version: 66.06
glider: 523
mission: 4
dive: 717
start: 7 15 113 2 23 53
data:
$ID,523
$MISSION,4
$DIVE,717
$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,-50466.469
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,021719,2109.992,-15758.602,42,1.0,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.4
$GPS2,022336,2109.989,-15758.651,16,1.3,16,9.8
$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,96.1,28263,-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,17,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-79.40,0.000,6,0.000,0.000,38,1977,3396,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.5,-4.6,13,121,9.68,2.35,0.00,0.000,4,0.222,0.059,2387,539,3397,0,0,0,0,0,0
$GC,209,-0.74,-146.0,22.4,-13.9,31,216,0.00,2.25,0.00,0.000,6,0.000,0.043,2379,1947,3398,0,0,0,0,0,0
$GC,378,-0.74,-146.0,43.6,-12.0,62,386,0.00,2.33,0.00,0.000,4,0.000,0.064,2379,554,3399,0,0,0,0,0,0
$GC,500,-0.74,-146.0,58.6,-12.1,84,508,0.00,2.22,0.00,0.000,6,0.000,0.041,2370,1958,3399,0,0,0,0,0,0
$GC,837,-0.74,-146.0,90.3,-9.5,135,841,0.00,2.30,0.00,0.000,4,0.000,0.064,2370,552,3400,0,0,0,0,0,0
$GC,1028,-0.74,-146.0,109.9,-9.2,152,1036,0.12,2.17,0.00,0.000,6,0.156,0.040,2393,1963,3400,0,0,0,0,0,0
$GC,1364,-0.74,-146.0,136.8,-7.6,183,1368,0.00,2.33,0.00,0.000,4,0.000,0.065,2393,542,3401,0,0,0,0,0,0
$GC,1617,-0.74,-146.0,156.3,-6.6,205,1625,0.00,2.22,0.00,0.000,6,0.000,0.041,2386,1949,3401,0,0,0,0,0,0
$GC,1945,-0.74,-146.0,173.3,-5.9,236,1949,0.00,2.30,0.00,0.000,4,0.000,0.063,2375,3377,3402,0,0,0,0,0,0
$GC,2076,-0.74,-146.0,183.7,-8.5,247,2084,0.00,2.30,0.00,0.000,6,0.000,0.048,2375,1963,3402,0,0,0,0,0,0
$GC,2401,-0.74,-146.0,205.7,-6.4,274,2405,0.00,2.35,0.00,0.000,4,0.000,0.071,2375,542,3402,0,0,0,0,0,0
$GC,2658,-0.74,-146.0,225.0,-7.6,285,2665,0.12,2.22,0.00,0.000,6,0.157,0.040,2398,1972,3402,0,0,0,0,0,0
$GC,2974,-0.74,-146.0,246.9,-7.5,301,2979,0.00,2.35,0.00,0.000,4,0.000,0.065,2399,547,3402,0,0,0,0,0,0
$GC,3053,-0.74,-146.0,253.3,-7.9,304,3059,0.00,2.17,0.00,0.000,6,0.000,0.041,2390,1955,3402,0,0,0,0,0,0
$GC,3372,-0.74,-146.0,274.5,-5.8,320,3376,0.00,2.35,0.00,0.000,4,0.000,0.064,2391,539,3402,0,0,0,0,0,0
$GC,3551,-0.74,-146.0,284.1,-4.7,328,3555,0.00,2.22,0.00,0.000,6,0.000,0.041,2381,1964,3402,0,0,0,0,0,0
$GC,3875,-0.74,-146.0,298.0,-5.2,344,3878,0.00,2.35,0.00,0.000,4,0.000,0.064,2381,547,3400,0,0,0,0,0,0
$GC,4133,-0.74,-146.0,319.6,-9.2,350,4136,0.00,2.17,0.00,0.000,6,0.000,0.041,2372,1958,3399,0,0,0,0,0,0
$GC,4471,-0.74,-146.0,345.3,-6.8,359,4475,0.00,2.30,0.00,0.000,4,0.000,0.062,2372,546,3397,0,0,0,0,0,0
$GC,4679,-0.74,-146.0,357.4,-5.0,363,4684,0.12,2.22,0.00,0.000,6,0.153,0.043,2396,1965,3397,0,0,0,0,0,0
$GC,5018,-0.74,-146.0,373.3,-5.2,372,5022,0.00,2.35,0.00,0.000,4,0.000,0.061,2396,535,3395,0,0,0,0,0,0
$GC,5091,-0.74,-146.0,377.9,-6.5,373,5095,0.00,2.25,0.00,0.000,6,0.000,0.043,2389,1963,3394,0,0,0,0,0,0
$GC,5424,-0.74,-146.0,397.6,-5.9,381,5428,0.00,2.33,0.00,0.000,4,0.000,0.063,2388,542,3393,0,0,0,0,0,0
$GC,5614,-0.74,-146.0,409.3,-6.0,385,5618,0.00,2.22,0.00,0.000,6,0.000,0.043,2379,1957,3392,0,0,0,0,0,0
$GC,5962,-0.74,-146.0,428.1,-5.6,394,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1957,3390,0,0,0,0,0,0
$STATE,6040,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6040,begin apogee
$GC,6047,-0.17,0.0,432.7,5.5,396,6173,0.62,0.00,123.07,0.741,6,0.118,0.000,2577,1956,2800,0,0,0,0,0,0
$STATE,6174,end apogee,CONTROL_FINISHED_OK
