version: 66.06
glider: 523
mission: 4
dive: 688
start: 7 10 113 17 6 58
data:
$ID,523
$MISSION,4
$DIVE,688
$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,-49850.492
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,165631,2058.123,-15756.756,20,0.8,20,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.2
$GPS2,170642,2058.129,-15756.904,18,0.9,18,9.8
$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,325.0,20896,-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,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.75,0.000,2,0.000,0.000,38,1944,3317,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.1,12,119,9.55,2.33,-1.88,0.000,4,0.218,0.070,2385,3357,3398,0,0,0,0,0,0
$GC,227,-0.74,-146.0,24.3,-13.1,35,234,0.00,2.28,0.00,0.000,6,0.000,0.048,2385,1955,3399,0,0,0,0,0,0
$GC,396,-0.74,-146.0,43.1,-10.7,66,403,0.00,2.33,0.00,0.000,4,0.000,0.064,2385,549,3399,0,0,0,0,0,0
$GC,647,-0.74,-146.0,72.9,-12.0,112,654,0.00,2.22,0.00,0.000,6,0.000,0.042,2376,1951,3400,0,0,0,0,0,0
$GC,978,-0.74,-146.0,102.2,-8.3,149,982,0.00,2.30,0.00,0.000,4,0.000,0.060,2376,546,3400,0,0,0,0,0,0
$GC,1235,-0.74,-146.0,130.5,-10.1,171,1241,0.10,2.22,0.00,0.000,6,0.133,0.041,2398,1955,3401,0,0,0,0,0,0
$GC,1563,-0.74,-146.0,154.3,-6.5,202,1567,0.00,2.28,0.00,0.000,4,0.000,0.064,2389,3374,3401,0,0,0,0,0,0
$GC,1615,-0.74,-146.0,158.0,-7.4,206,1619,0.00,2.28,0.00,0.000,6,0.000,0.045,2389,1946,3401,0,0,0,0,0,0
$GC,1943,-0.74,-146.0,182.2,-7.6,236,1947,0.00,2.28,0.00,0.000,4,0.000,0.064,2389,545,3401,0,0,0,0,0,0
$GC,2192,-0.74,-146.0,203.5,-7.2,256,2198,0.00,2.20,0.00,0.000,6,0.000,0.040,2380,1964,3402,0,0,0,0,0,0
$GC,2512,-0.74,-146.0,225.5,-7.1,272,2516,0.00,2.33,0.00,0.000,4,0.000,0.060,2379,544,3402,0,0,0,0,0,0
$GC,2771,-0.74,-146.0,245.7,-7.3,283,2777,0.12,2.20,0.00,0.000,6,0.156,0.041,2404,1955,3402,0,0,0,0,0,0
$GC,3092,-0.74,-146.0,265.7,-7.4,299,3096,0.00,2.30,0.00,0.000,4,0.000,0.058,2404,546,3402,0,0,0,0,0,0
$GC,3350,-0.74,-146.0,284.0,-5.8,310,3356,0.00,2.20,0.00,0.000,6,0.000,0.040,2396,1962,3401,0,0,0,0,0,0
$GC,3667,-0.74,-146.0,300.0,-5.3,326,3674,0.00,2.33,0.00,0.000,4,0.000,0.059,2396,542,3401,0,0,0,0,0,0
$GC,3811,-0.74,-146.0,309.2,-6.4,330,3815,0.00,2.20,0.00,0.000,6,0.000,0.040,2386,1962,3400,0,0,0,0,0,0
$GC,4131,-0.74,-146.0,326.3,-5.1,338,4135,0.00,2.33,0.00,0.000,4,0.000,0.060,2386,543,3399,0,0,0,0,0,0
$GC,4268,-0.74,-146.0,333.6,-5.7,341,4272,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1955,3398,0,0,0,0,0,0
$GC,4589,-0.74,-146.0,352.4,-6.2,349,4593,0.00,2.30,0.00,0.000,4,0.000,0.065,2366,3375,3396,0,0,0,0,0,0
$GC,4746,-0.74,-146.0,362.4,-5.7,352,4750,0.12,2.28,0.00,0.000,6,0.140,0.045,2399,1948,3396,0,0,0,0,0,0
$GC,5083,-0.74,-146.0,375.4,-3.1,361,5087,0.00,2.28,0.00,0.000,4,0.000,0.063,2400,546,3393,0,0,0,0,0,0
$GC,5342,-0.74,-146.0,388.0,-5.8,366,5347,0.00,2.20,0.00,0.000,6,0.000,0.040,2392,1960,3392,0,0,0,0,0,0
$STATE,5426,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5426,begin apogee
$GC,5433,-0.17,0.0,393.0,5.7,369,5558,0.60,0.00,122.32,0.706,6,0.112,0.000,2585,1960,2800,0,0,0,0,0,0
