version: 66.06
glider: 523
mission: 4
dive: 686
start: 7 10 113 11 12 46
data:
$ID,523
$MISSION,4
$DIVE,686
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$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,180
$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,-49811
$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,2640
$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,21
$R_STBD_OVSHOOT,24
$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
$GPS1,110458,2058.130,-15753.887,47,1.0,47,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.3
$GPS2,111230,2058.114,-15753.943,20,0.9,20,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,313.7,23559,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-82.47,0.000,2,0.000,0.000,39,1980,3361,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.4,-5.5,13,120,9.45,2.28,-0.73,0.000,4,0.215,0.068,2383,3367,3396,0,0,0,0,0,0
$GC,208,-0.74,-146.0,24.4,-13.0,31,215,0.00,2.28,0.00,0.000,6,0.000,0.044,2383,1958,3398,0,0,0,0,0,0
$GC,380,-0.74,-146.0,47.1,-12.4,62,387,0.00,2.33,0.00,0.000,4,0.000,0.061,2383,546,3398,0,0,0,0,0,0
$GC,632,-0.74,-146.0,79.3,-11.6,108,639,0.00,2.22,0.00,0.000,6,0.000,0.039,2374,1960,3399,0,0,0,0,0,0
$GC,967,-0.74,-146.0,110.6,-10.3,140,972,0.00,2.33,0.00,0.000,4,0.000,0.059,2374,538,3399,0,0,0,0,0,0
$GC,1063,-0.74,-146.0,121.9,-12.2,148,1068,0.12,2.22,0.00,0.000,6,0.159,0.040,2398,1964,3400,0,0,0,0,0,0
$GC,1392,-0.74,-146.0,145.6,-6.1,178,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1964,3400,0,0,0,0,0,0
$GC,1719,-0.74,-146.0,170.9,-7.9,209,1723,0.00,2.33,0.00,0.000,4,0.000,0.058,2398,537,3400,0,0,0,0,0,0
$GC,1967,-0.74,-146.0,189.8,-7.1,231,1975,0.00,2.22,0.00,0.000,6,0.000,0.040,2390,1952,3401,0,0,0,0,0,0
$GC,2287,-0.74,-146.0,211.9,-7.2,254,2291,0.00,2.33,0.00,0.000,4,0.000,0.058,2390,541,3401,0,0,0,0,0,0
$GC,2451,-0.74,-146.0,224.0,-7.6,261,2455,0.00,2.20,0.00,0.000,6,0.000,0.040,2380,1958,3401,0,0,0,0,0,0
$GC,2769,-0.74,-146.0,243.5,-6.8,276,2774,0.00,2.33,0.00,0.000,4,0.000,0.058,2380,537,3401,0,0,0,0,0,0
$GC,2832,-0.74,-146.0,248.8,-8.3,279,2837,0.12,2.20,0.00,0.000,6,0.152,0.040,2404,1965,3401,0,0,0,0,0,0
$GC,3161,-0.74,-146.0,270.6,-5.8,295,3165,0.00,2.30,0.00,0.000,4,0.000,0.058,2405,547,3400,0,0,0,0,0,0
$GC,3281,-0.74,-146.0,279.4,-7.8,300,3285,0.00,2.17,0.00,0.000,6,0.000,0.039,2397,1964,3401,0,0,0,0,0,0
$GC,3600,-0.74,-146.0,299.1,-5.1,315,3604,0.00,2.25,0.00,0.000,4,0.000,0.063,2386,3368,3401,0,0,0,0,0,0
$GC,3655,-0.74,-146.0,301.9,-4.9,317,3659,0.00,2.25,0.00,0.000,6,0.000,0.044,2386,1957,3400,0,0,0,0,0,0
$GC,4004,-0.74,-146.0,318.8,-4.9,326,4008,0.00,2.30,0.00,0.000,4,0.000,0.061,2386,540,3399,0,0,0,0,0,0
$GC,4262,-0.74,-146.0,333.5,-5.6,331,4268,0.00,2.17,0.00,0.000,6,0.000,0.038,2377,1959,3397,0,0,0,0,0,0
$GC,4594,-0.74,-146.0,349.6,-4.9,340,4598,0.00,2.30,0.00,0.000,4,0.000,0.059,2377,539,3395,0,0,0,0,0,0
$GC,4736,-0.74,-146.0,359.0,-6.7,343,4741,0.12,2.20,0.00,0.000,6,0.150,0.040,2401,1956,3395,0,0,0,0,0,0
$GC,5051,-0.74,-146.0,374.8,-4.9,351,5055,0.00,2.30,0.00,0.000,4,0.000,0.058,2401,546,3393,0,0,0,0,0,0
$GC,5147,-0.74,-146.0,380.1,-5.5,353,5151,0.00,2.17,0.00,0.000,6,0.000,0.039,2393,1958,3393,0,0,0,0,0,0
