version: 66.06
glider: 523
mission: 4
dive: 693
start: 7 11 113 8 35 56
data:
$ID,523
$MISSION,4
$DIVE,693
$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,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,-50034.828
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,082451,2059.738,-15802.293,16,1.0,16,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.3
$GPS2,083540,2059.713,-15802.373,44,0.7,44,9.8
$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,352.1,15974,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.25,0.000,2,0.000,0.000,29,1939,3377,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.5,-5.2,12,114,9.57,2.28,-0.38,0.000,4,0.220,0.062,2382,3369,3395,0,0,0,0,0,0
$GC,185,-0.74,-146.0,20.6,-14.9,27,193,0.00,2.25,0.00,0.000,6,0.000,0.043,2382,1960,3397,0,0,0,0,0,0
$GC,354,-0.74,-146.0,44.9,-14.7,58,362,0.00,2.33,0.00,0.000,4,0.000,0.063,2381,536,3397,0,0,0,0,0,0
$GC,604,-0.74,-146.0,75.7,-11.2,104,612,0.00,2.25,0.00,0.000,6,0.000,0.043,2373,1950,3398,0,0,0,0,0,0
$GC,936,-0.74,-146.0,111.2,-9.9,138,940,0.00,2.33,0.00,0.000,4,0.000,0.058,2373,535,3398,0,0,0,0,0,0
$GC,1163,-0.74,-146.0,128.9,-7.5,158,1167,0.12,2.22,0.00,0.000,6,0.156,0.043,2395,1965,3399,0,0,0,0,0,0
$GC,1490,-0.74,-146.0,151.2,-7.2,188,1494,0.00,2.33,0.00,0.000,4,0.000,0.058,2396,538,3399,0,0,0,0,0,0
$GC,1660,-0.74,-146.0,165.8,-8.6,203,1667,0.00,2.25,0.00,0.000,6,0.000,0.043,2388,1958,3399,0,0,0,0,0,0
$GC,1989,-0.74,-146.0,190.3,-7.1,234,1993,0.00,2.30,0.00,0.000,4,0.000,0.058,2388,539,3399,0,0,0,0,0,0
$GC,2243,-0.74,-146.0,210.9,-7.6,250,2249,0.00,2.22,0.00,0.000,6,0.000,0.043,2378,1962,3399,0,0,0,0,0,0
$GC,2562,-0.74,-146.0,236.1,-8.4,266,2566,0.00,2.30,0.00,0.000,4,0.000,0.056,2378,532,3399,0,0,0,0,0,0
$GC,2585,-0.74,-146.0,238.4,-8.3,267,2590,0.12,2.22,0.00,0.000,6,0.154,0.043,2403,1967,3399,0,0,0,0,0,0
$GC,2907,-0.74,-146.0,263.8,-7.0,283,2911,0.00,2.30,0.00,0.000,4,0.000,0.057,2403,541,3399,0,0,0,0,0,0
$GC,3053,-0.74,-146.0,273.2,-5.9,289,3059,0.00,2.22,0.00,0.000,6,0.000,0.042,2395,1966,3399,0,0,0,0,0,0
$GC,3372,-0.74,-146.0,290.9,-5.9,305,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1967,3399,0,0,0,0,0,0
$GC,3678,-0.74,-146.0,305.9,-4.3,317,3682,0.00,2.28,0.00,0.000,4,0.000,0.062,2384,3370,3399,0,0,0,0,0,0
$GC,3751,-0.74,-146.0,309.0,-4.6,318,3755,0.00,2.28,0.00,0.000,6,0.000,0.049,2384,1951,3399,0,0,0,0,0,0
$GC,4088,-0.74,-146.0,324.9,-4.8,327,4093,0.00,2.30,0.00,0.000,4,0.000,0.061,2384,535,3397,0,0,0,0,0,0
$GC,4275,-0.74,-146.0,335.4,-5.7,331,4279,0.00,2.22,0.00,0.000,6,0.000,0.041,2375,1960,3396,0,0,0,0,0,0
$GC,4597,-0.74,-146.0,355.1,-6.3,339,4602,0.00,2.33,0.00,0.000,4,0.000,0.061,2375,542,3394,0,0,0,0,0,0
$GC,4734,-0.74,-146.0,365.0,-7.5,342,4740,0.12,2.22,0.00,0.000,6,0.152,0.042,2398,1965,3393,0,0,0,0,0,0
$GC,5062,-0.74,-146.0,384.7,-6.1,350,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1965,3391,0,0,0,0,0,0
$GC,5386,-0.74,-146.0,404.2,-5.7,358,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1965,3390,0,0,0,0,0,0
$STATE,5706,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5706,begin apogee
$GC,5713,-0.17,0.0,419.5,4.5,366,5839,0.55,0.00,122.35,0.727,6,0.113,0.000,2578,1965,2800,0,0,0,0,0,0
