version: 66.06
glider: 523
mission: 4
dive: 716
start: 7 14 113 23 15 5
data:
$ID,523
$MISSION,4
$DIVE,716
$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,200
$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,-50448.707
$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,2635
$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,15
$R_STBD_OVSHOOT,30
$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
$GPS1,230822,2109.950,-15759.291,38,0.8,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.2
$GPS2,231448,2109.922,-15759.361,15,0.9,15,9.8
$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,95.2,29412,-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,14,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,108,0.00,0.00,-88.07,0.000,6,0.000,0.000,52,1947,3396,0,0,0,0,0,0
$GC,112,-0.74,-146.0,3.1,-3.7,14,126,9.65,0.00,0.00,0.000,6,0.224,0.000,2392,1947,3398,0,0,0,0,0,0
$GC,288,-0.74,-146.0,28.1,-11.8,46,295,0.00,2.35,0.00,0.000,4,0.000,0.068,2393,539,3399,0,0,0,0,0,0
$GC,355,-0.74,-146.0,37.0,-12.3,58,363,0.00,2.25,0.00,0.000,6,0.000,0.043,2385,1950,3399,0,0,0,0,0,0
$GC,692,-0.74,-146.0,75.3,-9.9,119,697,0.00,2.33,0.00,0.000,4,0.000,0.066,2385,542,3399,0,0,0,0,0,0
$GC,937,-0.74,-146.0,104.0,-11.8,145,941,0.00,2.20,0.00,0.000,6,0.000,0.042,2375,1962,3400,0,0,0,0,0,0
$GC,1265,-0.74,-146.0,132.8,-7.1,175,1269,0.00,2.33,0.00,0.000,4,0.000,0.064,2376,542,3401,0,0,0,0,0,0
$GC,1382,-0.74,-146.0,143.1,-9.1,185,1387,0.12,2.20,0.00,0.000,6,0.155,0.042,2398,1964,3400,0,0,0,0,0,0
$GC,1710,-0.74,-146.0,166.2,-5.3,215,1714,0.00,2.35,0.00,0.000,4,0.000,0.064,2399,543,3401,0,0,0,0,0,0
$GC,1926,-0.74,-146.0,180.9,-6.7,234,1930,0.00,2.22,0.00,0.000,6,0.000,0.042,2391,1963,3401,0,0,0,0,0,0
$GC,2263,-0.74,-146.0,202.9,-6.7,263,2267,0.00,2.30,0.00,0.000,4,0.000,0.065,2381,3370,3401,0,0,0,0,0,0
$GC,2330,-0.74,-146.0,207.5,-6.2,266,2334,0.00,2.28,0.00,0.000,6,0.000,0.049,2380,1947,3401,0,0,0,0,0,0
$GC,2653,-0.74,-146.0,227.6,-6.6,282,2658,0.00,2.30,0.00,0.000,4,0.000,0.069,2381,548,3401,0,0,0,0,0,0
$GC,2867,-0.74,-146.0,242.3,-6.6,291,2872,0.00,2.20,0.00,0.000,6,0.000,0.041,2372,1964,3401,0,0,0,0,0,0
$GC,3188,-0.74,-146.0,261.3,-6.4,307,3192,0.00,2.33,0.00,0.000,4,0.000,0.063,2372,548,3401,0,0,0,0,0,0
$GC,3313,-0.74,-146.0,271.2,-7.6,312,3319,0.12,2.20,0.00,0.000,6,0.154,0.041,2394,1958,3401,0,0,0,0,0,0
$GC,3631,-0.74,-146.0,289.8,-4.3,328,3636,0.00,2.30,0.00,0.000,4,0.000,0.062,2395,548,3401,0,0,0,0,0,0
$GC,3737,-0.74,-146.0,293.9,-3.7,332,3743,0.00,2.20,0.00,0.000,6,0.000,0.040,2387,1961,3400,0,0,0,0,0,0
$GC,4071,-0.74,-146.0,313.3,-6.8,344,4076,0.00,2.30,0.00,0.000,4,0.000,0.064,2377,3365,3398,0,0,0,0,0,0
$GC,4099,-0.74,-146.0,315.6,-7.8,344,4104,0.00,2.25,0.00,0.000,6,0.000,0.048,2377,1947,3399,0,0,0,0,0,0
$GC,4433,-0.74,-146.0,339.2,-6.8,352,4437,0.00,2.30,0.00,0.000,4,0.000,0.067,2377,539,3397,0,0,0,0,0,0
$GC,4693,-0.74,-146.0,359.7,-7.6,357,4700,0.00,2.20,0.00,0.000,6,0.000,0.040,2368,1969,3395,0,0,0,0,0,0
$GC,5025,-0.74,-146.0,379.0,-5.9,366,5030,0.10,2.35,0.00,0.000,4,0.163,0.062,2393,541,3393,0,0,0,0,0,0
$GC,5205,-0.74,-146.0,389.1,-5.7,370,5209,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1955,3392,0,0,0,0,0,0
$GC,5525,-0.74,-146.0,404.0,-4.6,378,5529,0.00,2.30,0.00,0.000,4,0.000,0.063,2385,539,3391,0,0,0,0,0,0
$GC,5756,-0.74,-146.0,416.0,-5.0,383,5760,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1957,3389,0,0,0,0,0,0
$STATE,6025,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6025,begin apogee
$GC,6032,-0.17,0.0,429.5,5.8,390,6157,0.62,0.00,122.45,0.736,6,0.112,0.000,2577,1957,2800,0,0,0,0,0,0
