,2871,1978,2190,0,0,0,0,0,0
$GC,7596,0.82,210.3,258.8,6.4,428,7657,0.00,2.35,54.67,0.642,4,0.000,0.063,2870,3394,1941,0,0,0,0,0,0
$GC,7736,0.82,210.3,246.9,9.4,434,7740,0.00,2.25,0.00,0.000,6,0.000,0.043,2879,1969,1938,0,0,0,0,0,0
$GC,8052,0.82,210.3,215.1,9.8,449,8056,0.00,2.28,0.00,0.000,4,0.000,0.051,2879,3392,1937,0,0,0,0,0,0
$GC,8125,0.83,225.8,208.5,8.4,452,8144,0.00,2.20,14.20,0.566,6,0.000,0.042,2887,1979,1879,0,0,0,0,0,0
$GC,8464,0.91,289.4,186.8,6.4,478,8526,0.12,2.28,56.03,0.580,4,0.074,0.054,2992,566,1622,0,0,0,0,0,0
$GC,8594,0.91,289.4,172.4,12.7,489,8599,0.20,2.22,0.00,0.000,6,0.120,0.036,2933,1982,1620,0,0,0,0,0,0
$GC,8921,0.91,289.4,138.0,10.9,519,8925,0.00,2.25,0.00,0.000,4,0.000,0.055,2941,571,1620,0,0,0,0,0,0
$GC,8983,0.91,289.4,131.2,11.0,524,8987,0.00,2.17,0.00,0.000,6,0.000,0.037,2940,1982,1620,0,0,0,0,0,0
$GC,9310,0.91,289.4,97.6,10.0,554,9314,0.00,2.28,0.00,0.000,4,0.000,0.057,2950,565,1620,0,0,0,0,0,0
$GC,9351,0.91,289.4,93.2,11.0,557,9355,0.00,2.20,0.00,0.000,6,0.000,0.037,2950,1981,1620,0,0,0,0,0,0
$GC,9684,0.91,289.4,59.8,10.0,605,9690,0.00,2.35,0.00,0.000,4,0.000,0.067,2959,565,1620,0,0,0,0,0,0
$GC,9766,0.91,289.4,50.9,10.5,620,9774,0.00,2.25,0.00,0.000,6,0.000,0.044,2959,1972,1620,0,0,0,0,0,0
$GC,10101,0.94,307.2,22.5,8.3,681,10128,0.00,2.35,17.27,0.432,4,0.000,0.066,2965,576,1545,0,0,0,0,0,0
$GC,10228,0.94,307.2,11.4,9.8,703,10236,0.00,2.25,0.00,0.000,6,0.000,0.042,2965,1987,1545,0,0,0,0,0,0
$STATE,10306,end climb,SURFACE_DEPTH_REACHED
$STATE,10306,begin surface coast
$FINISH,0.8,1.009124
$STATE,10335,end surface coast,CONTROL_FINISHED_OK
$STATE,10335,begin surface
$SM_CCo,10413,0.00,0.000,0,0,1543,308.34
$SM_GC,1.48,7.47,0.00,0.00,0.025,0.000,0.000,37,1988,1543,-8.00,0.88,308.34
$IRIDIUM_FIX,2106.38,-15755.17,081002,020232
$TT8_MAMPS,0.028379
$HUMID,67.12
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.70
$XPDR_PINGS,4
$24V_AH,24.3,61.495
$10V_AH,10.0,68.034
$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,19.350,109.000,392.950,0.000,0.000,23.709,37.923,168.935,18.500,0.000,19.126,1341.299,5942.640,433.428,2536.280,542.841,0.000,1354.959,0.000,2479.599,0.000,112.164,0.000
$DEVICE_MAMPS,221.663,90.506,730.951,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,490.557,419.189,1410.630,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41255,722
$CAP_FILE_SIZE,118163,0
$CFSIZE,260165632,219582464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140713,075225,2109.432,-15801.570,23,0.9,23,9.8