version: 66.06
glider: 523
mission: 4
dive: 720
start: 7 15 113 11 59 23
data:
$ID,523
$MISSION,4
$DIVE,720
$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,-50520.926
$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,24
$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
$GPS1,115251,2110.258,-15757.900,21,1.0,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.1
$GPS2,115906,2110.200,-15757.925,15,1.2,15,9.8
$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,97.6,27171,-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,-80.25,0.000,6,0.000,0.000,33,1951,3397,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.6,-5.7,13,121,9.60,2.28,0.00,0.000,4,0.222,0.054,2376,3363,3397,0,0,0,0,0,0
$GC,136,-0.74,-146.0,12.4,-26.0,17,143,0.00,2.25,0.00,0.000,6,0.000,0.048,2376,1968,3399,0,0,0,0,0,0
$GC,302,-0.74,-146.0,35.2,-12.4,48,309,0.00,2.35,0.00,0.000,4,0.000,0.065,2376,545,3399,0,0,0,0,0,0
$GC,466,-0.74,-146.0,56.1,-11.9,77,472,0.12,2.20,0.00,0.000,6,0.164,0.042,2398,1958,3400,0,0,0,0,0,0
$GC,799,-0.74,-146.0,88.1,-9.0,130,803,0.00,2.38,0.00,0.000,4,0.000,0.063,2398,538,3401,0,0,0,0,0,0
$GC,929,-0.74,-146.0,100.1,-8.8,141,933,0.00,2.20,0.00,0.000,6,0.000,0.042,2390,1957,3401,0,0,0,0,0,0
$GC,1257,-0.74,-146.0,127.3,-8.2,171,1261,0.00,2.33,0.00,0.000,4,0.000,0.063,2391,539,3401,0,0,0,0,0,0
$GC,1432,-0.74,-146.0,142.2,-7.4,186,1440,0.00,2.25,0.00,0.000,6,0.000,0.043,2381,1958,3402,0,0,0,0,0,0
$GC,1760,-0.74,-146.0,161.7,-5.0,217,1764,0.00,2.33,0.00,0.000,4,0.000,0.062,2380,542,3402,0,0,0,0,0,0
$GC,1945,-0.74,-146.0,173.3,-6.8,233,1949,0.00,2.22,0.00,0.000,6,0.000,0.043,2372,1960,3402,0,0,0,0,0,0
$GC,2272,-0.74,-146.0,196.6,-8.1,263,2276,0.00,2.30,0.00,0.000,4,0.000,0.061,2372,541,3402,0,0,0,0,0,0
$GC,2434,-0.74,-146.0,210.8,-6.8,271,2439,0.12,2.22,0.00,0.000,6,0.153,0.042,2395,1964,3402,0,0,0,0,0,0
$GC,2752,-0.74,-146.0,228.4,-6.2,286,2756,0.00,2.28,0.00,0.000,4,0.000,0.063,2386,3371,3402,0,0,0,0,0,0
$GC,2797,-0.74,-146.0,231.7,-6.6,288,2801,0.00,2.25,0.00,0.000,6,0.000,0.048,2386,1952,3402,0,0,0,0,0,0
$GC,3121,-0.74,-146.0,252.4,-7.5,304,3125,0.00,2.28,0.00,0.000,4,0.000,0.065,2386,541,3402,0,0,0,0,0,0
$GC,3284,-0.74,-146.0,264.3,-5.9,311,3288,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1964,3402,0,0,0,0,0,0
$GC,3607,-0.74,-146.0,282.0,-5.0,327,3611,0.00,2.35,0.00,0.000,4,0.000,0.061,2377,536,3402,0,0,0,0,0,0
$GC,3702,-0.74,-146.0,287.2,-4.9,331,3706,0.00,2.20,0.00,0.000,6,0.000,0.042,2367,1961,3402,0,0,0,0,0,0
$GC,4018,-0.74,-146.0,299.9,-4.4,346,4026,0.10,2.28,0.00,0.000,4,0.163,0.063,2385,3371,3401,0,0,0,0,0,0
$GC,4060,-0.74,-146.0,301.7,-4.1,347,4065,0.00,2.25,0.00,0.000,6,0.000,0.048,2385,1949,3401,0,0,0,0,0,0
$GC,4394,-0.74,-146.0,316.3,-4.6,356,4398,0.00,2.28,0.00,0.000,4,0.000,0.064,2385,535,3400,0,0,0,0,0,0
$GC,4654,-0.74,-146.0,331.4,-5.2,361,4660,0.00,2.20,0.00,0.000,6,0.000,0.041,2375,1959,3398,0,0,0,0,0,0
$GC,4986,-0.74,-146.0,348.1,-4.8,370,4990,0.00,2.30,0.00,0.000,4,0.000,0.061,2375,548,3397,0,0,0,0,0,0
$GC,5142,-0.74,-146.0,357.2,-6.4,373,5147,0.12,2.22,0.00,0.000,6,0.151,0.042,2399,1963,3396,0,0,0,0,0,0
$GC,5481,-0.74,-146.0,376.3,-5.8,382,5485,0.00,2.33,0.00,0.000,4,0.000,0.061,2400,537,3394,0,0,0,0,0,0
$GC,5619,-0.74,-146.0,384.0,-5.2,385,5623,0.00,2.22,0.00,0.000,6,0.000,0.042,2392,1956,3394,0,0,0,0,0,0
$GC,5943,-0.74,-146.0,397.7,-4.1,393,5947,0.00,2.30,0.00,0.000,4,0.000,0.061,2392,546,3393,0,0,0,0,0,0
$STATE,6007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6007,begin apogee
