version: 66.06
glider: 523
mission: 4
dive: 719
start: 7 15 113 8 50 27
data:
$ID,523
$MISSION,4
$DIVE,719
$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,-50504.551
$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,18
$R_STBD_OVSHOOT,22
$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
$GPS1,083904,2110.100,-15758.542,23,0.8,23,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.2
$GPS2,085011,2109.992,-15758.635,19,0.9,19,9.8
$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,96.1,28237,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-86.80,0.000,6,0.000,0.000,42,1957,3396,0,0,0,0,0,0
$GC,109,-0.74,-146.0,3.4,-4.9,14,123,9.70,0.00,0.00,0.000,6,0.225,0.000,2388,1956,3398,0,0,0,0,0,0
$GC,282,-0.74,-146.0,31.3,-13.0,46,290,0.00,2.33,0.00,0.000,4,0.000,0.067,2389,551,3399,0,0,0,0,0,0
$GC,412,-0.74,-146.0,48.4,-12.8,69,417,0.00,2.22,0.00,0.000,6,0.000,0.041,2380,1968,3398,0,0,0,0,0,0
$GC,754,-0.74,-146.0,84.0,-8.8,127,758,0.00,2.35,0.00,0.000,4,0.000,0.066,2381,536,3399,0,0,0,0,0,0
$GC,1005,-0.74,-146.0,110.6,-9.5,149,1013,0.00,2.22,0.00,0.000,6,0.000,0.041,2372,1952,3400,0,0,0,0,0,0
$GC,1333,-0.74,-146.0,140.0,-8.2,180,1337,0.00,2.30,0.00,0.000,4,0.000,0.065,2372,543,3400,0,0,0,0,0,0
$GC,1514,-0.74,-146.0,153.7,-7.1,196,1521,0.10,2.22,0.00,0.000,6,0.134,0.041,2394,1961,3400,0,0,0,0,0,0
$GC,1842,-0.74,-146.0,173.6,-6.9,227,1846,0.00,2.33,0.00,0.000,4,0.000,0.064,2394,548,3400,0,0,0,0,0,0
$GC,2096,-0.74,-146.0,195.5,-7.9,249,2103,0.00,2.22,0.00,0.000,6,0.000,0.040,2386,1960,3401,0,0,0,0,0,0
$GC,2428,-0.74,-146.0,218.9,-6.9,268,2432,0.00,2.33,0.00,0.000,4,0.000,0.063,2386,545,3401,0,0,0,0,0,0
$GC,2565,-0.74,-146.0,228.8,-7.6,274,2569,0.00,2.17,0.00,0.000,6,0.000,0.039,2377,1962,3400,0,0,0,0,0,0
$GC,2889,-0.74,-146.0,249.7,-6.1,290,2896,0.00,2.33,0.00,0.000,4,0.000,0.064,2377,546,3401,0,0,0,0,0,0
$GC,2959,-0.74,-146.0,254.5,-6.1,293,2963,0.00,2.20,0.00,0.000,6,0.000,0.040,2368,1962,3400,0,0,0,0,0,0
$GC,3289,-0.74,-146.0,273.1,-5.4,309,3291,0.10,0.00,0.00,0.000,6,0.168,0.000,2393,1962,3400,0,0,0,0,0,0
$GC,3598,-0.74,-146.0,290.5,-6.0,324,3602,0.00,2.33,0.00,0.000,4,0.000,0.062,2394,542,3400,0,0,0,0,0,0
$GC,3844,-0.74,-146.0,306.5,-6.0,333,3848,0.00,2.20,0.00,0.000,6,0.000,0.039,2386,1959,3398,0,0,0,0,0,0
$GC,4185,-0.74,-146.0,325.6,-5.9,342,4189,0.00,2.35,0.00,0.000,4,0.000,0.061,2386,536,3397,0,0,0,0,0,0
$GC,4235,-0.74,-146.0,329.0,-6.3,343,4239,0.00,2.20,0.00,0.000,6,0.000,0.040,2376,1963,3397,0,0,0,0,0,0
$GC,4550,-0.74,-146.0,345.8,-5.0,351,4554,0.00,2.33,0.00,0.000,4,0.000,0.061,2376,546,3395,0,0,0,0,0,0
$GC,4712,-0.74,-146.0,355.8,-7.0,354,4716,0.12,2.20,0.00,0.000,6,0.155,0.040,2399,1958,3394,0,0,0,0,0,0
$GC,5044,-0.74,-146.0,378.3,-7.3,362,5048,0.00,2.33,0.00,0.000,4,0.000,0.060,2400,539,3392,0,0,0,0,0,0
$GC,5072,-0.74,-146.0,380.8,-8.6,362,5076,0.00,2.22,0.00,0.000,6,0.000,0.041,2392,1962,3392,0,0,0,0,0,0
$GC,5409,-0.74,-146.0,401.7,-5.2,371,5413,0.00,2.28,0.00,0.000,4,0.000,0.062,2381,3365,3391,0,0,0,0,0,0
$GC,5511,-0.74,-146.0,407.3,-5.4,373,5515,0.00,2.25,0.00,0.000,6,0.000,0.048,2381,1951,3391,0,0,0,0,0,0
$GC,5861,-0.74,-146.0,426.9,-6.0,382,5865,0.00,2.30,0.00,0.000,4,0.000,0.066,2381,542,3389,0,0,0,0,0,0
$STATE,6004,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6004,begin apogee
