version: 66.06
glider: 523
mission: 4
dive: 726
start: 7 16 113 6 59 52
data:
$ID,523
$MISSION,4
$DIVE,726
$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,-50654.57
$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,2630
$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,1952
$C_ROLL_CLIMB,1984
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,32
$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
$GPS1,065303,2110.965,-15754.925,33,1.9,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.4
$GPS2,065935,2111.051,-15755.021,17,0.9,17,9.8
$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,105.1,23052,-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,-79.45,0.000,6,0.000,0.000,50,1934,3395,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.2,-3.8,13,120,9.65,2.28,0.00,0.000,4,0.225,0.060,2379,532,3396,0,0,0,0,0,0
$GC,262,-0.74,-146.0,29.8,-13.5,41,269,0.00,2.25,0.00,0.000,6,0.000,0.045,2371,1932,3398,0,0,0,0,0,0
$GC,435,-0.74,-146.0,51.4,-12.3,72,442,0.00,2.30,0.00,0.000,4,0.000,0.061,2371,548,3398,0,0,0,0,0,0
$GC,499,-0.74,-146.0,59.5,-12.4,83,505,0.12,2.22,0.00,0.000,6,0.162,0.044,2393,1955,3398,0,0,0,0,0,0
$GC,833,-0.74,-146.0,88.7,-9.1,135,837,0.00,2.33,0.00,0.000,4,0.000,0.061,2393,531,3399,0,0,0,0,0,0
$GC,1084,-0.74,-146.0,112.5,-9.1,157,1092,0.00,2.28,0.00,0.000,6,0.000,0.045,2385,1952,3400,0,0,0,0,0,0
$GC,1411,-0.74,-146.0,136.2,-6.7,188,1416,0.00,2.33,0.00,0.000,4,0.000,0.062,2385,536,3400,0,0,0,0,0,0
$GC,1443,-0.74,-146.0,138.3,-6.7,190,1447,0.00,2.25,0.00,0.000,6,0.000,0.045,2376,1957,3401,0,0,0,0,0,0
$GC,1770,-0.74,-146.0,164.9,-9.3,220,1774,0.00,2.33,0.00,0.000,4,0.000,0.060,2376,531,3401,0,0,0,0,0,0
$GC,2025,-0.74,-146.0,191.8,-10.4,243,2029,0.00,2.22,0.00,0.000,6,0.000,0.045,2367,1955,3401,0,0,0,0,0,0
$GC,2344,-0.74,-146.0,220.0,-8.3,262,2349,0.00,2.33,0.00,0.000,4,0.000,0.062,2367,532,3401,0,0,0,0,0,0
$GC,2520,-0.74,-146.0,233.3,-6.6,270,2524,0.12,2.22,0.00,0.000,6,0.156,0.044,2390,1951,3401,0,0,0,0,0,0
$GC,2853,-0.74,-146.0,255.5,-7.9,286,2857,0.00,2.33,0.00,0.000,4,0.000,0.060,2390,534,3401,0,0,0,0,0,0
$GC,3105,-0.74,-146.0,273.9,-6.0,297,3109,0.00,2.22,0.00,0.000,6,0.000,0.043,2382,1951,3401,0,0,0,0,0,0
$GC,3424,-0.74,-146.0,292.0,-6.0,312,3428,0.00,2.30,0.00,0.000,4,0.000,0.059,2382,538,3401,0,0,0,0,0,0
$GC,3649,-0.74,-146.0,306.2,-4.7,320,3653,0.00,2.20,0.00,0.000,6,0.000,0.043,2373,1955,3401,0,0,0,0,0,0
$GC,3974,-0.74,-146.0,322.8,-6.1,328,3978,0.00,2.30,0.00,0.000,4,0.000,0.063,2363,3368,3400,0,0,0,0,0,0
$GC,3995,-0.74,-146.0,324.6,-8.1,328,4000,0.00,2.28,0.00,0.000,6,0.000,0.052,2363,1948,3400,0,0,0,0,0,0
$GC,4341,-0.74,-146.0,349.8,-6.9,337,4345,0.00,2.28,0.00,0.000,4,0.000,0.061,2364,537,3399,0,0,0,0,0,0
$GC,4599,-0.74,-146.0,365.6,-6.1,342,4604,0.15,2.20,0.00,0.000,6,0.149,0.043,2394,1961,3397,0,0,0,0,0,0
$GC,4931,-0.74,-146.0,383.5,-5.5,350,4935,0.00,2.35,0.00,0.000,4,0.000,0.063,2395,529,3395,0,0,0,0,0,0
$GC,5020,-0.74,-146.0,387.9,-4.6,352,5024,0.00,2.22,0.00,0.000,6,0.000,0.042,2387,1944,3395,0,0,0,0,0,0
$GC,5341,-0.74,-146.0,402.2,-4.6,360,5345,0.00,2.35,0.00,0.000,4,0.000,0.064,2387,539,3394,0,0,0,0,0,0
$GC,5496,-0.74,-146.0,410.2,-5.7,363,5500,0.00,2.25,0.00,0.000,6,0.000,0.044,2378,1959,3393,0,0,0,0,0,0
$GC,5839,-0.74,-146.0,429.5,-5.9,372,5843,0.00,2.35,0.00,0.000,4,0.000,0.064,2378,538,3392,0,0,0,0,0,0
$GC,5923,-0.74,-146.0,434.8,-6.2,374,5928,0.00,2.25,0.00,0.000,6,0.000,0.044,2368,1958,3391,0,0,0,0,0,0
