version: 66.06
glider: 523
mission: 4
dive: 736
start: 7 17 113 14 33 2
data:
$ID,523
$MISSION,4
$DIVE,736
$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,-50856.789
$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,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
$GPS1,142435,2108.903,-15753.565,36,0.8,36,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.6
$GPS2,143211,2108.880,-15753.639,14,1.1,14,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.243,-0.083
$KALMAN_X,-2189.5,-1333.5,-407.9,3685.5,9.7
$KALMAN_Y,510.9,291.8,111.2,-1192.4,80.2
$MHEAD_RNG_PITCHd_Wd,99.1,19375,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,112,0.00,0.00,-91.20,0.000,6,0.000,0.000,42,1935,3393,0,0,0,0,0,0
$GC,116,-0.76,-146.0,3.3,-4.1,15,131,9.52,2.25,0.00,0.000,4,0.221,0.058,2362,524,3395,0,0,0,0,0,0
$GC,170,-0.76,-146.0,14.8,-14.6,24,178,0.00,2.25,0.00,0.000,6,0.000,0.044,2354,1929,3396,0,0,0,0,0,0
$GC,339,-0.76,-146.0,33.1,-10.9,55,344,0.00,2.28,0.00,0.000,4,0.000,0.061,2354,522,3396,0,0,0,0,0,0
$GC,442,-0.76,-146.0,46.4,-12.1,74,450,0.00,2.25,0.00,0.000,6,0.000,0.043,2345,1941,3396,0,0,0,0,0,0
$GC,776,-0.76,-146.0,81.6,-10.3,134,780,0.00,2.33,0.00,0.000,4,0.000,0.062,2345,524,3396,0,0,0,0,0,0
$GC,1028,-0.76,-146.0,104.8,-6.5,156,1036,0.10,2.25,0.00,0.000,6,0.140,0.043,2366,1943,3397,0,0,0,0,0,0
$GC,1356,-0.76,-146.0,127.7,-7.3,187,1360,0.00,2.30,0.00,0.000,4,0.000,0.063,2366,525,3398,0,0,0,0,0,0
$GC,1605,-0.76,-146.0,146.1,-7.4,209,1613,0.00,2.25,0.00,0.000,6,0.000,0.043,2358,1942,3398,0,0,0,0,0,0
$GC,1933,-0.76,-146.0,167.9,-6.4,240,1937,0.00,2.28,0.00,0.000,4,0.000,0.061,2358,531,3397,0,0,0,0,0,0
$GC,2180,-0.76,-146.0,189.6,-9.7,262,2189,0.00,2.22,0.00,0.000,6,0.000,0.041,2349,1938,3397,0,0,0,0,0,0
$GC,2501,-0.76,-146.0,220.2,-8.3,283,2505,0.00,2.28,0.00,0.000,4,0.000,0.061,2349,523,3398,0,0,0,0,0,0
$GC,2586,-0.76,-146.0,227.1,-7.7,287,2591,0.12,2.22,0.00,0.000,6,0.159,0.041,2371,1952,3398,0,0,0,0,0,0
$GC,2914,-0.76,-146.0,246.5,-5.5,303,2918,0.00,2.30,0.00,0.000,4,0.000,0.061,2371,522,3398,0,0,0,0,0,0
$GC,3083,-0.76,-146.0,256.7,-5.9,310,3088,0.00,2.22,0.00,0.000,6,0.000,0.041,2364,1951,3397,0,0,0,0,0,0
$GC,3404,-0.76,-146.0,275.1,-5.8,326,3408,0.00,2.28,0.00,0.000,4,0.000,0.064,2353,3347,3397,0,0,0,0,0,0
$GC,3444,-0.76,-146.0,277.9,-6.5,328,3448,0.00,2.25,0.00,0.000,6,0.000,0.049,2353,1940,3397,0,0,0,0,0,0
$GC,3775,-0.76,-146.0,300.9,-7.4,344,3779,0.00,2.30,0.00,0.000,4,0.000,0.064,2353,529,3397,0,0,0,0,0,0
$GC,4035,-0.76,-146.0,320.4,-6.6,349,4040,0.00,2.20,0.00,0.000,6,0.000,0.040,2344,1946,3396,0,0,0,0,0,0
$GC,4366,-0.76,-146.0,338.3,-5.1,358,4370,0.00,2.30,0.00,0.000,4,0.000,0.061,2344,519,3394,0,0,0,0,0,0
$GC,4461,-0.76,-146.0,343.0,-5.2,360,4466,0.12,2.20,0.00,0.000,6,0.158,0.041,2366,1938,3394,0,0,0,0,0,0
$GC,4778,-0.76,-146.0,357.5,-4.9,368,4782,0.00,2.30,0.00,0.000,4,0.000,0.061,2366,528,3393,0,0,0,0,0,0
$GC,4879,-0.76,-146.0,363.6,-6.1,370,4883,0.00,2.20,0.00,0.000,6,0.000,0.041,2359,1947,3392,0,0,0,0,0,0
$GC,5230,-0.76,-146.0,389.0,-8.3,379,5234,0.00,2.28,0.00,0.000,4,0.000,0.064,2348,3354,3390,0,0,0,0,0,0
$GC,5443,-0.76,-146.0,407.6,-8.3,383,5449,0.00,2.28,0.00,0.000,6,0.000,0.049,2348,1935,3389,0,0,0,0,0,0
$STATE,5732,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5732,begin apogee
$GC,5739,-0.17,0.0,427.3,6.5,391,5865,0.68,0.00,122.40,0.727,6,0.121,0.000,2560,2025,2799,0,0,0,0,0,0
