version: 66.06
glider: 523
mission: 4
dive: 690
start: 7 10 113 23 21 7
data:
$ID,523
$MISSION,4
$DIVE,690
$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,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,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,578.89856
$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,-49940.855
$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,2638
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,230111,2059.003,-15758.646,16,0.9,16,9.8
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.6
$GPS2,232051,2058.767,-15758.731,40,1.3,53,9.8
$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,332.2,18629,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.90,0.000,2,0.000,0.000,31,1973,3368,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.5,-5.9,12,113,9.55,2.25,-0.60,0.000,4,0.216,0.063,2379,3380,3396,0,0,0,0,0,0
$GC,199,-0.74,-146.0,22.8,-13.1,30,207,0.00,2.35,0.00,0.000,6,0.000,0.047,2379,1956,3397,0,0,0,0,0,0
$GC,372,-0.74,-146.0,47.7,-14.3,61,378,0.00,2.33,0.00,0.000,4,0.000,0.063,2379,536,3397,0,0,0,0,0,0
$GC,422,-0.74,-146.0,55.3,-14.5,70,429,0.00,2.25,0.00,0.000,6,0.000,0.041,2370,1957,3397,0,0,0,0,0,0
$GC,763,-0.74,-146.0,93.6,-9.7,120,767,0.12,2.35,0.00,0.000,4,0.162,0.060,2403,536,3397,0,0,0,0,0,0
$GC,999,-0.74,-146.0,115.2,-7.7,141,1003,0.00,2.20,0.00,0.000,6,0.000,0.040,2395,1960,3398,0,0,0,0,0,0
$GC,1327,-0.74,-146.0,138.7,-8.0,171,1331,0.00,2.35,0.00,0.000,4,0.000,0.061,2394,542,3398,0,0,0,0,0,0
$GC,1348,-0.74,-146.0,140.3,-8.1,172,1352,0.00,2.20,0.00,0.000,6,0.000,0.042,2385,1964,3398,0,0,0,0,0,0
$GC,1675,-0.74,-146.0,169.9,-9.4,202,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1964,3398,0,0,0,0,0,0
$GC,1993,-0.74,-146.0,196.9,-7.4,232,1997,0.00,2.38,0.00,0.000,4,0.000,0.061,2385,544,3398,0,0,0,0,0,0
$GC,2194,-0.74,-146.0,212.2,-7.6,243,2198,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1957,3398,0,0,0,0,0,0
$GC,2523,-0.74,-146.0,231.8,-5.8,259,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1957,3398,0,0,0,0,0,0
$GC,2832,-0.74,-146.0,252.5,-7.3,274,2835,0.00,2.30,0.00,0.000,4,0.000,0.061,2365,3372,3397,0,0,0,0,0,0
$GC,2922,-0.74,-146.0,259.8,-8.2,278,2928,0.12,2.28,0.00,0.000,6,0.140,0.047,2399,1954,3398,0,0,0,0,0,0
$GC,3256,-0.74,-146.0,276.3,-3.5,294,3260,0.00,2.30,0.00,0.000,4,0.000,0.063,2399,542,3397,0,0,0,0,0,0
$GC,3514,-0.74,-146.0,286.1,-4.7,305,3518,0.00,2.20,0.00,0.000,6,0.000,0.039,2391,1961,3396,0,0,0,0,0,0
$GC,3834,-0.74,-146.0,302.2,-5.0,320,3839,0.00,2.33,0.00,0.000,4,0.000,0.059,2391,537,3395,0,0,0,0,0,0
$GC,3992,-0.74,-146.0,311.7,-6.6,323,3996,0.00,2.20,0.00,0.000,6,0.000,0.041,2381,1955,3393,0,0,0,0,0,0
$GC,4331,-0.74,-146.0,335.5,-7.5,332,4335,0.00,2.30,0.00,0.000,4,0.000,0.059,2381,544,3392,0,0,0,0,0,0
$GC,4387,-0.74,-146.0,340.0,-7.4,333,4391,0.00,2.20,0.00,0.000,6,0.000,0.041,2372,1958,3392,0,0,0,0,0,0
$GC,4739,-0.74,-146.0,361.2,-5.9,342,4743,0.00,2.25,0.00,0.000,4,0.000,0.062,2362,3368,3389,0,0,0,0,0,0
$GC,4766,-0.74,-146.0,362.9,-5.5,342,4771,0.15,2.28,0.00,0.000,6,0.137,0.049,2403,1948,3389,0,0,0,0,0,0
$GC,5099,-0.74,-146.0,380.0,-5.4,350,5103,0.00,2.30,0.00,0.000,4,0.000,0.064,2403,534,3388,0,0,0,0,0,0
$GC,5358,-0.74,-146.0,396.3,-6.6,355,5364,0.00,2.22,0.00,0.000,6,0.000,0.041,2395,1963,3387,0,0,0,0,0,0
$GC,5690,-0.74,-146.0,417.7,-6.9,364,5695,0.00,2.33,0.00,0.000,4,0.000,0.060,2395,541,3384,0,0,0,0,0,0