$STATE,6006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6006,begin apogee
$GC,6013,-0.17,0.0,440.0,6.1,376,6139,0.65,0.00,123.05,0.739,6,0.119,0.000,2573,1958,2800,0,0,0,0,0,0
$STATE,6140,end apogee,CONTROL_FINISHED_OK
$STATE,6140,begin climb
$GC,6143,0.74,146.0,441.0,0.0,379,6282,0.85,2.40,128.50,0.718,4,0.077,0.054,2866,3400,2203,0,0,0,0,0,0
$GC,6321,0.74,146.0,425.6,11.3,383,6325,0.00,2.35,0.00,0.000,6,0.000,0.048,2876,1979,2200,0,0,0,0,0,0
$GC,6668,0.74,146.0,392.7,9.2,392,6673,0.00,2.33,0.00,0.000,4,0.000,0.059,2875,3395,2197,0,0,0,0,0,0
$GC,6809,0.74,146.0,378.1,10.6,395,6813,0.00,2.28,0.00,0.000,6,0.000,0.049,2885,1979,2196,0,0,0,0,0,0
$GC,7122,0.74,146.0,347.7,9.4,403,7126,0.00,2.28,0.00,0.000,4,0.000,0.059,2884,3392,2194,0,0,0,0,0,0
$GC,7239,0.74,146.0,335.4,9.6,405,7243,0.00,2.28,0.00,0.000,6,0.000,0.050,2893,1977,2193,0,0,0,0,0,0
$GC,7571,0.74,146.0,302.2,10.2,413,7575,0.00,2.33,0.00,0.000,4,0.000,0.061,2893,3400,2192,0,0,0,0,0,0
$GC,7745,0.74,146.0,281.7,11.7,420,7750,0.12,2.30,0.00,0.000,6,0.134,0.052,2864,1976,2191,0,0,0,0,0,0
$GC,8072,0.79,186.0,256.7,7.4,436,8111,0.00,0.00,33.85,0.634,6,0.000,0.000,2865,1976,2040,0,0,0,0,0,0
$GC,8421,0.79,186.0,224.3,9.3,453,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1976,2036,0,0,0,0,0,0
$GC,8731,0.82,217.5,200.5,7.7,468,8764,0.00,2.28,27.83,0.586,4,0.000,0.060,2872,566,1914,0,0,0,0,0,0
$GC,8835,0.84,226.7,192.5,8.7,476,8851,0.00,2.25,10.48,0.528,6,0.000,0.039,2872,2001,1873,0,0,0,0,0,0
$GC,9179,0.84,229.4,162.6,8.9,508,9183,0.00,2.35,0.00,0.000,4,0.000,0.058,2876,560,1872,0,0,0,0,0,0
$GC,9219,0.84,229.4,158.8,9.9,511,9223,0.00,2.22,0.00,0.000,6,0.000,0.038,2876,1986,1872,0,0,0,0,0,0
$GC,9547,0.88,263.6,130.5,7.6,541,9586,0.10,2.30,33.25,0.529,4,0.086,0.058,2954,564,1723,0,0,0,0,0,0
$GC,9644,0.88,263.6,121.9,9.8,549,9648,0.15,2.22,0.00,0.000,6,0.120,0.038,2909,1982,1723,0,0,0,0,0,0
$GC,9971,0.93,299.3,95.5,7.6,579,10009,0.00,2.28,31.67,0.494,4,0.000,0.052,2909,3388,1579,0,0,0,0,0,0
$GC,10029,0.96,330.0,90.9,7.8,584,10065,0.00,2.22,27.58,0.482,6,0.000,0.044,2911,1979,1452,0,0,0,0,0,0
$GC,10391,0.99,355.2,58.2,8.0,639,10420,0.10,2.30,21.85,0.454,4,0.086,0.055,2961,3392,1350,0,0,0,0,0,0
$GC,10488,0.99,355.2,49.2,10.3,656,10496,0.00,2.25,0.00,0.000,6,0.000,0.043,2969,1988,1348,0,0,0,0,0,0
$GC,10818,0.99,355.2,17.0,11.5,717,10826,0.00,2.28,0.00,0.000,4,0.000,0.057,2969,3389,1348,0,0,0,0,0,0
$GC,10855,0.99,355.2,13.3,10.2,723,10863,0.00,2.30,0.00,0.000,6,0.000,0.053,2977,1980,1348,0,0,0,0,0,0
$STATE,10962,end climb,SURFACE_DEPTH_REACHED
$STATE,10962,begin surface coast
$FINISH,0.7,1.023373
$STATE,10992,end surface coast,CONTROL_FINISHED_OK
$STATE,10992,begin surface
$SM_CCo,11071,0.00,0.000,0,0,1346,356.66
$SM_GC,1.57,7.45,0.00,0.00,0.023,0.000,0.000,40,1948,1346,-7.97,-0.08,356.66
$IRIDIUM_FIX,2108.69,-15747.00,101002,030314
$TT8_MAMPS,0.028379
$HUMID,68.90
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,24.3,63.005
$10V_AH,10.0,69.810
$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,19.475,105.025,438.050,0.000,0.000,28.357,35.051,174.854,18.250,0.000,17.538,1394.567,6423.638,464.098,2609.951,561.108,0.000,1417.666,0.000,2558.519,0.000,112.654,0.000
$DEVICE_MAMPS,225.498,158.002,739.388,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,508.204,431.489,1446.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,41294,748
$CAP_FILE_SIZE,121360,0
$CFSIZE,260165632,218624000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160713,100513,2111.236,-15755.108,14,1.9,14,9.8