$STATE,6158,end apogee,CONTROL_FINISHED_OK
$STATE,6158,begin climb
$GC,6161,0.74,146.0,429.8,0.0,393,6299,0.82,2.38,127.55,0.713,4,0.074,0.061,2867,3389,2203,0,0,0,0,0,0
$GC,6421,0.74,146.0,403.2,12.8,399,6425,0.00,2.28,0.00,0.000,6,0.000,0.045,2876,1973,2199,0,0,0,0,0,0
$GC,6751,0.74,146.0,367.0,10.4,407,6755,0.00,2.33,0.00,0.000,4,0.000,0.059,2876,3388,2197,0,0,0,0,0,0
$GC,6836,0.74,146.0,357.6,11.2,409,6840,0.00,2.25,0.00,0.000,6,0.000,0.047,2885,1979,2195,0,0,0,0,0,0
$GC,7160,0.74,146.0,325.5,10.0,417,7164,0.00,2.30,0.00,0.000,4,0.000,0.061,2885,3392,2194,0,0,0,0,0,0
$GC,7182,0.74,146.0,322.9,11.6,417,7186,0.00,2.28,0.00,0.000,6,0.000,0.050,2893,1976,2194,0,0,0,0,0,0
$GC,7506,0.74,146.0,289.7,10.1,428,7510,0.00,2.28,0.00,0.000,4,0.000,0.059,2894,3396,2193,0,0,0,0,0,0
$GC,7612,0.74,146.0,278.0,10.5,432,7617,0.00,2.22,0.00,0.000,6,0.000,0.042,2901,1977,2192,0,0,0,0,0,0
$GC,7927,0.74,146.0,246.2,10.4,448,7931,0.00,2.25,0.00,0.000,4,0.000,0.056,2901,3397,2191,0,0,0,0,0,0
$GC,7967,0.74,146.0,241.7,11.9,450,7972,0.15,2.20,0.00,0.000,6,0.134,0.042,2868,1977,2191,0,0,0,0,0,0
$GC,8294,0.77,174.3,213.9,7.9,466,8323,0.00,2.30,23.55,0.604,4,0.000,0.052,2867,3393,2088,0,0,0,0,0,0
$GC,8382,0.79,190.7,206.2,8.4,470,8403,0.00,2.22,15.57,0.576,6,0.000,0.043,2874,1979,2021,0,0,0,0,0,0
$GC,8722,0.82,216.8,179.3,7.9,498,8751,0.00,2.25,24.15,0.574,4,0.000,0.050,2874,3392,1914,0,0,0,0,0,0
$GC,8778,0.83,220.4,174.7,8.9,502,8791,0.00,2.22,4.53,0.418,6,0.000,0.041,2883,1980,1900,0,0,0,0,0,0
$GC,9110,0.84,227.1,145.4,8.8,533,9123,0.00,2.25,7.30,0.476,4,0.000,0.050,2883,3392,1873,0,0,0,0,0,0
$GC,9149,0.84,227.1,141.6,9.7,536,9153,0.00,2.22,0.00,0.000,6,0.000,0.043,2892,1980,1872,0,0,0,0,0,0
$GC,9476,0.84,228.5,110.2,9.0,566,9480,0.00,2.25,0.00,0.000,4,0.000,0.054,2893,3391,1871,0,0,0,0,0,0
$GC,9550,0.84,228.5,103.4,9.6,572,9554,0.00,2.22,0.00,0.000,6,0.000,0.043,2900,1975,1872,0,0,0,0,0,0
$GC,9875,0.84,228.5,76.2,9.2,606,9882,0.00,2.25,0.00,0.000,4,0.000,0.057,2906,574,1872,0,0,0,0,0,0
$GC,9919,0.84,228.5,72.4,9.2,613,9925,0.00,2.17,0.00,0.000,6,0.000,0.034,2906,1993,1872,0,0,0,0,0,0
$GC,10249,0.90,276.0,47.4,7.1,674,10302,0.00,2.22,43.53,0.474,4,0.000,0.054,2906,3378,1672,0,0,0,0,0,0
$GC,10320,0.93,304.0,41.7,7.9,686,10351,0.00,2.25,25.08,0.460,6,0.000,0.049,2906,1987,1559,0,0,0,0,0,0
$GC,10672,0.93,304.0,11.3,9.5,751,10680,0.00,2.33,0.00,0.000,4,0.000,0.061,2906,573,1558,0,0,0,0,0,0
$GC,10689,0.93,304.0,9.4,10.2,753,10696,0.00,2.20,0.00,0.000,6,0.000,0.036,2906,1977,1558,0,0,0,0,0,0
$STATE,10750,end climb,SURFACE_DEPTH_REACHED
$STATE,10750,begin surface coast
$FINISH,0.6,1.010385
$STATE,10777,end surface coast,CONTROL_FINISHED_OK
$STATE,10778,begin surface
$SM_CCo,10856,0.00,0.000,0,0,1556,304.90
$SM_GC,1.49,7.38,0.00,0.00,0.026,0.000,0.000,39,1977,1556,-7.98,0.62,304.90
$IRIDIUM_FIX,2057.14,-15743.60,081002,202055
$TT8_MAMPS,0.027612
$HUMID,69.29
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.00
$XPDR_PINGS,136
$24V_AH,24.3,62.062
$10V_AH,10.0,68.692
$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,18.975,108.550,393.700,0.000,0.000,27.748,38.129,167.999,51.500,0.000,15.584,1403.617,6207.291,430.668,2639.974,550.546,0.000,1391.365,0.000,2592.296,0.000,116.193,0.000
$DEVICE_MAMPS,223.964,69.030,736.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,522.291,459.880,1519.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,44326,769
$CAP_FILE_SIZE,121235,0
$CFSIZE,260165632,219230208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150713,021719,2109.992,-15758.602,42,1.0,42,9.8