$GC,6017,-0.17,0.0,401.0,4.6,394,6143,0.60,0.00,122.70,0.716,6,0.117,0.000,2577,1979,2800,0,0,0,0,0,0
$STATE,6143,end apogee,CONTROL_FINISHED_OK
$STATE,6144,begin climb
$GC,6146,0.74,146.0,401.0,0.0,397,6284,0.82,2.40,127.10,0.693,4,0.071,0.061,2868,3388,2204,0,0,0,0,0,0
$GC,6324,0.74,146.0,383.8,11.0,401,6328,0.00,2.30,0.00,0.000,6,0.000,0.044,2878,1980,2201,0,0,0,0,0,0
$GC,6637,0.74,146.0,353.8,9.5,409,6641,0.00,2.30,0.00,0.000,4,0.000,0.056,2877,3388,2198,0,0,0,0,0,0
$GC,6738,0.74,146.0,343.2,10.6,411,6742,0.00,2.22,0.00,0.000,6,0.000,0.044,2886,1978,2196,0,0,0,0,0,0
$GC,7086,0.74,146.0,309.1,9.9,420,7090,0.00,2.28,0.00,0.000,4,0.000,0.058,2886,3388,2195,0,0,0,0,0,0
$GC,7125,0.74,146.0,304.6,11.7,421,7129,0.00,2.25,0.00,0.000,6,0.000,0.046,2895,1980,2194,0,0,0,0,0,0
$GC,7454,0.74,146.0,271.3,9.4,435,7458,0.00,2.30,0.00,0.000,4,0.000,0.058,2895,3396,2194,0,0,0,0,0,0
$GC,7571,0.74,146.0,258.1,11.7,440,7576,0.12,2.25,0.00,0.000,6,0.139,0.049,2869,1980,2193,0,0,0,0,0,0
$GC,7893,0.77,173.0,230.7,7.9,456,7922,0.00,2.35,22.77,0.611,4,0.000,0.062,2869,3385,2093,0,0,0,0,0,0
$GC,8020,0.77,173.0,219.2,9.1,461,8025,0.00,2.28,0.00,0.000,6,0.000,0.051,2876,1975,2090,0,0,0,0,0,0
$GC,8341,0.77,173.0,188.9,9.3,482,8345,0.00,2.33,0.00,0.000,4,0.000,0.062,2876,3392,2088,0,0,0,0,0,0
$GC,8392,0.77,173.0,184.3,9.2,486,8396,0.00,2.30,0.00,0.000,6,0.000,0.054,2884,1974,2088,0,0,0,0,0,0
$GC,8720,0.80,196.2,157.2,8.1,516,8748,0.00,2.35,20.75,0.557,4,0.000,0.063,2884,3386,1999,0,0,0,0,0,0
$GC,8811,0.80,196.2,149.6,9.3,524,8816,0.00,2.25,0.00,0.000,6,0.000,0.048,2892,1973,1997,0,0,0,0,0,0
$GC,9138,0.81,205.9,121.7,8.6,554,9154,0.00,2.30,9.88,0.491,4,0.000,0.053,2892,3389,1960,0,0,0,0,0,0
$GC,9229,0.81,205.9,113.1,9.2,562,9237,0.00,2.28,0.00,0.000,6,0.000,0.049,2900,1978,1958,0,0,0,0,0,0
$GC,9557,0.84,226.3,89.8,8.2,593,9581,0.00,2.25,19.38,0.495,4,0.000,0.058,2908,562,1875,0,0,0,0,0,0
$GC,9662,0.84,226.3,80.3,9.3,602,9670,0.00,2.25,0.00,0.000,6,0.000,0.037,2908,1990,1875,0,0,0,0,0,0
$GC,9999,0.87,250.4,51.3,8.0,663,10027,0.00,2.22,22.00,0.467,4,0.000,0.053,2908,3399,1778,0,0,0,0,0,0
$GC,10069,0.87,250.4,45.2,9.2,675,10075,0.00,2.28,0.00,0.000,6,0.000,0.046,2913,1969,1778,0,0,0,0,0,0
$GC,10400,0.89,268.8,16.8,8.3,736,10427,0.00,2.28,17.23,0.436,4,0.000,0.061,2918,574,1703,0,0,0,0,0,0
$GC,10488,0.94,308.8,10.3,7.4,751,10528,0.00,2.22,35.17,0.438,6,0.000,0.039,2918,1987,1540,0,0,0,0,0,0
$STATE,10571,end climb,SURFACE_DEPTH_REACHED
$STATE,10571,begin surface coast
$FINISH,0.8,1.023317
$STATE,10606,end surface coast,CONTROL_FINISHED_OK
$STATE,10606,begin surface
$SM_CCo,10684,0.00,0.000,0,0,1536,310.05
$SM_GC,1.42,7.43,0.00,0.00,0.027,0.000,0.000,36,1988,1536,-7.98,0.85,310.05
$IRIDIUM_FIX,2106.38,-15802.47,091002,080802
$TT8_MAMPS,0.029146
$HUMID,68.70
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.10
$XPDR_PINGS,3
$24V_AH,24.4,62.439
$10V_AH,10.0,69.145
$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,19.050,113.750,396.975,0.000,0.000,24.375,37.408,162.846,17.000,0.000,15.747,1407.692,6022.667,431.019,2645.134,542.747,0.000,1381.964,0.000,2602.970,0.000,104.452,0.000
$DEVICE_MAMPS,222.430,65.195,715.611,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,523.630,455.379,1552.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,44333,771
$CAP_FILE_SIZE,120606,0
$CFSIZE,260165632,218984448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150713,145825,2110.436,-15757.106,22,0.7,22,9.8