$STATE,6174,begin climb
$GC,6177,0.74,146.0,433.6,0.0,399,6313,0.85,2.42,128.85,0.716,4,0.073,0.063,2869,3392,2203,0,0,0,0,0,0
$GC,6348,0.74,146.0,417.1,12.5,403,6353,0.00,2.35,0.00,0.000,6,0.000,0.048,2878,1973,2201,0,0,0,0,0,0
$GC,6686,0.74,146.0,378.7,11.0,412,6690,0.00,2.35,0.00,0.000,4,0.000,0.061,2878,3389,2197,0,0,0,0,0,0
$GC,6741,0.74,146.0,372.0,12.9,413,6745,0.00,2.28,0.00,0.000,6,0.000,0.049,2888,1980,2195,0,0,0,0,0,0
$GC,7088,0.74,146.0,331.6,11.3,422,7092,0.00,2.28,0.00,0.000,4,0.000,0.061,2888,3387,2193,0,0,0,0,0,0
$GC,7150,0.74,146.0,324.1,11.9,423,7154,0.00,2.25,0.00,0.000,6,0.000,0.051,2897,1980,2192,0,0,0,0,0,0
$GC,7480,0.74,146.0,287.1,11.1,434,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1981,2191,0,0,0,0,0,0
$GC,7789,0.74,146.0,251.7,11.7,449,7793,0.00,2.28,0.00,0.000,4,0.000,0.062,2896,3386,2189,0,0,0,0,0,0
$GC,7851,0.74,146.0,243.8,13.0,451,7857,0.12,2.28,0.00,0.000,6,0.137,0.052,2870,1979,2189,0,0,0,0,0,0
$GC,8167,0.77,172.2,213.8,7.9,467,8195,0.00,2.33,21.83,0.604,4,0.000,0.060,2879,563,2095,0,0,0,0,0,0
$GC,8278,0.83,218.0,206.3,7.1,472,8324,0.00,2.22,41.10,0.604,6,0.000,0.036,2879,1995,1911,0,0,0,0,0,0
$GC,8647,0.86,243.4,179.5,8.0,502,8678,0.00,2.25,23.08,0.568,4,0.000,0.052,2878,3386,1807,0,0,0,0,0,0
$GC,8703,0.88,262.5,174.8,8.2,507,8728,0.00,2.25,18.67,0.552,6,0.000,0.042,2886,1972,1727,0,0,0,0,0,0
$GC,9048,0.90,282.7,147.3,8.2,539,9073,0.12,2.28,18.58,0.532,4,0.081,0.057,2981,563,1647,0,0,0,0,0,0
$GC,9098,0.90,282.7,141.8,11.9,543,9103,0.17,2.20,0.00,0.000,6,0.121,0.038,2929,1977,1647,0,0,0,0,0,0
$GC,9425,0.90,282.7,105.5,10.5,573,9429,0.00,2.25,0.00,0.000,4,0.000,0.054,2929,3396,1646,0,0,0,0,0,0
$GC,9455,0.90,282.7,102.4,10.7,575,9459,0.00,2.28,0.00,0.000,6,0.000,0.048,2936,1977,1646,0,0,0,0,0,0
$GC,9784,0.91,289.8,74.3,8.7,611,9797,0.00,2.25,7.78,0.430,4,0.000,0.059,2946,564,1618,0,0,0,0,0,0
$GC,9887,0.91,289.8,64.6,9.4,629,9892,0.00,2.20,0.00,0.000,6,0.000,0.040,2946,1987,1618,0,0,0,0,0,0
$GC,10216,0.91,289.8,31.0,9.8,690,10223,0.00,2.22,0.00,0.000,4,0.000,0.054,2946,3381,1618,0,0,0,0,0,0
$GC,10294,0.91,289.8,23.7,9.5,704,10301,0.00,2.28,0.00,0.000,6,0.000,0.051,2954,1980,1618,0,0,0,0,0,0
$GC,10463,0.91,289.8,7.2,11.1,735,10471,0.00,2.30,0.00,0.000,4,0.000,0.060,2964,574,1618,0,0,0,0,0,0
$GC,10490,0.96,327.7,5.1,7.5,739,10525,0.00,2.22,29.33,0.434,2,0.000,0.044,2964,1974,1484,0,0,0,0,0,0
$STATE,10526,end climb,SURFACE_DEPTH_REACHED
$STATE,10526,begin surface coast
$FINISH,0.9,1.023236
$STATE,10569,end surface coast,CONTROL_FINISHED_OK
$STATE,10569,begin surface
$SM_CCo,10648,0.00,0.000,0,0,1479,323.79
$SM_GC,1.50,7.53,0.00,0.00,0.028,0.000,0.000,50,1976,1479,-7.98,0.57,323.79
$IRIDIUM_FIX,2106.38,-15759.46,081002,232330
$TT8_MAMPS,0.027612
$HUMID,68.27
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.20
$XPDR_PINGS,29
$24V_AH,24.3,62.155
$10V_AH,10.0,68.803
$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,19.475,104.650,412.275,0.000,0.000,25.179,36.831,166.111,25.000,0.000,17.131,1378.719,6082.162,463.580,2558.628,532.408,0.000,1372.774,0.000,2506.666,0.000,113.069,0.000
$DEVICE_MAMPS,222.430,70.564,740.922,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,510.824,444.370,1506.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,41144,752
$CAP_FILE_SIZE,116904,0
$CFSIZE,260165632,219172864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150713,052253,2110.007,-15758.457,56,0.8,56,9.8