version: 66.06
glider: 523
mission: 4
dive: 729
start: 7 16 113 16 27 35
data:
$ID,523
$MISSION,4
$DIVE,729
$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,-50714.051
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,162033,2111.846,-15754.060,28,0.8,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.2
$GPS2,162717,2111.855,-15754.127,18,0.9,18,9.8
$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,110.2,22367,-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,-82.75,0.000,6,0.000,0.000,46,1954,3394,0,0,0,0,0,0
$GC,110,-0.74,-146.0,4.0,-6.2,14,125,9.70,2.33,0.00,0.000,4,0.225,0.058,2382,536,3395,0,0,0,0,0,0
$GC,234,-0.74,-146.0,27.5,-13.4,36,241,0.00,2.25,0.00,0.000,6,0.000,0.042,2374,1951,3397,0,0,0,0,0,0
$GC,409,-0.74,-146.0,47.2,-11.4,67,414,0.00,2.30,0.00,0.000,4,0.000,0.064,2374,545,3397,0,0,0,0,0,0
$GC,498,-0.74,-146.0,57.8,-11.7,83,503,0.00,2.20,0.00,0.000,6,0.000,0.042,2365,1955,3397,0,0,0,0,0,0
$GC,830,-0.74,-146.0,88.6,-10.1,136,834,0.00,2.33,0.00,0.000,4,0.000,0.064,2365,544,3398,0,0,0,0,0,0
$GC,874,-0.74,-146.0,93.5,-10.0,139,881,0.10,2.22,0.00,0.000,6,0.140,0.044,2387,1949,3398,0,0,0,0,0,0
$GC,1201,-0.74,-146.0,119.7,-7.2,170,1208,0.00,2.28,0.00,0.000,4,0.000,0.063,2378,3363,3399,0,0,0,0,0,0
$GC,1303,-0.74,-146.0,127.2,-7.8,179,1307,0.00,2.22,0.00,0.000,6,0.000,0.048,2378,1956,3399,0,0,0,0,0,0
$GC,1630,-0.74,-146.0,152.7,-7.2,209,1634,0.00,2.30,0.00,0.000,4,0.000,0.067,2378,535,3400,0,0,0,0,0,0
$GC,1826,-0.74,-146.0,167.5,-6.7,226,1831,0.00,2.22,0.00,0.000,6,0.000,0.041,2369,1961,3400,0,0,0,0,0,0
$GC,2154,-0.74,-146.0,188.9,-7.0,256,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1961,3400,0,0,0,0,0,0
$GC,2487,-0.74,-146.0,213.9,-6.7,279,2491,0.00,2.35,0.00,0.000,4,0.000,0.061,2369,538,3400,0,0,0,0,0,0
$GC,2601,-0.74,-146.0,221.9,-6.5,284,2606,0.12,2.20,0.00,0.000,6,0.156,0.041,2392,1951,3400,0,0,0,0,0,0
$GC,2924,-0.74,-146.0,244.9,-7.6,300,2929,0.00,2.35,0.00,0.000,4,0.000,0.063,2392,534,3400,0,0,0,0,0,0
$GC,3089,-0.74,-146.0,257.1,-6.7,307,3093,0.00,2.22,0.00,0.000,6,0.000,0.040,2384,1961,3400,0,0,0,0,0,0
$GC,3412,-0.74,-146.0,274.8,-5.4,323,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1961,3400,0,0,0,0,0,0
$GC,3720,-0.74,-146.0,294.8,-7.0,338,3724,0.00,2.33,0.00,0.000,4,0.000,0.061,2384,542,3399,0,0,0,0,0,0
$GC,3933,-0.74,-146.0,310.3,-7.5,344,3937,0.00,2.20,0.00,0.000,6,0.000,0.040,2375,1950,3399,0,0,0,0,0,0
$GC,4264,-0.74,-146.0,333.3,-7.2,352,4268,0.00,2.30,0.00,0.000,4,0.000,0.061,2375,541,3398,0,0,0,0,0,0
$GC,4305,-0.74,-146.0,336.5,-8.1,353,4309,0.00,2.22,0.00,0.000,6,0.000,0.041,2366,1960,3398,0,0,0,0,0,0
$GC,4631,-0.74,-146.0,357.3,-5.5,361,4635,0.00,2.35,0.00,0.000,4,0.000,0.061,2366,536,3395,0,0,0,0,0,0
$GC,4774,-0.74,-146.0,366.0,-6.3,364,4779,0.12,2.22,0.00,0.000,6,0.156,0.041,2389,1952,3395,0,0,0,0,0,0
$GC,5091,-0.74,-146.0,385.4,-6.6,372,5095,0.00,2.38,0.00,0.000,4,0.000,0.063,2389,535,3394,0,0,0,0,0,0
$GC,5253,-0.74,-146.0,397.9,-7.6,375,5257,0.00,2.25,0.00,0.000,6,0.000,0.042,2381,1962,3393,0,0,0,0,0,0
$GC,5585,-0.74,-146.0,418.0,-5.7,383,5589,0.00,2.35,0.00,0.000,4,0.000,0.064,2381,530,3392,0,0,0,0,0,0
$GC,5613,-0.74,-146.0,419.4,-5.0,383,5617,0.00,2.25,0.00,0.000,6,0.000,0.043,2372,1953,3391,0,0,0,0,0,0
$GC,5951,-0.74,-146.0,433.5,-4.3,392,5955,0.00,2.38,0.00,0.000,4,0.000,0.065,2372,535,3390,0,0,0,0,0,0
$STATE,6004,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6004,begin apogee
$GC,6013,-0.17,0.0,436.8,5.6,393,6139,0.65,0.00,122.82,0.743,6,0.121,0.000,2571,1983,2800,0,0,0,0,0,0