$GC,6013,-0.17,0.0,438.9,8.4,385,6138,0.62,0.00,122.07,0.735,6,0.117,0.000,2575,1987,2799,0,0,0,0,0,0
$STATE,6139,end apogee,CONTROL_FINISHED_OK
$STATE,6139,begin climb
$GC,6142,0.74,146.0,442.0,0.0,388,6281,0.82,2.33,127.68,0.714,4,0.071,0.059,2866,3387,2203,0,0,0,0,0,0
$GC,6325,0.74,146.0,429.7,10.0,392,6330,0.00,2.28,0.00,0.000,6,0.000,0.044,2876,1976,2201,0,0,0,0,0,0
$GC,6675,0.75,155.4,399.4,8.6,401,6689,0.00,2.35,8.57,0.604,4,0.000,0.058,2876,3390,2165,0,0,0,0,0,0
$GC,6780,0.75,155.4,387.2,12.8,403,6784,0.00,2.28,0.00,0.000,6,0.000,0.047,2885,1971,2163,0,0,0,0,0,0
$GC,7128,0.75,155.4,346.1,11.8,412,7132,0.00,2.33,0.00,0.000,4,0.000,0.061,2885,3385,2161,0,0,0,0,0,0
$GC,7306,0.75,155.4,323.8,11.8,416,7310,0.00,2.25,0.00,0.000,6,0.000,0.048,2893,1979,2160,0,0,0,0,0,0
$GC,7626,0.75,159.8,293.2,8.9,425,7635,0.00,2.30,4.55,0.469,4,0.000,0.061,2894,3391,2148,0,0,0,0,0,0
$GC,7758,0.75,159.8,279.6,11.3,430,7763,0.00,2.22,0.00,0.000,6,0.000,0.049,2895,1980,2147,0,0,0,0,0,0
$GC,8073,0.75,159.8,245.0,11.3,446,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1980,2146,0,0,0,0,0,0
$GC,8383,0.75,159.8,208.2,11.9,461,8387,0.00,2.30,0.00,0.000,4,0.000,0.060,2895,3389,2145,0,0,0,0,0,0
$GC,8482,0.75,159.8,197.3,10.7,466,8486,0.00,2.25,0.00,0.000,6,0.000,0.050,2904,1983,2145,0,0,0,0,0,0
$GC,8814,0.81,205.3,170.7,7.1,497,8862,0.00,0.00,40.38,0.578,6,0.000,0.000,2904,1982,1962,0,0,0,0,0,0
$GC,9184,0.84,226.0,141.4,8.2,532,9208,0.00,2.33,19.38,0.533,4,0.000,0.061,2903,3388,1877,0,0,0,0,0,0
$GC,9311,0.84,233.0,130.1,8.7,543,9324,0.00,2.28,7.47,0.464,6,0.000,0.050,2910,1970,1849,0,0,0,0,0,0
$GC,9644,0.88,264.0,101.9,7.7,574,9680,0.00,2.35,28.42,0.507,4,0.000,0.060,2911,3385,1722,0,0,0,0,0,0
$GC,9761,0.91,287.7,92.9,8.0,584,9788,0.00,2.28,21.75,0.492,6,0.000,0.047,2919,1966,1625,0,0,0,0,0,0
$GC,10117,0.91,287.7,58.5,10.9,635,10122,0.00,2.25,0.00,0.000,4,0.000,0.061,2929,572,1625,0,0,0,0,0,0
$GC,10195,0.91,287.7,50.5,9.3,649,10201,0.00,2.22,0.00,0.000,6,0.000,0.039,2929,1998,1625,0,0,0,0,0,0
$GC,10527,0.91,287.7,22.6,9.5,710,10534,0.00,2.38,0.00,0.000,4,0.000,0.065,2930,576,1625,0,0,0,0,0,0
$GC,10551,0.94,314.9,21.0,7.9,713,10584,0.00,2.22,24.27,0.440,6,0.000,0.042,2930,1978,1515,0,0,0,0,0,0
$GC,10746,0.94,314.9,4.6,9.5,748,10753,0.00,2.25,0.00,0.000,4,0.000,0.053,2930,3384,1514,0,0,0,0,0,0
$STATE,10759,end climb,SURFACE_DEPTH_REACHED
$STATE,10759,begin surface coast
$FINISH,0.8,1.013830
$STATE,10792,end surface coast,CONTROL_FINISHED_OK
$STATE,10792,begin surface
$SM_CCo,10873,0.00,0.000,0,0,1512,315.94
$SM_GC,1.54,7.38,0.00,0.00,0.025,0.000,0.000,34,1953,1512,-7.99,-0.11,315.94
$IRIDIUM_FIX,2104.07,-15750.02,091002,080835
$TT8_MAMPS,0.027612
$HUMID,68.27
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,24.3,62.353
$10V_AH,10.0,69.031
$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,18.850,100.225,404.550,0.000,0.000,71.082,72.344,284.315,18.500,0.000,19.896,1385.694,6338.608,423.312,2616.337,764.642,0.000,1378.469,0.000,2562.206,0.000,116.630,0.000
$DEVICE_MAMPS,224.731,66.729,734.786,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,513.323,442.675,1511.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,41231,756
$CAP_FILE_SIZE,121183,0
$CFSIZE,260165632,219045888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150713,115251,2110.258,-15757.900,21,1.0,35,9.8