version: 66.06
glider: 523
mission: 4
dive: 695
start: 7 11 113 14 43 24
data:
$ID,523
$MISSION,4
$DIVE,695
$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,-50066.871
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,143649,2100.496,-15804.395,38,0.7,38,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.3
$GPS2,144305,2100.478,-15804.509,14,0.8,14,9.8
$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,6.4,15149,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-78.07,0.000,6,0.000,0.000,52,1944,3395,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.8,-5.9,13,118,9.48,2.25,0.00,0.000,4,0.220,0.048,2381,3368,3396,0,0,0,0,0,0
$GC,147,-0.74,-146.0,16.2,-22.0,20,155,0.00,2.28,0.00,0.000,6,0.000,0.046,2380,1953,3397,0,0,0,0,0,0
$GC,317,-0.74,-146.0,38.7,-11.3,51,323,0.00,2.30,0.00,0.000,4,0.000,0.066,2380,545,3398,0,0,0,0,0,0
$GC,410,-0.74,-146.0,49.6,-11.6,68,418,0.00,2.22,0.00,0.000,6,0.000,0.042,2371,1945,3398,0,0,0,0,0,0
$GC,744,-0.74,-146.0,84.9,-10.9,125,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1946,3399,0,0,0,0,0,0
$GC,1072,-0.74,-146.0,120.6,-9.1,156,1076,0.00,2.30,0.00,0.000,4,0.000,0.061,2371,539,3400,0,0,0,0,0,0
$GC,1223,-0.74,-146.0,133.3,-7.3,169,1230,0.10,2.25,0.00,0.000,6,0.135,0.041,2393,1963,3400,0,0,0,0,0,0
$GC,1551,-0.74,-146.0,149.5,-5.2,200,1557,0.00,2.28,0.00,0.000,4,0.000,0.064,2385,3370,3401,0,0,0,0,0,0
$GC,1599,-0.74,-146.0,152.6,-6.8,204,1603,0.00,2.28,0.00,0.000,6,0.000,0.048,2384,1956,3401,0,0,0,0,0,0
$GC,1926,-0.74,-146.0,176.9,-8.2,234,1930,0.00,2.30,0.00,0.000,4,0.000,0.066,2384,534,3402,0,0,0,0,0,0
$GC,2144,-0.74,-146.0,195.2,-7.3,253,2148,0.00,2.20,0.00,0.000,6,0.000,0.040,2375,1962,3402,0,0,0,0,0,0
$GC,2474,-0.74,-146.0,213.4,-5.2,272,2478,0.00,2.33,0.00,0.000,4,0.000,0.062,2375,544,3402,0,0,0,0,0,0
$GC,2717,-0.74,-146.0,230.2,-7.0,283,2722,0.12,2.17,0.00,0.000,6,0.154,0.041,2399,1958,3402,0,0,0,0,0,0
$GC,3047,-0.74,-146.0,250.1,-5.7,299,3051,0.00,2.28,0.00,0.000,4,0.000,0.064,2390,3370,3402,0,0,0,0,0,0
$GC,3114,-0.74,-146.0,254.4,-6.2,302,3118,0.00,2.25,0.00,0.000,6,0.000,0.048,2390,1952,3402,0,0,0,0,0,0
$GC,3444,-0.74,-146.0,275.0,-5.6,318,3448,0.00,2.28,0.00,0.000,4,0.000,0.065,2390,547,3402,0,0,0,0,0,0
$GC,3513,-0.74,-146.0,279.0,-5.7,321,3517,0.00,2.20,0.00,0.000,6,0.000,0.040,2380,1961,3402,0,0,0,0,0,0
$GC,3843,-0.74,-146.0,298.3,-6.6,337,3847,0.00,2.30,0.00,0.000,4,0.000,0.061,2381,542,3401,0,0,0,0,0,0
$GC,3928,-0.74,-146.0,305.4,-8.3,340,3932,0.00,2.20,0.00,0.000,6,0.000,0.041,2371,1966,3400,0,0,0,0,0,0
$GC,4256,-0.74,-146.0,331.4,-7.5,348,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1965,3399,0,0,0,0,0,0
$GC,4579,-0.74,-146.0,348.5,-5.0,356,4583,0.00,2.35,0.00,0.000,4,0.000,0.061,2371,544,3398,0,0,0,0,0,0
$GC,4809,-0.74,-146.0,362.6,-6.7,361,4814,0.15,2.20,0.00,0.000,6,0.148,0.041,2403,1956,3396,0,0,0,0,0,0
$GC,5131,-0.74,-146.0,380.4,-5.7,369,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1957,3395,0,0,0,0,0,0
$GC,5454,-0.74,-146.0,397.3,-4.7,377,5458,0.00,2.33,0.00,0.000,4,0.000,0.061,2404,546,3393,0,0,0,0,0,0
$GC,5515,-0.74,-146.0,400.4,-5.2,378,5519,0.00,2.22,0.00,0.000,6,0.000,0.042,2396,1961,3392,0,0,0,0,0,0
$STATE,5740,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5740,begin apogee
