version: 66.06
glider: 523
mission: 4
dive: 734
start: 7 17 113 8 23 29
data:
$ID,523
$MISSION,4
$DIVE,734
$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,157
$T_MISSION,190
$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,1
$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,-50819.078
$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,2618
$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,1940
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,31
$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
$GPS1,081513,2109.016,-15753.347,17,0.7,17,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.0
$GPS2,082242,2109.024,-15753.479,19,0.9,19,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.244,-0.079
$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,98.3,19192,-17.6,-9.554
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,118,0.00,0.00,-94.75,0.000,6,0.000,0.000,47,1944,3394,0,0,0,0,0,0
$GC,123,-0.76,-146.0,3.8,-5.6,16,137,9.57,2.30,0.00,0.000,4,0.225,0.059,2357,518,3396,0,0,0,0,0,0
$GC,235,-0.76,-146.0,27.2,-18.0,36,242,0.00,2.25,0.00,0.000,6,0.000,0.042,2349,1930,3397,0,0,0,0,0,0
$GC,409,-0.76,-146.0,47.5,-8.5,67,415,0.00,2.30,0.00,0.000,4,0.000,0.064,2349,520,3397,0,0,0,0,0,0
$GC,477,-0.76,-146.0,55.7,-12.2,79,483,0.12,2.25,0.00,0.000,6,0.170,0.043,2369,1949,3397,0,0,0,0,0,0
$GC,808,-0.76,-146.0,86.1,-9.1,134,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1950,3398,0,0,0,0,0,0
$GC,1138,-0.76,-146.0,115.4,-9.2,165,1142,0.00,2.35,0.00,0.000,4,0.000,0.064,2370,521,3399,0,0,0,0,0,0
$GC,1366,-0.76,-146.0,135.6,-7.6,185,1370,0.00,2.22,0.00,0.000,6,0.000,0.041,2362,1941,3399,0,0,0,0,0,0
$GC,1694,-0.76,-146.0,161.4,-8.2,215,1698,0.00,2.33,0.00,0.000,4,0.000,0.064,2362,522,3399,0,0,0,0,0,0
$GC,1944,-0.76,-146.0,184.3,-9.4,237,1952,0.00,2.22,0.00,0.000,6,0.000,0.041,2353,1935,3399,0,0,0,0,0,0
$GC,2277,-0.76,-146.0,216.4,-9.9,261,2281,0.00,2.30,0.00,0.000,4,0.000,0.062,2353,522,3399,0,0,0,0,0,0
$GC,2434,-0.76,-146.0,229.3,-6.9,268,2439,0.00,2.20,0.00,0.000,6,0.000,0.041,2344,1948,3399,0,0,0,0,0,0
$GC,2761,-0.76,-146.0,250.9,-5.9,284,2765,0.00,2.30,0.00,0.000,4,0.000,0.062,2343,529,3399,0,0,0,0,0,0
$GC,2935,-0.76,-146.0,262.6,-6.0,292,2940,0.12,2.20,0.00,0.000,6,0.162,0.040,2365,1952,3399,0,0,0,0,0,0
$GC,3268,-0.76,-146.0,282.2,-5.4,308,3272,0.00,2.30,0.00,0.000,4,0.000,0.061,2365,528,3399,0,0,0,0,0,0
$GC,3447,-0.76,-146.0,294.3,-6.6,316,3451,0.00,2.17,0.00,0.000,6,0.000,0.040,2358,1945,3399,0,0,0,0,0,0
$GC,3787,-0.76,-146.0,317.0,-6.5,327,3791,0.00,2.30,0.00,0.000,4,0.000,0.061,2358,529,3398,0,0,0,0,0,0
$GC,3883,-0.76,-146.0,323.9,-6.7,329,3887,0.00,2.17,0.00,0.000,6,0.000,0.041,2348,1939,3397,0,0,0,0,0,0
$GC,4197,-0.76,-146.0,340.0,-4.7,337,4201,0.00,2.30,0.00,0.000,4,0.000,0.060,2348,517,3396,0,0,0,0,0,0
$GC,4375,-0.76,-146.0,350.9,-6.4,341,4380,0.12,2.20,0.00,0.000,6,0.160,0.041,2370,1940,3395,0,0,0,0,0,0
$GC,4703,-0.76,-146.0,370.5,-6.2,349,4707,0.00,2.30,0.00,0.000,4,0.000,0.060,2370,528,3394,0,0,0,0,0,0
$GC,4747,-0.76,-146.0,374.2,-7.3,350,4751,0.00,2.20,0.00,0.000,6,0.000,0.040,2362,1940,3393,0,0,0,0,0,0
$GC,5068,-0.76,-146.0,397.6,-7.3,358,5072,0.00,2.35,0.00,0.000,4,0.000,0.060,2362,516,3392,0,0,0,0,0,0
$GC,5159,-0.76,-146.0,404.3,-6.3,360,5163,0.00,2.20,0.00,0.000,6,0.000,0.041,2353,1941,3391,0,0,0,0,0,0
$GC,5479,-0.76,-146.0,421.3,-4.7,368,5483,0.00,2.33,0.00,0.000,4,0.000,0.061,2353,527,3389,0,0,0,0,0,0
$GC,5605,-0.76,-146.0,427.7,-4.9,370,5610,0.00,2.22,0.00,0.000,6,0.000,0.041,2344,1943,3388,0,0,0,0,0,0
$STATE,5730,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5730,begin apogee
