version: 66.06
glider: 523
mission: 4
dive: 712
start: 7 14 113 11 1 59
data:
$ID,523
$MISSION,4
$DIVE,712
$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,-50380.328
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,105129,2109.649,-15801.009,40,0.9,40,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.1
$GPS2,110142,2109.631,-15801.133,15,1.4,15,9.8
$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,92.9,32256,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-79.25,0.000,6,0.000,0.000,48,1977,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.5,-5.1,13,117,9.68,0.00,0.00,0.000,6,0.224,0.000,2389,1977,3397,0,0,0,0,0,0
$GC,278,-0.74,-146.0,32.9,-12.3,45,283,0.00,2.33,0.00,0.000,4,0.000,0.066,2389,551,3398,0,0,0,0,0,0
$GC,356,-0.74,-146.0,42.0,-10.9,59,362,0.00,2.22,0.00,0.000,6,0.000,0.041,2381,1967,3399,0,0,0,0,0,0
$GC,686,-0.74,-146.0,76.5,-11.8,120,694,0.00,2.35,0.00,0.000,4,0.000,0.064,2380,553,3399,0,0,0,0,0,0
$GC,879,-0.74,-146.0,99.0,-12.6,140,884,0.00,2.17,0.00,0.000,6,0.000,0.040,2372,1961,3399,0,0,0,0,0,0
$GC,1213,-0.74,-146.0,135.3,-10.5,171,1217,0.00,2.28,0.00,0.000,4,0.000,0.063,2372,554,3400,0,0,0,0,0,0
$GC,1350,-0.74,-146.0,150.8,-11.7,183,1355,0.12,2.17,0.00,0.000,6,0.158,0.041,2394,1963,3400,0,0,0,0,0,0
$GC,1683,-0.74,-146.0,180.4,-7.5,214,1687,0.00,2.30,0.00,0.000,4,0.000,0.063,2395,546,3401,0,0,0,0,0,0
$GC,1935,-0.74,-146.0,195.4,-5.7,236,1942,0.00,2.22,0.00,0.000,6,0.000,0.041,2387,1955,3401,0,0,0,0,0,0
$GC,2265,-0.74,-146.0,214.7,-6.2,256,2272,0.00,2.28,0.00,0.000,4,0.000,0.062,2387,553,3401,0,0,0,0,0,0
$GC,2415,-0.74,-146.0,224.1,-5.3,262,2419,0.00,2.17,0.00,0.000,6,0.000,0.040,2378,1966,3401,0,0,0,0,0,0
$GC,2740,-0.74,-146.0,237.1,-2.8,278,2744,0.00,2.33,0.00,0.000,4,0.000,0.063,2378,545,3401,0,0,0,0,0,0
$GC,2852,-0.74,-146.0,241.7,-4.6,283,2856,0.12,2.17,0.00,0.000,6,0.157,0.040,2401,1959,3400,0,0,0,0,0,0
$GC,3175,-0.74,-146.0,256.1,-4.8,299,3179,0.00,2.33,0.00,0.000,4,0.000,0.062,2402,548,3401,0,0,0,0,0,0
$GC,3293,-0.74,-146.0,263.4,-6.4,304,3297,0.00,2.17,0.00,0.000,6,0.000,0.040,2394,1962,3400,0,0,0,0,0,0
$GC,3610,-0.74,-146.0,277.4,-3.9,319,3614,0.00,2.30,0.00,0.000,4,0.000,0.062,2394,553,3399,0,0,0,0,0,0
$GC,3688,-0.74,-146.0,281.4,-5.1,322,3692,0.00,2.20,0.00,0.000,6,0.000,0.041,2384,1964,3399,0,0,0,0,0,0
$GC,4006,-0.74,-146.0,304.3,-9.5,336,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1964,3398,0,0,0,0,0,0
$GC,4329,-0.74,-146.0,333.2,-8.3,344,4333,0.00,2.33,0.00,0.000,4,0.000,0.061,2384,552,3396,0,0,0,0,0,0
$GC,4392,-0.74,-146.0,337.5,-7.0,345,4396,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1961,3395,0,0,0,0,0,0
$GC,4737,-0.74,-146.0,357.0,-5.6,354,4740,0.00,2.25,0.00,0.000,4,0.000,0.065,2365,3362,3394,0,0,0,0,0,0
$GC,4874,-0.74,-146.0,363.3,-3.7,357,4879,0.12,2.22,0.00,0.000,6,0.142,0.048,2399,1960,3393,0,0,0,0,0,0
$GC,5201,-0.74,-146.0,374.1,-3.4,365,5205,0.00,2.30,0.00,0.000,4,0.000,0.066,2399,545,3392,0,0,0,0,0,0
$GC,5218,-0.74,-146.0,374.8,-3.1,365,5225,0.00,2.20,0.00,0.000,6,0.000,0.041,2391,1957,3392,0,0,0,0,0,0
$GC,5569,-0.74,-146.0,394.9,-6.5,374,5573,0.00,2.35,0.00,0.000,4,0.000,0.064,2391,543,3390,0,0,0,0,0,0
$STATE,5705,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5705,begin apogee
$GC,5714,-0.17,0.0,407.3,8.5,377,5840,0.60,0.00,121.95,0.716,6,0.114,0.000,2579,1983,2799,0,0,0,0,0,0