$STATE,5423,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5424,begin apogee
$GC,5430,-0.17,0.0,395.7,5.8,360,5555,0.57,0.00,122.20,0.704,6,0.111,0.000,2579,1958,2800,0,0,0,0,0,0
$STATE,5556,end apogee,CONTROL_FINISHED_OK
$STATE,5556,begin climb
$GC,5559,0.74,146.0,396.5,0.0,363,5694,0.85,0.00,127.30,0.683,6,0.074,0.000,2877,1958,2203,0,0,0,0,0,0
$GC,6006,0.74,146.0,353.1,10.2,374,6010,0.00,2.28,0.00,0.000,4,0.000,0.059,2876,3386,2196,0,0,0,0,0,0
$GC,6263,0.74,146.0,324.3,11.9,379,6268,0.00,2.28,0.00,0.000,6,0.000,0.045,2885,1970,2194,0,0,0,0,0,0
$GC,6575,0.74,146.0,291.7,9.6,389,6579,0.00,2.28,0.00,0.000,4,0.000,0.055,2885,3389,2193,0,0,0,0,0,0
$GC,6637,0.74,146.0,285.7,9.4,391,6642,0.00,2.25,0.00,0.000,6,0.000,0.044,2894,1976,2193,0,0,0,0,0,0
$GC,6952,0.74,146.0,255.7,9.8,407,6956,0.00,2.25,0.00,0.000,4,0.000,0.057,2894,3385,2192,0,0,0,0,0,0
$GC,7148,0.74,146.0,236.1,9.5,416,7152,0.00,2.25,0.00,0.000,6,0.000,0.046,2901,1971,2191,0,0,0,0,0,0
$GC,7481,0.77,175.2,207.2,7.8,432,7510,0.00,2.33,24.33,0.591,4,0.000,0.058,2902,3391,2083,0,0,0,0,0,0
$GC,7635,0.77,175.2,194.0,9.4,441,7639,0.00,2.25,0.00,0.000,6,0.000,0.047,2909,1971,2080,0,0,0,0,0,0
$GC,7962,0.77,175.2,162.5,10.1,471,7967,0.00,2.33,0.00,0.000,4,0.000,0.058,2910,3392,2080,0,0,0,0,0,0
$GC,8015,0.77,175.2,156.7,11.3,475,8019,0.00,2.25,0.00,0.000,6,0.000,0.047,2919,1981,2079,0,0,0,0,0,0
$GC,8342,0.77,175.2,122.0,9.5,505,8346,0.00,2.28,0.00,0.000,4,0.000,0.058,2919,3386,2079,0,0,0,0,0,0
$GC,8430,0.79,190.0,114.1,8.4,512,8449,0.08,2.25,13.55,0.499,6,0.115,0.047,2901,1987,2024,0,0,0,0,0,0
$GC,8767,0.79,190.0,89.8,9.2,544,8771,0.00,2.30,0.00,0.000,4,0.000,0.058,2901,3382,2022,0,0,0,0,0,0
$GC,8931,0.79,190.0,72.6,10.0,565,8937,0.00,2.25,0.00,0.000,6,0.000,0.048,2905,1979,2022,0,0,0,0,0,0
$GC,9266,0.87,251.3,48.1,6.5,626,9331,0.00,2.38,53.67,0.472,4,0.000,0.058,2906,3385,1773,0,0,0,0,0,0
$GC,9346,0.90,276.0,42.6,8.0,639,9374,0.00,2.28,22.70,0.447,6,0.000,0.048,2910,1980,1672,0,0,0,0,0,0
$GC,9694,0.90,276.0,11.3,9.2,704,9701,0.00,2.33,0.00,0.000,4,0.000,0.061,2910,3376,1672,0,0,0,0,0,0
$GC,9728,0.90,276.0,7.8,9.7,709,9736,0.00,2.28,0.00,0.000,6,0.000,0.048,2917,1980,1671,0,0,0,0,0,0
$STATE,9780,end climb,SURFACE_DEPTH_REACHED
$STATE,9780,begin surface coast
$FINISH,0.7,1.001234
$STATE,9813,end surface coast,CONTROL_FINISHED_OK
$STATE,9814,begin surface
$SM_CCo,9831,13.80,0.401,0,0,1575,300.24
$SM_GC,1.29,0.00,0.00,13.80,0.000,0.000,0.401,34,1973,1575,-8.15,0.45,300.24
$IRIDIUM_FIX,2052.52,-15754.77,041002,080850
$TT8_MAMPS,0.028379
$HUMID,67.75
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.4,59.019
$10V_AH,10.0,65.233
$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,18.650,90.725,363.750,13.800,0.000,24.288,34.261,236.727,16.250,0.000,21.145,1314.372,5482.639,414.055,2467.860,611.991,0.000,1290.366,0.000,2432.189,0.000,102.265,0.000
$DEVICE_MAMPS,214.760,68.263,704.106,401.141,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,490.929,440.896,1455.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,41331,724
$CAP_FILE_SIZE,110560,0
$CFSIZE,260165632,221143040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100713,135934,2057.910,-15755.198,123,0.8,123,9.8