$STATE,5559,end apogee,CONTROL_FINISHED_OK
$STATE,5559,begin climb
$GC,5563,0.74,146.0,394.1,0.0,372,5696,0.82,0.00,126.90,0.686,6,0.073,0.000,2874,1960,2204,0,0,0,0,0,0
$GC,6010,0.74,146.0,346.5,11.3,383,6014,0.00,2.30,0.00,0.000,4,0.000,0.061,2874,3386,2198,0,0,0,0,0,0
$GC,6194,0.74,146.0,327.5,10.7,387,6198,0.00,2.28,0.00,0.000,6,0.000,0.047,2882,1975,2195,0,0,0,0,0,0
$GC,6507,0.74,152.1,300.1,8.8,395,6517,0.00,2.30,5.45,0.505,4,0.000,0.056,2883,3386,2177,0,0,0,0,0,0
$GC,6569,0.74,152.1,294.0,9.8,397,6573,0.00,2.25,0.00,0.000,6,0.000,0.046,2892,1970,2176,0,0,0,0,0,0
$GC,6901,0.75,156.7,260.8,8.8,413,6911,0.00,2.28,5.03,0.479,4,0.000,0.059,2891,3385,2160,0,0,0,0,0,0
$GC,7008,0.75,156.7,250.3,11.0,418,7012,0.00,2.25,0.00,0.000,6,0.000,0.048,2899,1971,2159,0,0,0,0,0,0
$GC,7335,0.76,166.9,220.0,8.6,434,7350,0.00,2.28,10.68,0.562,4,0.000,0.058,2899,3385,2118,0,0,0,0,0,0
$GC,7414,0.76,166.9,212.3,10.7,436,7419,0.00,2.25,0.00,0.000,6,0.000,0.048,2907,1982,2116,0,0,0,0,0,0
$GC,7739,0.76,166.9,179.1,9.7,461,7743,0.00,2.33,0.00,0.000,4,0.000,0.060,2907,3391,2115,0,0,0,0,0,0
$GC,7846,0.76,166.9,168.6,9.6,470,7854,0.00,2.30,0.00,0.000,6,0.000,0.051,2914,1979,2114,0,0,0,0,0,0
$GC,8173,0.76,166.9,139.1,10.1,501,8177,0.00,2.30,0.00,0.000,4,0.000,0.059,2914,3384,2114,0,0,0,0,0,0
$GC,8258,0.76,166.9,129.7,11.9,508,8262,0.12,2.22,0.00,0.000,6,0.137,0.049,2887,1979,2114,0,0,0,0,0,0
$GC,8585,0.85,234.7,103.7,6.2,538,8648,0.00,0.00,58.50,0.522,6,0.000,0.000,2887,1979,1843,0,0,0,0,0,0
$GC,8967,0.85,239.7,73.5,8.8,580,8979,0.00,2.28,6.10,0.405,4,0.000,0.064,2890,567,1821,0,0,0,0,0,0
$GC,9099,0.88,260.3,62.9,8.2,603,9124,0.00,2.22,19.33,0.465,6,0.000,0.038,2890,1990,1737,0,0,0,0,0,0
$GC,9456,0.93,306.7,37.7,7.1,667,9504,0.15,2.38,40.67,0.456,4,0.066,0.061,2981,558,1548,0,0,0,0,0,0
$GC,9567,0.93,306.7,26.5,10.7,686,9575,0.10,2.28,0.00,0.000,6,0.097,0.042,2943,1971,1548,0,0,0,0,0,0
$GC,9738,0.93,306.7,11.1,9.3,717,9746,0.00,2.35,0.00,0.000,4,0.000,0.068,2943,3386,1547,0,0,0,0,0,0
$GC,9805,0.93,306.7,5.0,10.3,729,9813,0.00,2.30,0.00,0.000,6,0.000,0.049,2950,1979,1547,0,0,0,0,0,0
$STATE,9830,end climb,SURFACE_DEPTH_REACHED
$STATE,9830,begin surface coast
$FINISH,0.7,1.022065
$STATE,9868,end surface coast,CONTROL_FINISHED_OK
$STATE,9869,begin surface
$SM_CCo,9947,0.00,0.000,0,0,1545,307.60
$SM_GC,1.53,7.35,0.00,0.00,0.019,0.000,0.000,23,1976,1545,-8.01,0.54,307.60
$IRIDIUM_FIX,2047.91,-15752.63,041002,171733
$TT8_MAMPS,0.027612
$HUMID,68.15
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,24.4,59.201
$10V_AH,10.0,65.458
$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,19.050,90.950,394.975,0.000,0.000,58.454,69.291,263.727,16.000,0.000,19.227,1341.914,5505.122,420.140,2577.303,703.626,0.000,1338.345,0.000,2532.370,0.000,101.327,0.000
$DEVICE_MAMPS,217.828,69.797,706.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,501.001,441.673,1500.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,41298,740
$CAP_FILE_SIZE,116250,0
$CFSIZE,260165632,221020160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100713,195348,2058.645,-15758.039,27,0.7,27,9.8