$STATE,5840,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5842,0.74,146.0,419.0,0.0,369,5980,0.85,2.35,128.12,0.704,4,0.074,0.058,2875,3381,2203,0,0,0,0,0,0
$GC,6234,0.74,146.0,376.6,10.1,378,6238,0.00,2.28,0.00,0.000,6,0.000,0.046,2885,1978,2198,0,0,0,0,0,0
$GC,6565,0.75,155.2,346.9,8.7,386,6579,0.00,2.35,8.07,0.581,4,0.000,0.058,2885,3387,2166,0,0,0,0,0,0
$GC,6834,0.75,155.2,314.2,12.7,392,6838,0.00,2.28,0.00,0.000,6,0.000,0.048,2892,1973,2164,0,0,0,0,0,0
$GC,7168,0.75,155.2,276.8,9.6,405,7172,0.00,2.33,0.00,0.000,4,0.000,0.059,2893,3394,2162,0,0,0,0,0,0
$GC,7353,0.75,155.2,258.3,9.8,413,7357,0.00,2.25,0.00,0.000,6,0.000,0.049,2897,1976,2162,0,0,0,0,0,0
$GC,7669,0.75,155.2,230.4,9.3,428,7673,0.00,2.33,0.00,0.000,4,0.000,0.061,2897,3389,2161,0,0,0,0,0,0
$GC,7724,0.75,155.2,224.4,10.9,430,7729,0.00,2.25,0.00,0.000,6,0.000,0.050,2905,1979,2161,0,0,0,0,0,0
$GC,8045,0.75,155.2,193.3,9.3,448,8049,0.00,2.33,0.00,0.000,4,0.000,0.059,2906,3391,2160,0,0,0,0,0,0
$GC,8118,0.75,155.2,186.0,9.7,454,8123,0.12,2.28,0.00,0.000,6,0.139,0.049,2879,1973,2160,0,0,0,0,0,0
$GC,8445,0.78,181.1,159.4,8.0,484,8473,0.00,2.30,22.90,0.561,4,0.000,0.060,2879,3394,2061,0,0,0,0,0,0
$GC,8575,0.78,181.1,147.2,10.3,495,8579,0.00,2.28,0.00,0.000,6,0.000,0.050,2885,1981,2059,0,0,0,0,0,0
$GC,8904,0.79,191.8,117.7,8.6,525,8920,0.00,2.33,10.48,0.489,4,0.000,0.060,2885,3388,2017,0,0,0,0,0,0
$GC,8974,0.80,199.9,111.4,8.7,531,8993,0.00,2.28,8.65,0.466,6,0.000,0.049,2893,1982,1984,0,0,0,0,0,0
$GC,9314,0.84,230.5,85.8,7.8,563,9350,0.00,2.33,27.95,0.494,4,0.000,0.061,2893,3385,1859,0,0,0,0,0,0
$GC,9443,0.84,230.5,74.9,9.1,579,9448,0.00,2.25,0.00,0.000,6,0.000,0.051,2893,1979,1858,0,0,0,0,0,0
$GC,9772,0.92,294.9,52.8,6.4,640,9837,0.12,2.33,56.38,0.472,4,0.076,0.059,3000,567,1595,0,0,0,0,0,0
$GC,9897,0.92,294.9,40.1,11.6,661,9903,0.22,2.22,0.00,0.000,6,0.104,0.040,2930,1986,1595,0,0,0,0,0,0
$GC,10225,0.93,299.8,12.6,8.8,722,10239,0.00,2.25,5.43,0.351,4,0.000,0.056,2930,3383,1577,0,0,0,0,0,0
$GC,10255,0.93,299.8,9.9,9.5,726,10262,0.00,2.33,0.00,0.000,6,0.000,0.054,2936,1978,1577,0,0,0,0,0,0
$STATE,10325,end climb,SURFACE_DEPTH_REACHED
$STATE,10325,begin surface coast
$FINISH,0.8,1.023206
$STATE,10365,end surface coast,CONTROL_FINISHED_OK
$STATE,10365,begin surface
$SM_CCo,10443,0.00,0.000,0,0,1573,300.98
$SM_GC,1.39,7.43,0.00,0.00,0.028,0.000,0.000,41,1975,1573,-7.99,0.54,300.98
$IRIDIUM_FIX,2054.83,-15804.20,051002,080802
$TT8_MAMPS,0.028379
$HUMID,67.05
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.10
$XPDR_PINGS,3
$24V_AH,24.4,59.710
$10V_AH,10.1,66.018
$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,19.250,91.300,390.325,0.000,0.000,54.471,79.794,267.847,17.750,0.000,45.334,1359.461,5993.166,404.851,2604.842,719.423,0.000,1327.473,0.000,2531.714,0.000,108.388,0.000
$DEVICE_MAMPS,220.129,62.894,727.116,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,506.009,437.972,1499.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,41282,746
$CAP_FILE_SIZE,117604,0
$CFSIZE,260165632,220721152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110713,113134,2100.087,-15803.390,59,0.9,59,9.8