$STATE,6140,end apogee,CONTROL_FINISHED_OK
$STATE,6140,begin climb
$GC,6143,0.74,146.0,437.9,0.0,396,6281,0.85,2.33,128.25,0.719,4,0.095,0.056,2866,3394,2203,0,0,0,0,0,0
$GC,6383,0.74,146.0,415.0,10.7,401,6387,0.00,2.30,0.00,0.000,6,0.000,0.054,2876,1983,2198,0,0,0,0,0,0
$GC,6719,0.74,146.0,382.3,9.4,410,6723,0.00,2.33,0.00,0.000,4,0.000,0.063,2876,3394,2194,0,0,0,0,0,0
$GC,6849,0.74,146.0,368.5,11.3,413,6853,0.00,2.28,0.00,0.000,6,0.000,0.054,2885,1982,2193,0,0,0,0,0,0
$GC,7178,0.74,146.0,333.2,10.6,421,7182,0.00,2.33,0.00,0.000,4,0.000,0.062,2885,3399,2192,0,0,0,0,0,0
$GC,7354,0.74,146.0,313.9,10.5,425,7358,0.00,2.30,0.00,0.000,6,0.000,0.054,2894,1981,2191,0,0,0,0,0,0
$GC,7681,0.75,156.0,285.2,8.6,437,7695,0.00,2.33,8.18,0.574,4,0.000,0.061,2894,3385,2162,0,0,0,0,0,0
$GC,7785,0.75,156.0,274.9,9.6,441,7791,0.12,2.28,0.00,0.000,6,0.136,0.054,2866,1981,2161,0,0,0,0,0,0
$GC,8102,0.78,180.7,251.9,8.0,457,8131,0.00,2.35,22.80,0.623,4,0.000,0.064,2867,3383,2062,0,0,0,0,0,0
$GC,8171,0.78,180.7,245.5,9.9,460,8175,0.00,2.28,0.00,0.000,6,0.000,0.055,2872,1978,2060,0,0,0,0,0,0
$GC,8492,0.82,211.0,215.0,7.8,476,8522,0.00,0.00,27.73,0.601,6,0.000,0.000,2873,1978,1939,0,0,0,0,0,0
$GC,8830,0.86,245.2,192.4,7.6,496,8866,0.00,2.33,30.83,0.584,4,0.000,0.061,2877,563,1799,0,0,0,0,0,0
$GC,8903,0.86,245.2,185.7,9.8,502,8907,0.00,2.25,0.00,0.000,6,0.000,0.038,2877,1993,1799,0,0,0,0,0,0
$GC,9232,0.86,245.2,154.2,9.3,532,9236,0.00,2.25,0.00,0.000,4,0.000,0.053,2877,3389,1798,0,0,0,0,0,0
$GC,9284,0.86,245.2,149.2,9.8,536,9288,0.00,2.22,0.00,0.000,6,0.000,0.041,2882,1976,1798,0,0,0,0,0,0
$GC,9613,0.89,269.8,122.1,8.0,566,9641,0.10,2.25,22.95,0.520,4,0.087,0.060,2960,576,1698,0,0,0,0,0,0
$GC,9668,0.89,269.8,116.8,10.1,570,9673,0.15,2.20,0.00,0.000,6,0.124,0.038,2915,1982,1698,0,0,0,0,0,0
$GC,9995,0.91,288.3,88.6,8.3,600,10019,0.00,2.38,17.42,0.482,4,0.000,0.067,2915,576,1623,0,0,0,0,0,0
$GC,10099,0.91,288.3,79.3,9.4,609,10105,0.00,2.22,0.00,0.000,6,0.000,0.044,2915,1977,1623,0,0,0,0,0,0
$GC,10434,0.93,305.8,50.1,8.3,670,10457,0.00,2.28,16.33,0.449,4,0.000,0.055,2915,3395,1552,0,0,0,0,0,0
$GC,10531,0.93,305.8,41.8,9.1,687,10536,0.00,2.20,0.00,0.000,6,0.000,0.042,2922,1984,1552,0,0,0,0,0,0
$GC,10856,0.93,305.8,15.5,9.1,748,10864,0.00,2.33,0.00,0.000,4,0.000,0.053,2922,3403,1551,0,0,0,0,0,0
$GC,10900,0.93,305.8,11.4,9.9,755,10907,0.00,2.25,0.00,0.000,6,0.000,0.043,2929,1991,1551,0,0,0,0,0,0
$STATE,10996,end climb,SURFACE_DEPTH_REACHED
$STATE,10996,begin surface coast
$FINISH,0.7,0.999699
$STATE,11030,end surface coast,CONTROL_FINISHED_OK
$STATE,11030,begin surface
$SM_CCo,11108,0.00,0.000,0,0,1549,306.87
$SM_GC,1.59,7.38,0.00,0.00,0.026,0.000,0.000,32,1944,1549,-7.97,-0.23,306.87
$IRIDIUM_FIX,2101.76,-15758.18,101002,131311
$TT8_MAMPS,0.028379
$HUMID,70.16
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,24.3,63.280
$10V_AH,10.0,70.145
$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,19.300,109.625,397.300,0.000,0.000,29.152,34.850,186.388,18.500,0.000,19.122,1429.579,6439.206,432.498,2635.808,566.095,0.000,1380.678,0.000,2579.363,0.000,115.225,0.000
$DEVICE_MAMPS,225.498,133.458,743.223,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,529.828,457.733,1528.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,44379,779
$CAP_FILE_SIZE,122869,0
$CFSIZE,260165632,218443776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160713,193336,2111.728,-15753.570,17,1.5,17,9.8