$STATE,5704,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5704,begin apogee
$GC,5713,-0.17,0.0,419.1,6.9,364,5838,0.57,0.00,121.35,0.731,6,0.116,0.000,2574,1980,2800,0,0,0,0,0,0
$STATE,5839,end apogee,CONTROL_FINISHED_OK
$STATE,5839,begin climb
$GC,5842,0.74,146.0,422.1,0.0,367,5980,0.85,2.33,127.93,0.708,4,0.075,0.057,2870,3389,2203,0,0,0,0,0,0
$GC,6149,0.74,146.0,391.5,12.0,374,6153,0.00,2.28,0.00,0.000,6,0.000,0.048,2879,1979,2198,0,0,0,0,0,0
$GC,6467,0.74,146.0,354.2,12.1,382,6471,0.00,2.28,0.00,0.000,4,0.000,0.057,2879,3389,2196,0,0,0,0,0,0
$GC,6557,0.74,146.0,342.1,13.6,384,6562,0.00,2.28,0.00,0.000,6,0.000,0.046,2889,1969,2195,0,0,0,0,0,0
$GC,6876,0.74,146.0,305.8,11.1,392,6880,0.00,2.28,0.00,0.000,4,0.000,0.057,2889,3389,2194,0,0,0,0,0,0
$GC,6926,0.74,146.0,299.9,12.7,393,6930,0.00,2.25,0.00,0.000,6,0.000,0.049,2898,1974,2193,0,0,0,0,0,0
$GC,7244,0.74,146.0,266.4,10.3,408,7248,0.00,2.30,0.00,0.000,4,0.000,0.058,2897,3396,2192,0,0,0,0,0,0
$GC,7294,0.74,146.0,261.0,11.0,410,7299,0.12,2.28,0.00,0.000,6,0.140,0.050,2871,1979,2192,0,0,0,0,0,0
$GC,7610,0.77,169.8,234.4,8.0,425,7635,0.00,2.30,20.02,0.614,4,0.000,0.058,2870,3391,2106,0,0,0,0,0,0
$GC,7680,0.77,169.8,227.9,9.7,428,7684,0.00,2.28,0.00,0.000,6,0.000,0.051,2878,1980,2103,0,0,0,0,0,0
$GC,7997,0.78,181.6,201.3,8.5,443,8013,0.00,2.28,11.20,0.559,4,0.000,0.058,2877,3392,2059,0,0,0,0,0,0
$GC,8106,0.79,192.1,192.2,8.6,451,8122,0.00,2.28,10.85,0.545,6,0.000,0.052,2886,1969,2016,0,0,0,0,0,0
$GC,8449,0.79,193.1,163.2,9.0,483,8453,0.00,2.30,0.00,0.000,4,0.000,0.060,2886,3386,2013,0,0,0,0,0,0
$GC,8533,0.79,193.1,154.8,9.8,490,8538,0.00,2.28,0.00,0.000,6,0.000,0.053,2892,1978,2013,0,0,0,0,0,0
$GC,8861,0.84,231.2,127.1,7.5,520,8907,0.00,2.38,35.00,0.543,4,0.000,0.061,2893,3395,1856,0,0,0,0,0,0
$GC,8955,0.85,238.8,119.2,8.7,528,8968,0.00,2.22,8.23,0.466,6,0.000,0.042,2901,1976,1825,0,0,0,0,0,0
$GC,9288,0.91,287.1,94.6,7.0,559,9338,0.00,2.35,42.70,0.507,4,0.000,0.056,2901,3389,1627,0,0,0,0,0,0
$GC,9360,0.97,331.5,88.8,7.2,565,9406,0.08,2.28,38.67,0.495,6,0.044,0.046,2983,1982,1449,0,0,0,0,0,0
$GC,9736,0.97,331.5,46.8,11.5,625,9742,0.12,2.30,0.00,0.000,4,0.127,0.058,2945,3391,1447,0,0,0,0,0,0
$GC,9816,0.97,331.5,38.3,10.3,639,9821,0.00,2.28,0.00,0.000,6,0.000,0.054,2951,1980,1447,0,0,0,0,0,0
$GC,10141,0.97,331.5,6.2,9.9,700,10148,0.00,2.30,0.00,0.000,4,0.000,0.061,2951,3380,1447,0,0,0,0,0,0
$STATE,10171,end climb,SURFACE_DEPTH_REACHED
$STATE,10171,begin surface coast
$FINISH,1.7,1.023160
$STATE,10178,end surface coast,CONTROL_FINISHED_OK
$STATE,10178,begin surface
$SM_CCo,10198,167.95,0.431,0,0,439,578.90
$SM_GC,1.30,0.00,0.00,167.95,0.000,0.000,0.431,48,1953,439,-8.10,-0.11,578.90
$IRIDIUM_FIX,2054.83,-15756.91,041002,232358
$TT8_MAMPS,0.027612
$HUMID,65.39
$INTERNAL_PRESSURE,9.29449
$TCM_TEMP,23.40
$XPDR_PINGS,3
$24V_AH,24.4,59.426
$10V_AH,10.0,65.685
$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,19.150,105.000,415.950,167.950,0.000,124.308,278.976,317.861,17.750,0.000,53.780,1313.925,6094.158,588.797,2473.865,1069.588,0.000,1485.864,0.000,2397.730,0.000,108.616,0.000
$DEVICE_MAMPS,216.294,63.661,730.951,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,480.618,427.419,1397.431,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,38172,706
$CAP_FILE_SIZE,124140,0
$CFSIZE,260165632,220889088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110713,021504,2059.144,-15759.610,30,1.2,30,9.8