version: 66.06
glider: 523
mission: 4
dive: 696
start: 7 11 113 17 43 24
data:
$ID,523
$MISSION,4
$DIVE,696
$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,-50085.715
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,173618,2101.167,-15805.647,14,1.3,14,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.4
$GPS2,174305,2101.241,-15805.763,17,0.9,17,9.8
$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,16.1,14606,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-81.88,0.000,6,0.000,0.000,45,1971,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.1,-3.7,13,119,9.52,2.22,0.00,0.000,4,0.219,0.054,2381,3369,3397,0,0,0,0,0,0
$GC,165,-0.74,-146.0,16.9,-16.0,23,172,0.00,2.25,0.00,0.000,6,0.000,0.047,2381,1967,3398,0,0,0,0,0,0
$GC,332,-0.74,-146.0,39.0,-12.8,54,339,0.00,2.35,0.00,0.000,4,0.000,0.065,2381,541,3399,0,0,0,0,0,0
$GC,418,-0.74,-146.0,50.9,-13.5,69,423,0.00,2.22,0.00,0.000,6,0.000,0.042,2372,1958,3398,0,0,0,0,0,0
$GC,750,-0.74,-146.0,89.8,-10.8,122,755,0.00,2.33,0.00,0.000,4,0.000,0.063,2372,543,3399,0,0,0,0,0,0
$GC,1002,-0.74,-146.0,113.8,-9.2,145,1007,0.12,2.20,0.00,0.000,6,0.162,0.039,2394,1958,3400,0,0,0,0,0,0
$GC,1330,-0.74,-146.0,145.3,-9.9,175,1334,0.00,2.33,0.00,0.000,4,0.000,0.062,2395,535,3401,0,0,0,0,0,0
$GC,1524,-0.74,-146.0,161.3,-6.7,192,1531,0.00,2.22,0.00,0.000,6,0.000,0.040,2388,1947,3401,0,0,0,0,0,0
$GC,1851,-0.74,-146.0,181.7,-6.9,223,1855,0.00,2.28,0.00,0.000,4,0.000,0.063,2377,3367,3401,0,0,0,0,0,0
$GC,1897,-0.74,-146.0,185.7,-8.5,226,1904,0.00,2.25,0.00,0.000,6,0.000,0.045,2377,1958,3401,0,0,0,0,0,0
$GC,2217,-0.74,-146.0,218.2,-10.3,249,2221,0.00,2.30,0.00,0.000,4,0.000,0.066,2377,543,3402,0,0,0,0,0,0
$GC,2441,-0.74,-146.0,238.5,-7.1,259,2446,0.12,2.20,0.00,0.000,6,0.158,0.040,2399,1972,3402,0,0,0,0,0,0
$GC,2764,-0.74,-146.0,254.2,-4.7,275,2768,0.00,2.30,0.00,0.000,4,0.000,0.061,2400,546,3402,0,0,0,0,0,0
$GC,2838,-0.74,-146.0,258.3,-5.6,278,2842,0.00,2.17,0.00,0.000,6,0.000,0.041,2392,1962,3402,0,0,0,0,0,0
$GC,3156,-0.74,-146.0,278.1,-7.5,293,3160,0.00,2.28,0.00,0.000,4,0.000,0.064,2381,3372,3402,0,0,0,0,0,0
$GC,3330,-0.74,-146.0,293.6,-8.4,301,3334,0.00,2.25,0.00,0.000,6,0.000,0.046,2381,1955,3402,0,0,0,0,0,0
$GC,3674,-0.74,-146.0,314.1,-5.0,312,3678,0.00,2.30,0.00,0.000,4,0.000,0.059,2372,3371,3401,0,0,0,0,0,0
$GC,3714,-0.74,-146.0,316.1,-4.6,313,3718,0.00,2.22,0.00,0.000,6,0.000,0.047,2372,1957,3401,0,0,0,0,0,0
$GC,4040,-0.74,-146.0,331.7,-5.1,321,4044,0.00,2.30,0.00,0.000,4,0.000,0.063,2372,540,3400,0,0,0,0,0,0
$GC,4298,-0.74,-146.0,348.6,-6.3,326,4304,0.15,2.20,0.00,0.000,6,0.149,0.039,2403,1972,3398,0,0,0,0,0,0
$GC,4630,-0.74,-146.0,366.6,-5.6,335,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1972,3397,0,0,0,0,0,0
$GC,4957,-0.74,-146.0,385.1,-5.8,343,4961,0.00,2.25,0.00,0.000,4,0.000,0.064,2394,3360,3395,0,0,0,0,0,0
$GC,4984,-0.74,-146.0,386.9,-5.8,343,4988,0.00,2.25,0.00,0.000,6,0.000,0.047,2395,1957,3395,0,0,0,0,0,0
$GC,5322,-0.74,-146.0,404.6,-5.1,352,5326,0.00,2.33,0.00,0.000,4,0.000,0.064,2394,545,3392,0,0,0,0,0,0
$GC,5580,-0.74,-146.0,420.2,-5.6,357,5586,0.00,2.17,0.00,0.000,6,0.000,0.040,2384,1955,3391,0,0,0,0,0,0
$STATE,5705,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5706,begin apogee
$GC,5713,-0.17,0.0,427.7,5.8,361,5839,0.60,0.00,123.03,0.732,6,0.115,0.000,2578,1955,2800,0,0,0,0,0,0