$STATE,5866,end apogee,CONTROL_FINISHED_OK
$STATE,5866,begin climb
$GC,5869,0.76,146.0,427.7,0.0,394,6007,0.85,2.22,127.70,0.705,4,0.073,0.060,2859,3361,2203,0,0,0,0,0,0
$GC,6036,0.76,146.0,411.3,11.5,398,6040,0.00,2.22,0.00,0.000,6,0.000,0.044,2867,1983,2200,0,0,0,0,0,0
$GC,6361,0.76,146.0,377.8,9.7,406,6365,0.00,2.22,0.00,0.000,4,0.000,0.058,2867,3367,2197,0,0,0,0,0,0
$GC,6411,0.76,146.0,372.9,10.1,407,6414,0.00,2.17,0.00,0.000,6,0.000,0.045,2876,1986,2195,0,0,0,0,0,0
$GC,6725,0.78,155.7,344.3,9.1,415,6739,0.00,2.25,8.32,0.589,4,0.000,0.060,2877,3351,2164,0,0,0,0,0,0
$GC,6908,0.78,155.7,324.5,11.3,419,6912,0.00,2.15,0.00,0.000,6,0.000,0.046,2885,1983,2162,0,0,0,0,0,0
$GC,7228,0.78,155.7,292.4,9.9,428,7232,0.00,2.22,0.00,0.000,4,0.000,0.061,2885,3360,2160,0,0,0,0,0,0
$GC,7296,0.78,155.7,284.9,11.1,431,7300,0.00,2.20,0.00,0.000,6,0.000,0.048,2893,1983,2160,0,0,0,0,0,0
$GC,7623,0.78,155.7,251.9,9.9,447,7627,0.00,2.22,0.00,0.000,4,0.000,0.062,2892,3362,2159,0,0,0,0,0,0
$GC,7741,0.78,155.7,239.5,10.7,452,7745,0.12,2.17,0.00,0.000,6,0.136,0.051,2864,1988,2159,0,0,0,0,0,0
$GC,8056,0.83,202.6,212.9,7.5,467,8102,0.00,2.28,40.92,0.611,4,0.000,0.058,2872,570,1974,0,0,0,0,0,0
$GC,8138,0.91,263.0,207.1,6.9,471,8200,0.12,2.15,54.50,0.595,6,0.074,0.037,2951,1958,1727,0,0,0,0,0,0
$GC,8520,0.91,263.0,168.6,10.2,503,8525,0.15,2.28,0.00,0.000,4,0.128,0.056,2914,563,1724,0,0,0,0,0,0
$GC,8585,0.91,265.3,162.2,9.5,508,8593,0.00,2.25,3.15,0.319,6,0.000,0.039,2915,1983,1718,0,0,0,0,0,0
$GC,8912,0.94,291.1,134.1,8.4,539,8941,0.00,2.25,23.45,0.533,4,0.000,0.051,2914,3404,1613,0,0,0,0,0,0
$GC,8988,0.95,295.7,127.2,9.4,545,9002,0.00,2.25,6.03,0.433,6,0.000,0.042,2922,1979,1593,0,0,0,0,0,0
$GC,9322,0.96,303.7,95.8,9.2,576,9335,0.00,2.22,8.23,0.448,4,0.000,0.057,2931,579,1561,0,0,0,0,0,0
$GC,9353,0.98,322.2,92.8,8.7,578,9376,0.00,2.22,17.45,0.488,6,0.000,0.037,2930,1997,1485,0,0,0,0,0,0
$GC,9703,0.99,329.0,63.3,9.3,628,9715,0.00,2.17,6.93,0.408,4,0.000,0.052,2931,3392,1457,0,0,0,0,0,0
$GC,9770,0.99,329.0,56.5,10.5,640,9777,0.00,2.22,0.00,0.000,6,0.000,0.042,2937,1990,1456,0,0,0,0,0,0
$GC,10107,0.99,329.0,25.0,11.9,701,10114,0.00,2.30,0.00,0.000,4,0.000,0.061,2944,573,1456,0,0,0,0,0,0
$GC,10161,0.99,329.0,20.0,9.7,710,10169,0.00,2.22,0.00,0.000,6,0.000,0.039,2944,1986,1456,0,0,0,0,0,0
$GC,10330,1.07,391.0,5.4,6.8,741,10370,0.00,0.00,37.80,0.432,2,0.000,0.000,2944,1986,1275,0,0,0,0,0,0
$STATE,10371,end climb,SURFACE_DEPTH_REACHED
$STATE,10371,begin surface coast
$FINISH,0.6,1.023810
$STATE,10409,end surface coast,CONTROL_FINISHED_OK
$STATE,10409,begin surface
$SM_CCo,10488,0.00,0.000,0,0,1271,375.06
$SM_GC,1.48,7.50,0.00,0.00,0.029,0.000,0.000,60,1901,1271,-7.91,-1.05,375.06
$IRIDIUM_FIX,2059.45,-15804.20,111002,111114
$TT8_MAMPS,0.028379
$HUMID,69.76
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,24.4,63.974
$10V_AH,9.9,70.925
$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,19.300,103.350,456.875,0.000,0.000,30.500,39.905,230.680,17.750,0.000,14.911,1385.683,5829.646,471.118,2624.633,625.791,31.426,1437.929,0.000,2582.665,0.000,114.186,0.000
$DEVICE_MAMPS,220.896,82.836,727.116,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,512.064,445.710,1518.057,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,41212,754
$CAP_FILE_SIZE,121130,0
$CFSIZE,260165632,218030080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170713,172842,2108.836,-15753.419,16,0.9,16,9.8