version: 66.06
glider: 523
mission: 4
dive: 694
start: 7 11 113 11 42 24
data:
$ID,523
$MISSION,4
$DIVE,694
$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,-50050.887
$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,25
$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
$GPS1,113134,2100.087,-15803.390,59,0.9,59,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.7
$GPS2,114205,2060.000,-15803.377,15,1.3,15,9.8
$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,358.6,15601,-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,-75.90,0.000,2,0.000,0.000,40,1967,3372,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.1,-4.4,12,114,9.52,2.25,-0.52,0.000,4,0.219,0.063,2380,3372,3396,0,0,0,0,0,0
$GC,234,-0.74,-146.0,25.5,-12.1,36,241,0.00,2.30,0.00,0.000,6,0.000,0.046,2380,1954,3398,0,0,0,0,0,0
$GC,408,-0.74,-146.0,46.2,-13.7,67,413,0.00,2.30,0.00,0.000,4,0.000,0.064,2380,541,3398,0,0,0,0,0,0
$GC,660,-0.74,-146.0,79.9,-11.4,113,669,0.12,2.17,0.00,0.000,6,0.166,0.038,2401,1960,3398,0,0,0,0,0,0
$GC,987,-0.74,-146.0,109.0,-8.4,144,991,0.00,2.33,0.00,0.000,4,0.000,0.061,2402,534,3399,0,0,0,0,0,0
$GC,1148,-0.74,-146.0,124.8,-9.4,158,1157,0.00,2.22,0.00,0.000,6,0.000,0.039,2394,1953,3399,0,0,0,0,0,0
$GC,1476,-0.74,-146.0,147.2,-6.1,189,1480,0.00,2.30,0.00,0.000,4,0.000,0.061,2394,542,3400,0,0,0,0,0,0
$GC,1595,-0.74,-146.0,155.1,-7.3,199,1599,0.00,2.20,0.00,0.000,6,0.000,0.039,2384,1968,3400,0,0,0,0,0,0
$GC,1928,-0.74,-146.0,182.3,-8.6,230,1932,0.00,2.33,0.00,0.000,4,0.000,0.061,2384,534,3400,0,0,0,0,0,0
$GC,1979,-0.74,-146.0,186.9,-9.2,234,1983,0.00,2.22,0.00,0.000,6,0.000,0.041,2375,1962,3400,0,0,0,0,0,0
$GC,2310,-0.74,-146.0,216.6,-8.4,256,2314,0.00,2.35,0.00,0.000,4,0.000,0.061,2375,536,3400,0,0,0,0,0,0
$GC,2569,-0.74,-146.0,236.1,-7.0,267,2575,0.12,2.17,0.00,0.000,6,0.157,0.040,2398,1960,3400,0,0,0,0,0,0
$GC,2888,-0.74,-146.0,254.3,-6.5,283,2892,0.00,2.33,0.00,0.000,4,0.000,0.058,2398,536,3400,0,0,0,0,0,0
$GC,3025,-0.74,-146.0,263.8,-6.0,289,3029,0.00,2.20,0.00,0.000,6,0.000,0.039,2390,1967,3400,0,0,0,0,0,0
$GC,3349,-0.74,-146.0,278.0,-3.9,305,3353,0.00,2.22,0.00,0.000,4,0.000,0.062,2380,3364,3400,0,0,0,0,0,0
$GC,3467,-0.74,-146.0,284.3,-5.9,310,3471,0.00,2.22,0.00,0.000,6,0.000,0.044,2379,1948,3399,0,0,0,0,0,0
$GC,3805,-0.74,-146.0,306.1,-7.3,324,3809,0.00,2.28,0.00,0.000,4,0.000,0.062,2380,540,3398,0,0,0,0,0,0
$GC,3839,-0.74,-146.0,308.8,-7.4,324,3844,0.00,2.20,0.00,0.000,6,0.000,0.039,2370,1959,3398,0,0,0,0,0,0
$GC,4170,-0.74,-146.0,329.8,-6.2,333,4176,0.10,2.33,0.00,0.000,4,0.163,0.058,2397,546,3396,0,0,0,0,0,0
$GC,4306,-0.74,-146.0,337.6,-6.0,336,4310,0.00,2.17,0.00,0.000,6,0.000,0.039,2389,1961,3395,0,0,0,0,0,0
$GC,4630,-0.74,-146.0,354.3,-5.0,344,4634,0.00,2.33,0.00,0.000,4,0.000,0.058,2389,536,3394,0,0,0,0,0,0
$GC,4756,-0.74,-146.0,360.5,-4.9,346,4761,0.00,2.22,0.00,0.000,6,0.000,0.040,2379,1963,3393,0,0,0,0,0,0
$GC,5088,-0.74,-146.0,376.5,-4.8,355,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1963,3391,0,0,0,0,0,0
$GC,5414,-0.74,-146.0,397.2,-6.8,363,5418,0.00,2.30,0.00,0.000,4,0.000,0.059,2379,544,3390,0,0,0,0,0,0
$GC,5649,-0.74,-146.0,416.4,-8.0,368,5653,0.10,2.22,0.00,0.000,6,0.168,0.041,2395,1963,3388,0,0,0,0,0,0
$STATE,5710,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5710,begin apogee