$STATE,5840,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5844,0.74,146.0,410.4,0.0,380,5982,0.82,2.33,127.12,0.697,4,0.074,0.060,2868,3387,2202,0,0,0,0,0,0
$GC,6097,0.78,178.7,390.0,7.7,385,6131,0.00,2.28,29.12,0.667,6,0.000,0.047,2877,1969,2071,0,0,0,0,0,0
$GC,6471,0.82,210.3,360.9,7.7,395,6506,0.00,2.38,28.65,0.666,4,0.000,0.058,2877,3388,1941,0,0,0,0,0,0
$GC,6608,0.83,222.4,349.1,8.5,398,6627,0.00,2.28,12.05,0.614,6,0.000,0.051,2884,1982,1892,0,0,0,0,0,0
$GC,6971,0.83,222.4,312.8,10.4,407,6975,0.00,2.33,0.00,0.000,4,0.000,0.061,2885,3391,1890,0,0,0,0,0,0
$GC,7056,0.83,222.4,302.3,12.1,409,7060,0.00,2.28,0.00,0.000,6,0.000,0.049,2893,1978,1889,0,0,0,0,0,0
$GC,7384,0.83,222.4,268.3,10.7,424,7388,0.00,2.28,0.00,0.000,4,0.000,0.061,2893,3388,1889,0,0,0,0,0,0
$GC,7450,0.83,222.4,260.7,11.3,427,7454,0.00,2.25,0.00,0.000,6,0.000,0.049,2895,1977,1888,0,0,0,0,0,0
$GC,7778,0.83,222.4,225.5,10.3,443,7782,0.00,2.30,0.00,0.000,4,0.000,0.062,2895,3393,1888,0,0,0,0,0,0
$GC,7914,0.83,223.6,213.2,9.0,449,7918,0.00,2.25,0.00,0.000,6,0.000,0.043,2903,1968,1887,0,0,0,0,0,0
$GC,8240,0.86,247.4,189.5,8.0,471,8268,0.00,2.28,22.42,0.579,4,0.000,0.053,2903,3396,1790,0,0,0,0,0,0
$GC,8325,0.86,247.4,181.2,10.3,478,8329,0.00,2.25,0.00,0.000,6,0.000,0.044,2911,1977,1788,0,0,0,0,0,0
$GC,8653,0.86,247.4,146.1,11.0,508,8657,0.00,2.28,0.00,0.000,4,0.000,0.053,2911,3402,1788,0,0,0,0,0,0
$GC,8727,0.86,247.4,137.6,11.7,514,8731,0.00,2.25,0.00,0.000,6,0.000,0.043,2920,1971,1788,0,0,0,0,0,0
$GC,9056,0.89,268.1,108.8,8.2,544,9080,0.00,2.28,19.00,0.511,4,0.000,0.053,2920,3398,1708,0,0,0,0,0,0
$GC,9148,0.89,268.1,100.3,9.7,552,9152,0.00,2.25,0.00,0.000,6,0.000,0.042,2928,1970,1707,0,0,0,0,0,0
$GC,9479,0.89,268.1,72.5,9.9,589,9484,0.00,2.25,0.00,0.000,4,0.000,0.054,2928,3392,1707,0,0,0,0,0,0
$GC,9539,0.89,268.1,65.7,10.3,600,9546,0.00,2.28,0.00,0.000,6,0.000,0.048,2936,1980,1707,0,0,0,0,0,0
$GC,9875,0.95,321.2,38.3,6.8,661,9927,0.00,2.33,46.78,0.468,4,0.000,0.058,2946,570,1488,0,0,0,0,0,0
$GC,10024,0.95,321.2,26.5,9.1,687,10031,0.00,2.22,0.00,0.000,6,0.000,0.035,2946,1987,1487,0,0,0,0,0,0
$GC,10192,0.96,323.8,13.2,8.9,718,10200,0.00,2.25,0.00,0.000,4,0.000,0.054,2946,3388,1487,0,0,0,0,0,0
$GC,10226,0.96,323.8,9.9,10.1,723,10233,0.00,2.28,0.00,0.000,6,0.000,0.051,2953,1991,1487,0,0,0,0,0,0
$STATE,10289,end climb,SURFACE_DEPTH_REACHED
$STATE,10290,begin surface coast
$FINISH,0.7,1.012388
$STATE,10324,end surface coast,CONTROL_FINISHED_OK
$STATE,10324,begin surface
$SM_CCo,10403,0.00,0.000,0,0,1485,322.56
$SM_GC,1.45,7.43,0.00,0.00,0.021,0.000,0.000,38,1955,1485,-8.00,-0.06,322.56
$IRIDIUM_FIX,2057.14,-15801.19,081002,111134
$TT8_MAMPS,0.027612
$HUMID,67.68
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.4,61.683
$10V_AH,10.0,68.250
$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,18.900,104.300,407.100,0.000,0.000,56.665,76.195,266.322,16.750,0.000,15.522,1351.666,6019.952,423.979,2499.981,711.979,0.000,1345.237,0.000,2452.290,0.000,103.334,0.000
$DEVICE_MAMPS,223.964,168.740,716.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,503.310,443.376,1423.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41306,741
$CAP_FILE_SIZE,119393,0
$CFSIZE,260165632,219463680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140713,135633,2109.975,-15800.354,33,1.0,35,9.8