$GC,5737,-0.17,0.0,434.4,5.2,374,5863,0.70,0.00,122.32,0.733,6,0.124,0.000,2561,1995,2800,0,0,0,0,0,0
$STATE,5863,end apogee,CONTROL_FINISHED_OK
$STATE,5863,begin climb
$GC,5867,0.76,146.0,434.7,0.0,377,6005,0.85,2.35,128.07,0.710,4,0.074,0.061,2858,3395,2203,0,0,0,0,0,0
$GC,6044,0.76,146.0,419.1,10.2,381,6048,0.00,2.33,0.00,0.000,6,0.000,0.046,2867,1978,2200,0,0,0,0,0,0
$GC,6357,0.76,146.0,387.8,9.7,389,6361,0.00,2.30,0.00,0.000,4,0.000,0.058,2867,3392,2197,0,0,0,0,0,0
$GC,6397,0.76,146.0,383.9,10.2,390,6401,0.00,2.25,0.00,0.000,6,0.000,0.047,2876,1976,2196,0,0,0,0,0,0
$GC,6723,0.82,191.2,357.7,7.6,398,6767,0.00,2.38,38.92,0.683,4,0.000,0.061,2875,3386,2019,0,0,0,0,0,0
$GC,6919,0.82,191.2,339.4,10.1,402,6923,0.00,2.25,0.00,0.000,6,0.000,0.047,2884,1988,2016,0,0,0,0,0,0
$GC,7262,0.82,191.2,305.6,10.2,411,7266,0.00,2.28,0.00,0.000,4,0.000,0.061,2884,3392,2014,0,0,0,0,0,0
$GC,7351,0.82,191.2,295.1,12.5,413,7355,0.00,2.25,0.00,0.000,6,0.000,0.050,2892,1979,2014,0,0,0,0,0,0
$GC,7672,0.82,191.2,262.3,9.7,429,7676,0.00,2.33,0.00,0.000,4,0.000,0.063,2893,3399,2014,0,0,0,0,0,0
$GC,7762,0.82,191.2,253.6,10.3,433,7766,0.00,2.28,0.00,0.000,6,0.000,0.052,2899,1984,2012,0,0,0,0,0,0
$GC,8088,0.82,191.2,222.7,9.8,449,8092,0.00,2.30,0.00,0.000,4,0.000,0.065,2899,3393,2012,0,0,0,0,0,0
$GC,8157,0.82,191.2,215.4,11.3,452,8161,0.00,2.28,0.00,0.000,6,0.000,0.052,2907,1983,2012,0,0,0,0,0,0
$GC,8481,0.82,191.2,184.1,10.3,474,8485,0.00,2.33,0.00,0.000,4,0.000,0.064,2907,3399,2011,0,0,0,0,0,0
$GC,8523,0.82,191.2,178.8,11.4,477,8531,0.08,2.30,0.00,0.000,6,0.119,0.054,2886,1991,2012,0,0,0,0,0,0
$GC,8851,0.85,217.0,149.2,8.4,508,8878,0.00,2.28,22.73,0.545,4,0.000,0.061,2885,3391,1914,0,0,0,0,0,0
$GC,8949,0.88,238.4,141.6,8.6,516,8976,0.00,2.25,20.25,0.532,6,0.000,0.045,2893,1973,1826,0,0,0,0,0,0
$GC,9304,0.88,238.4,111.0,9.6,549,9308,0.00,2.22,0.00,0.000,4,0.000,0.057,2894,581,1825,0,0,0,0,0,0
$GC,9368,0.88,240.0,105.0,9.5,554,9372,0.00,2.17,0.00,0.000,6,0.000,0.034,2894,1995,1825,0,0,0,0,0,0
$GC,9693,0.91,267.5,77.6,8.3,586,9724,0.00,2.28,26.23,0.483,4,0.000,0.053,2894,3391,1708,0,0,0,0,0,0
$GC,9793,0.91,267.5,68.8,9.7,603,9799,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1981,1708,0,0,0,0,0,0
$GC,10127,0.99,329.1,43.2,6.8,664,10186,0.10,2.28,52.70,0.459,4,0.086,0.054,2959,574,1458,0,0,0,0,0,0
$GC,10208,0.99,329.1,36.3,9.7,677,10213,0.00,2.17,0.00,0.000,6,0.000,0.033,2959,1987,1457,0,0,0,0,0,0
$GC,10533,0.99,329.1,3.2,10.7,738,10541,0.00,2.25,0.00,0.000,4,0.000,0.054,2959,3390,1456,0,0,0,0,0,0
$STATE,10547,end climb,SURFACE_DEPTH_REACHED
$STATE,10547,begin surface coast
$FINISH,0.8,1.023570
$STATE,10575,end surface coast,CONTROL_FINISHED_OK
$STATE,10575,begin surface
$SM_CCo,10656,0.00,0.000,0,0,1454,330.17
$SM_GC,1.41,7.40,0.00,0.00,0.019,0.000,0.000,38,1941,1454,-7.92,0.03,330.17
$IRIDIUM_FIX,2104.07,-15757.32,111002,050540
$TT8_MAMPS,0.027612
$HUMID,69.13
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,24.3,63.776
$10V_AH,9.9,70.700
$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,19.075,109.050,411.225,0.000,0.000,30.770,33.804,231.716,18.000,0.000,19.928,1364.941,6103.532,436.904,2574.908,616.528,29.240,1383.147,0.000,2523.909,0.000,113.723,0.000
$DEVICE_MAMPS,224.731,125.788,733.252,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,504.805,420.405,1450.149,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,41286,745
$CAP_FILE_SIZE,120227,0
$CFSIZE,260165632,218144768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170713,112205,2108.847,-15753.672,24,1.0,24,9.8