$GC,5717,-0.17,0.0,420.6,6.6,370,5843,0.57,0.00,122.60,0.729,6,0.114,0.000,2582,1963,2799,0,0,0,0,0,0
$STATE,5844,end apogee,CONTROL_FINISHED_OK
$STATE,5844,begin climb
$GC,5846,0.74,146.0,422.9,0.0,373,5985,0.82,2.38,127.80,0.706,4,0.074,0.061,2871,3388,2203,0,0,0,0,0,0
$GC,6080,0.74,146.0,400.1,11.6,378,6085,0.00,2.28,0.00,0.000,6,0.000,0.044,2880,1969,2199,0,0,0,0,0,0
$GC,6423,0.74,146.0,363.2,10.8,387,6427,0.00,2.28,0.00,0.000,4,0.000,0.056,2880,3389,2196,0,0,0,0,0,0
$GC,6635,0.74,146.0,338.1,11.6,391,6641,0.00,2.22,0.00,0.000,6,0.000,0.045,2889,1979,2196,0,0,0,0,0,0
$GC,6966,0.74,146.0,301.5,11.1,400,6971,0.00,2.30,0.00,0.000,4,0.000,0.058,2889,3388,2194,0,0,0,0,0,0
$GC,7101,0.74,146.0,286.0,11.6,405,7105,0.00,2.22,0.00,0.000,6,0.000,0.046,2898,1979,2193,0,0,0,0,0,0
$GC,7423,0.74,146.0,253.9,9.5,421,7427,0.00,2.30,0.00,0.000,4,0.000,0.060,2898,3391,2193,0,0,0,0,0,0
$GC,7563,0.74,146.0,240.3,9.4,427,7568,0.12,2.22,0.00,0.000,6,0.143,0.048,2871,1980,2192,0,0,0,0,0,0
$GC,7879,0.76,167.2,214.6,8.2,442,7903,0.00,2.35,17.52,0.593,4,0.000,0.064,2880,563,2118,0,0,0,0,0,0
$GC,7922,0.78,178.5,210.8,8.6,444,7939,0.00,2.22,11.55,0.561,6,0.000,0.041,2880,1978,2072,0,0,0,0,0,0
$GC,8256,0.81,202.6,182.7,8.0,468,8283,0.00,2.25,21.83,0.573,4,0.000,0.054,2880,3389,1974,0,0,0,0,0,0
$GC,8381,0.81,206.3,172.1,8.9,479,8393,0.00,2.22,4.85,0.429,6,0.000,0.046,2889,1980,1958,0,0,0,0,0,0
$GC,8714,0.83,225.6,143.1,8.2,510,8734,0.00,0.00,18.38,0.536,6,0.000,0.000,2889,1980,1880,0,0,0,0,0,0
$GC,9051,0.83,225.6,113.4,9.4,542,9055,0.00,2.28,0.00,0.000,4,0.000,0.059,2894,572,1878,0,0,0,0,0,0
$GC,9091,0.83,225.6,109.5,9.7,545,9096,0.00,2.22,0.00,0.000,6,0.000,0.041,2894,1988,1878,0,0,0,0,0,0
$GC,9419,0.91,284.5,82.8,6.6,575,9477,0.10,2.22,51.78,0.503,4,0.087,0.051,2968,3393,1640,0,0,0,0,0,0
$GC,9513,0.91,284.5,73.8,11.6,588,9522,0.12,2.30,0.00,0.000,6,0.103,0.048,2933,1985,1639,0,0,0,0,0,0
$GC,9848,0.91,284.5,42.0,11.0,649,9854,0.00,2.28,0.00,0.000,4,0.000,0.058,2933,3385,1639,0,0,0,0,0,0
$GC,9876,0.91,284.5,38.7,10.5,654,9884,0.00,2.30,0.00,0.000,6,0.000,0.051,2939,1982,1638,0,0,0,0,0,0
$GC,10205,0.93,302.2,9.4,8.3,715,10226,0.00,2.33,16.60,0.423,4,0.000,0.058,2939,3385,1567,0,0,0,0,0,0
$STATE,10280,end climb,SURFACE_DEPTH_REACHED
$STATE,10280,begin surface coast
$FINISH,0.6,1.023002
$STATE,10310,end surface coast,CONTROL_FINISHED_OK
$STATE,10310,begin surface
$SM_CCo,10391,0.00,0.000,0,0,1562,303.68
$SM_GC,1.48,7.40,0.00,0.00,0.025,0.000,0.000,54,1940,1562,-7.98,-0.45,303.68
$IRIDIUM_FIX,2050.21,-15810.20,051002,111146
$TT8_MAMPS,0.027612
$HUMID,69.01
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.50
$XPDR_PINGS,4
$24V_AH,24.4,59.807
$10V_AH,10.0,66.129
$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,19.125,99.700,392.900,0.000,0.000,56.411,72.894,287.052,18.250,0.000,15.426,1342.399,5994.838,418.701,2527.524,731.344,0.000,1320.562,0.000,2480.173,0.000,107.970,0.000
$DEVICE_MAMPS,219.362,64.428,728.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,499.120,437.452,1476.523,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41261,733
$CAP_FILE_SIZE,119585,0
$CFSIZE,260165632,220659712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110713,143649,2100.496,-15804.395,38,0.7,38,9.8