version: 66.06
glider: 523
mission: 4
dive: 721
start: 7 15 113 15 5 20
data:
$ID,523
$MISSION,4
$DIVE,721
$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,-50562.246
$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,25
$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
$GPS1,145825,2110.436,-15757.106,22,0.7,22,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.2
$GPS2,150504,2110.431,-15757.068,40,0.8,40,9.8
$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,99.5,25902,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-79.65,0.000,6,0.000,0.000,26,1988,3396,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.5,-5.3,13,120,9.62,2.33,0.00,0.000,4,0.220,0.050,2386,541,3397,0,0,0,0,0,0
$GC,201,-0.74,-146.0,22.5,-14.9,30,209,0.00,2.28,0.00,0.000,6,0.000,0.045,2378,1953,3398,0,0,0,0,0,0
$GC,375,-0.74,-146.0,45.3,-13.0,61,381,0.00,2.28,0.00,0.000,4,0.000,0.059,2378,549,3399,0,0,0,0,0,0
$GC,574,-0.74,-146.0,68.4,-9.9,97,579,0.00,2.22,0.00,0.000,6,0.000,0.044,2369,1960,3399,0,0,0,0,0,0
$GC,910,-0.74,-146.0,94.8,-7.6,140,917,0.00,2.25,0.00,0.000,4,0.000,0.061,2359,3367,3400,0,0,0,0,0,0
$GC,979,-0.74,-146.0,101.0,-9.6,146,984,0.15,2.20,0.00,0.000,6,0.140,0.045,2399,1962,3400,0,0,0,0,0,0
$GC,1307,-0.74,-146.0,130.4,-8.3,176,1311,0.00,2.28,0.00,0.000,4,0.000,0.059,2392,3373,3401,0,0,0,0,0,0
$GC,1440,-0.74,-146.0,141.1,-8.0,187,1448,0.00,2.28,0.00,0.000,6,0.000,0.048,2392,1959,3401,0,0,0,0,0,0
$GC,1768,-0.74,-146.0,167.9,-7.8,218,1772,0.00,2.30,0.00,0.000,4,0.000,0.066,2391,536,3402,0,0,0,0,0,0
$GC,2018,-0.74,-146.0,189.0,-8.6,240,2022,0.00,2.20,0.00,0.000,6,0.000,0.041,2382,1958,3402,0,0,0,0,0,0
$GC,2348,-0.74,-146.0,213.7,-7.0,262,2353,0.00,2.30,0.00,0.000,4,0.000,0.063,2372,3375,3402,0,0,0,0,0,0
$GC,2382,-0.74,-146.0,216.1,-7.7,263,2388,0.00,2.25,0.00,0.000,6,0.000,0.048,2372,1952,3402,0,0,0,0,0,0
$GC,2701,-0.74,-146.0,240.0,-7.4,279,2705,0.00,2.28,0.00,0.000,4,0.000,0.066,2372,548,3402,0,0,0,0,0,0
$GC,2960,-0.74,-146.0,261.0,-7.1,290,2967,0.12,2.17,0.00,0.000,6,0.153,0.041,2395,1961,3402,0,0,0,0,0,0
$GC,3278,-0.74,-146.0,277.4,-5.5,306,3282,0.00,2.33,0.00,0.000,4,0.000,0.061,2395,545,3401,0,0,0,0,0,0
$GC,3357,-0.74,-146.0,282.7,-6.8,309,3363,0.00,2.20,0.00,0.000,6,0.000,0.041,2388,1955,3401,0,0,0,0,0,0
$GC,3673,-0.74,-146.0,298.5,-4.1,325,3677,0.00,2.30,0.00,0.000,4,0.000,0.064,2377,3365,3401,0,0,0,0,0,0
$GC,3724,-0.74,-146.0,301.0,-5.0,327,3728,0.00,2.22,0.00,0.000,6,0.000,0.048,2377,1957,3401,0,0,0,0,0,0
$GC,4044,-0.74,-146.0,316.5,-5.2,335,4048,0.00,2.30,0.00,0.000,4,0.000,0.066,2377,540,3400,0,0,0,0,0,0
$GC,4180,-0.74,-146.0,325.0,-6.2,338,4185,0.00,2.20,0.00,0.000,6,0.000,0.042,2368,1959,3399,0,0,0,0,0,0
$GC,4508,-0.74,-146.0,346.0,-6.7,346,4513,0.10,2.33,0.00,0.000,4,0.165,0.062,2394,535,3397,0,0,0,0,0,0
$GC,4548,-0.74,-146.0,349.0,-7.0,347,4552,0.00,2.25,0.00,0.000,6,0.000,0.044,2386,1965,3397,0,0,0,0,0,0
$GC,4875,-0.74,-146.0,369.2,-6.1,355,4879,0.00,2.33,0.00,0.000,4,0.000,0.062,2386,545,3395,0,0,0,0,0,0
$GC,5020,-0.74,-146.0,378.8,-6.6,358,5024,0.00,2.22,0.00,0.000,6,0.000,0.044,2377,1959,3394,0,0,0,0,0,0
$GC,5370,-0.74,-146.0,400.4,-6.0,367,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1959,3393,0,0,0,0,0,0
$GC,5694,-0.74,-146.0,420.0,-6.3,375,5701,0.00,2.28,0.00,0.000,4,0.000,0.059,2366,3370,3391,0,0,0,0,0,0