$STATE,5839,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5842,0.74,146.0,429.0,0.0,364,5981,0.85,2.38,128.05,0.708,4,0.081,0.060,2873,3387,2202,0,0,0,0,0,0
$GC,6138,0.74,146.0,398.5,12.8,370,6144,0.00,2.28,0.00,0.000,6,0.000,0.044,2882,1969,2198,0,0,0,0,0,0
$GC,6470,0.74,146.0,358.2,12.1,379,6474,0.00,2.28,0.00,0.000,4,0.000,0.058,2882,3386,2196,0,0,0,0,0,0
$GC,6638,0.74,146.0,339.8,9.7,382,6643,0.00,2.22,0.00,0.000,6,0.000,0.045,2891,1980,2195,0,0,0,0,0,0
$GC,6969,0.77,169.4,312.4,8.1,391,6994,0.00,2.30,20.17,0.646,4,0.000,0.058,2892,3386,2108,0,0,0,0,0,0
$GC,7063,0.77,169.4,303.9,9.6,393,7067,0.00,2.25,0.00,0.000,6,0.000,0.047,2900,1980,2106,0,0,0,0,0,0
$GC,7379,0.77,169.4,270.3,11.3,407,7383,0.00,2.30,0.00,0.000,4,0.000,0.060,2900,3388,2104,0,0,0,0,0,0
$GC,7509,0.77,169.4,255.5,10.9,412,7514,0.00,2.25,0.00,0.000,6,0.000,0.048,2908,1980,2103,0,0,0,0,0,0
$GC,7825,0.79,188.2,226.4,8.3,428,7849,0.00,2.35,17.12,0.596,4,0.000,0.060,2908,3389,2031,0,0,0,0,0,0
$GC,7900,0.79,188.2,219.8,9.1,431,7904,0.00,2.25,0.00,0.000,6,0.000,0.049,2917,1977,2029,0,0,0,0,0,0
$GC,8225,0.79,188.2,192.6,9.2,450,8229,0.00,2.30,0.00,0.000,4,0.000,0.061,2917,3384,2028,0,0,0,0,0,0
$GC,8320,0.79,188.2,182.2,11.7,458,8324,0.12,2.25,0.00,0.000,6,0.141,0.051,2890,1976,2028,0,0,0,0,0,0
$GC,8648,0.82,212.6,152.8,8.0,488,8675,0.00,2.30,22.17,0.548,4,0.000,0.061,2890,3392,1933,0,0,0,0,0,0
$GC,8690,0.85,237.4,149.3,8.0,491,8719,0.00,2.28,23.10,0.539,6,0.000,0.052,2895,1966,1832,0,0,0,0,0,0
$GC,9042,0.90,274.7,125.6,7.5,523,9080,0.00,2.25,33.62,0.525,4,0.000,0.060,2903,573,1679,0,0,0,0,0,0
$GC,9170,0.90,274.7,114.3,10.1,534,9174,0.00,2.22,0.00,0.000,6,0.000,0.041,2903,1995,1679,0,0,0,0,0,0
$GC,9498,0.93,302.5,84.5,7.9,564,9534,0.10,2.28,25.33,0.487,4,0.086,0.055,2966,3389,1565,0,0,0,0,0,0
$GC,9549,0.93,302.5,80.1,9.4,568,9554,0.12,2.25,0.00,0.000,6,0.141,0.050,2939,1983,1565,0,0,0,0,0,0
$GC,9881,0.93,302.5,50.9,9.3,628,9889,0.00,2.30,0.00,0.000,4,0.000,0.061,2939,3377,1565,0,0,0,0,0,0
$GC,9982,0.93,302.5,39.8,11.0,646,9990,0.00,2.28,0.00,0.000,6,0.000,0.052,2945,1983,1565,0,0,0,0,0,0
$GC,10314,0.93,303.3,11.2,9.0,707,10321,0.00,2.30,0.00,0.000,4,0.000,0.062,2946,3378,1565,0,0,0,0,0,0
$GC,10381,0.93,303.3,3.4,11.2,719,10389,0.00,2.28,0.00,0.000,6,0.000,0.051,2954,1975,1564,0,0,0,0,0,0
$STATE,10395,end climb,SURFACE_DEPTH_REACHED
$STATE,10395,begin surface coast
$FINISH,1.0,1.023779
$STATE,10417,end surface coast,CONTROL_FINISHED_OK
$STATE,10417,begin surface
$SM_CCo,10495,0.00,0.000,0,0,1562,303.68
$SM_GC,1.47,7.32,0.00,0.00,0.018,0.000,0.000,41,1970,1562,-7.98,0.45,303.68
$IRIDIUM_FIX,2050.21,-15759.92,051002,141459
$TT8_MAMPS,0.028379
$HUMID,69.13
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.4,59.987
$10V_AH,10.0,66.347
$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,19.050,104.300,392.600,0.000,0.000,37.603,37.770,179.783,17.750,0.000,18.213,1355.666,6008.277,424.719,2542.085,564.265,0.000,1353.315,0.000,2492.703,0.000,109.516,0.000
$DEVICE_MAMPS,219.362,65.962,731.718,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,492.639,424.502,1443.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41241,725
$CAP_FILE_SIZE,117961,0
$CFSIZE,260165632,220549120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110713,204004,2101.911,-15806.570,69,0.8,69,9.8