$GC,5747,-0.17,0.0,411.3,4.9,384,5873,0.57,0.00,123.10,0.722,6,0.113,0.000,2581,1961,2800,0,0,0,0,0,0
$STATE,5874,end apogee,CONTROL_FINISHED_OK
$STATE,5874,begin climb
$GC,5877,0.74,146.0,412.2,0.0,387,6015,0.85,2.38,127.55,0.699,4,0.080,0.058,2874,3392,2203,0,0,0,0,0,0
$GC,6229,0.74,146.0,375.4,12.4,395,6233,0.00,2.28,0.00,0.000,6,0.000,0.044,2883,1971,2198,0,0,0,0,0,0
$GC,6547,0.74,146.0,339.3,10.9,403,6551,0.00,2.33,0.00,0.000,4,0.000,0.057,2884,3395,2196,0,0,0,0,0,0
$GC,6754,0.74,146.0,317.2,11.0,407,6758,0.00,2.25,0.00,0.000,6,0.000,0.046,2893,1973,2195,0,0,0,0,0,0
$GC,7067,0.74,146.0,282.9,12.4,417,7071,0.00,2.30,0.00,0.000,4,0.000,0.058,2893,3388,2195,0,0,0,0,0,0
$GC,7202,0.74,146.0,266.0,12.1,423,7205,0.00,2.22,0.00,0.000,6,0.000,0.046,2899,1979,2194,0,0,0,0,0,0
$GC,7529,0.78,179.4,237.2,7.6,439,7563,0.00,2.33,28.35,0.616,4,0.000,0.058,2899,3386,2067,0,0,0,0,0,0
$GC,7661,0.78,179.4,226.4,9.2,445,7665,0.00,2.25,0.00,0.000,6,0.000,0.048,2908,1977,2064,0,0,0,0,0,0
$GC,7979,0.78,179.4,197.4,9.8,461,7983,0.00,2.30,0.00,0.000,4,0.000,0.059,2908,3394,2063,0,0,0,0,0,0
$GC,8048,0.78,179.4,190.3,11.4,467,8052,0.00,2.28,0.00,0.000,6,0.000,0.049,2917,1979,2063,0,0,0,0,0,0
$GC,8375,0.80,195.1,159.1,8.4,497,8400,0.00,2.35,14.43,0.540,4,0.000,0.060,2918,3392,2003,0,0,0,0,0,0
$GC,8514,0.80,195.1,146.8,9.2,509,8518,0.12,2.28,0.00,0.000,6,0.137,0.050,2890,1979,2001,0,0,0,0,0,0
$GC,8841,0.85,240.0,123.6,7.2,539,8888,0.00,2.33,39.78,0.534,4,0.000,0.057,2890,3389,1821,0,0,0,0,0,0
$GC,8950,0.87,252.1,115.0,8.5,548,8969,0.00,2.28,11.95,0.482,6,0.000,0.044,2896,1979,1772,0,0,0,0,0,0
$GC,9289,0.87,252.1,84.2,9.3,580,9293,0.00,2.25,0.00,0.000,4,0.000,0.060,2903,569,1772,0,0,0,0,0,0
$GC,9357,0.87,255.6,78.0,8.9,587,9370,0.00,2.20,4.97,0.377,6,0.000,0.041,2903,1981,1756,0,0,0,0,0,0
$GC,9700,0.91,284.7,52.1,7.8,649,9736,0.00,2.25,26.45,0.465,4,0.000,0.053,2903,3385,1638,0,0,0,0,0,0
$GC,9772,0.96,323.4,47.2,7.4,661,9813,0.10,2.22,34.17,0.459,6,0.085,0.044,2989,1971,1480,0,0,0,0,0,0
$GC,10138,0.96,323.4,8.5,11.5,728,10146,0.15,2.33,0.00,0.000,4,0.123,0.056,2943,3386,1478,0,0,0,0,0,0
$GC,10202,0.98,341.0,3.5,8.3,739,10211,0.00,2.25,3.85,0.294,2,0.000,0.046,2949,1983,1464,0,0,0,0,0,0
$STATE,10211,end climb,SURFACE_DEPTH_REACHED
$STATE,10211,begin surface coast
$FINISH,0.7,1.011181
$STATE,10245,end surface coast,CONTROL_FINISHED_OK
$STATE,10245,begin surface
$SM_CCo,10323,0.00,0.000,0,0,1460,328.45
$SM_GC,1.50,7.40,0.00,0.00,0.021,0.000,0.000,46,1979,1460,-7.99,0.71,328.45
$IRIDIUM_FIX,2050.21,-15802.92,051002,111116
$TT8_MAMPS,0.028379
$HUMID,67.83
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.50
$XPDR_PINGS,16
$24V_AH,24.4,59.897
$10V_AH,10.0,66.239
$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,19.050,95.375,414.600,0.000,0.000,27.262,35.687,164.401,20.750,0.000,15.352,1347.940,5818.474,431.212,2552.147,542.646,0.000,1355.038,0.000,2507.735,0.000,104.872,0.000
$DEVICE_MAMPS,220.129,65.962,721.747,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,506.529,433.815,1481.887,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41235,746
$CAP_FILE_SIZE,114876,0
$CFSIZE,260165632,220606464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110713,173618,2101.167,-15805.647,14,1.3,14,9.8