$GC,5730,-0.74,-146.0,422.5,-6.9,375,5735,0.12,2.28,0.00,0.000,6,0.140,0.053,2399,1959,3392,0,0,0,0,0,0
$STATE,6018,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6018,begin apogee
$GC,6024,-0.17,0.0,438.5,5.3,382,6150,0.55,0.00,123.22,0.747,6,0.110,0.000,2580,1959,2799,0,0,0,0,0,0
$STATE,6151,end apogee,CONTROL_FINISHED_OK
$STATE,6151,begin climb
$GC,6154,0.74,146.0,438.8,0.0,385,6292,0.82,2.40,127.57,0.723,4,0.074,0.058,2869,3388,2203,0,0,0,0,0,0
$GC,6382,0.74,146.0,415.5,12.0,390,6386,0.00,2.28,0.00,0.000,6,0.000,0.045,2878,1974,2199,0,0,0,0,0,0
$GC,6731,0.74,146.0,377.2,10.8,399,6735,0.00,2.30,0.00,0.000,4,0.000,0.058,2878,3389,2196,0,0,0,0,0,0
$GC,6848,0.74,146.0,363.7,11.3,401,6852,0.00,2.25,0.00,0.000,6,0.000,0.048,2888,1971,2195,0,0,0,0,0,0
$GC,7180,0.74,146.0,327.0,11.3,409,7184,0.00,2.30,0.00,0.000,4,0.000,0.060,2888,3398,2195,0,0,0,0,0,0
$GC,7285,0.74,146.0,314.5,11.5,411,7289,0.00,2.28,0.00,0.000,6,0.000,0.051,2896,1981,2194,0,0,0,0,0,0
$GC,7610,0.77,172.0,284.5,8.0,423,7634,0.00,0.00,22.40,0.647,6,0.000,0.000,2896,1980,2098,0,0,0,0,0,0
$GC,7940,0.79,187.8,258.7,8.4,439,7961,0.00,2.33,14.80,0.613,4,0.000,0.063,2896,3402,2033,0,0,0,0,0,0
$GC,8029,0.79,187.8,249.7,10.8,443,8034,0.00,2.25,0.00,0.000,6,0.000,0.042,2906,1978,2032,0,0,0,0,0,0
$GC,8357,0.80,196.9,216.6,8.7,459,8371,0.00,2.25,9.43,0.557,4,0.000,0.052,2906,3393,1996,0,0,0,0,0,0
$GC,8494,0.80,196.9,204.4,9.4,465,8498,0.00,2.20,0.00,0.000,6,0.000,0.042,2915,1979,1993,0,0,0,0,0,0
$GC,8820,0.80,196.9,174.1,9.2,493,8825,0.00,2.28,0.00,0.000,4,0.000,0.053,2915,3399,1993,0,0,0,0,0,0
$GC,8895,0.80,196.9,167.0,9.8,499,8900,0.12,2.25,0.00,0.000,6,0.138,0.042,2889,1967,1993,0,0,0,0,0,0
$GC,9223,0.84,230.8,140.8,7.6,529,9258,0.00,2.28,30.33,0.553,4,0.000,0.051,2888,3395,1859,0,0,0,0,0,0
$GC,9340,0.85,236.2,131.0,8.8,539,9353,0.00,2.22,6.57,0.453,6,0.000,0.042,2895,1980,1835,0,0,0,0,0,0
$GC,9672,0.88,261.8,101.8,8.0,570,9698,0.00,0.00,23.73,0.507,6,0.000,0.000,2895,1980,1731,0,0,0,0,0,0
$GC,10017,0.90,281.4,72.3,8.2,610,10041,0.00,2.25,17.95,0.475,4,0.000,0.051,2895,3393,1653,0,0,0,0,0,0
$GC,10092,0.92,293.4,66.1,8.5,623,10110,0.00,2.25,12.38,0.454,6,0.000,0.047,2899,1980,1602,0,0,0,0,0,0
$GC,10435,0.94,311.3,40.5,8.3,686,10460,0.10,2.28,16.70,0.446,4,0.086,0.057,2946,581,1528,0,0,0,0,0,0
$GC,10544,0.94,311.7,31.5,9.0,705,10549,0.00,2.15,0.00,0.000,6,0.000,0.035,2946,1989,1528,0,0,0,0,0,0
$STATE,10858,end climb,SURFACE_DEPTH_REACHED
$STATE,10858,begin surface coast
$FINISH,0.8,1.023259
$STATE,10898,end surface coast,CONTROL_FINISHED_OK
$STATE,10898,begin surface
$SM_CCo,10977,0.00,0.000,0,0,1526,312.51
$SM_GC,1.49,7.45,0.00,0.00,0.025,0.000,0.000,51,1931,1526,-7.98,-0.74,312.51
$IRIDIUM_FIX,2101.76,-15722.99,091002,121200
$TT8_MAMPS,0.027612
$HUMID,68.70
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,24.3,62.530
$10V_AH,10.0,69.256
$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,19.175,99.650,405.075,0.000,0.000,24.851,32.871,167.665,18.500,0.000,40.688,1394.023,6409.477,435.233,2590.355,536.003,0.000,1341.281,0.000,2517.132,0.000,112.623,0.000
$DEVICE_MAMPS,220.129,144.196,747.058,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,524.925,449.769,1515.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,44461,772
$CAP_FILE_SIZE,118416,0
$CFSIZE,260165632,218927104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150713,180912,2110.475,-15756.601,19,0.8,19,9.8