version: 66.06
glider: 523
mission: 4
dive: 705
start: 7 13 113 13 57 22
data:
$ID,523
$MISSION,4
$DIVE,705
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$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,-50249.031
$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,2637
$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,20
$R_STBD_OVSHOOT,34
$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
$GPS1,135034,2108.980,-15803.203,34,0.7,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.9
$GPS2,135705,2109.024,-15803.256,15,0.8,15,9.8
$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,112.1,2423,-17.4,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.75,-135.3,0.0,0.0,0,102,0.00,0.00,-78.55,0.000,6,0.000,0.000,30,1978,3351,0,0,0,0,0,0
$GC,105,-0.76,-146.0,3.2,-3.9,13,127,9.65,2.40,-1.00,0.000,4,0.221,0.068,2382,541,3398,0,0,0,0,0,0
$GC,205,-0.76,-146.0,22.3,-14.0,30,213,0.00,2.25,0.00,0.000,6,0.000,0.043,2374,1944,3399,0,0,0,0,0,0
$GC,378,-0.76,-146.0,44.5,-12.0,61,384,0.00,2.28,0.00,0.000,4,0.000,0.062,2363,3369,3399,0,0,0,0,0,0
$GC,403,-0.76,-146.0,48.1,-12.9,65,409,0.00,2.28,0.00,0.000,6,0.000,0.049,2363,1956,3400,0,0,0,0,0,0
$GC,733,-0.76,-146.0,78.0,-9.7,126,741,0.00,2.30,0.00,0.000,4,0.000,0.064,2363,553,3401,0,0,0,0,0,0
$GC,991,-0.76,-146.0,103.4,-9.6,151,996,0.15,2.20,0.00,0.000,6,0.156,0.041,2393,1971,3401,0,0,0,0,0,0
$GC,1318,-0.76,-146.0,128.3,-8.6,181,1322,0.00,2.33,0.00,0.000,4,0.000,0.062,2393,548,3402,0,0,0,0,0,0
$GC,1440,-0.76,-146.0,139.9,-10.7,191,1448,0.00,2.22,0.00,0.000,6,0.000,0.041,2385,1957,3402,0,0,0,0,0,0
$GC,1768,-0.76,-146.0,171.1,-9.4,222,1772,0.00,2.30,0.00,0.000,4,0.000,0.061,2385,538,3402,0,0,0,0,0,0
$GC,1814,-0.76,-146.0,175.9,-9.9,226,1819,0.00,2.22,0.00,0.000,6,0.000,0.041,2376,1962,3402,0,0,0,0,0,0
$GC,2143,-0.76,-146.0,199.6,-6.2,256,2147,0.00,2.25,0.00,0.000,4,0.000,0.062,2366,3364,3402,0,0,0,0,0,0
$GC,2188,-0.76,-146.0,202.6,-6.6,259,2192,0.00,2.25,0.00,0.000,6,0.000,0.047,2366,1952,3402,0,0,0,0,0,0
$GC,2517,-0.76,-146.0,224.0,-6.6,275,2521,0.00,2.28,0.00,0.000,4,0.000,0.065,2366,539,3403,0,0,0,0,0,0
$GC,2714,-0.76,-146.0,237.4,-6.2,284,2719,0.12,2.22,0.00,0.000,6,0.158,0.040,2388,1969,3403,0,0,0,0,0,0
$GC,3041,-0.76,-146.0,255.3,-5.1,300,3046,0.00,2.30,0.00,0.000,4,0.000,0.059,2389,541,3402,0,0,0,0,0,0
$GC,3243,-0.76,-146.0,268.3,-6.7,309,3247,0.00,2.20,0.00,0.000,6,0.000,0.040,2381,1961,3402,0,0,0,0,0,0
$GC,3567,-0.76,-146.0,291.7,-7.5,325,3571,0.00,2.28,0.00,0.000,4,0.000,0.062,2370,3371,3402,0,0,0,0,0,0
$GC,3600,-0.76,-146.0,294.7,-8.1,326,3606,0.00,2.22,0.00,0.000,6,0.000,0.046,2370,1957,3402,0,0,0,0,0,0
$GC,3934,-0.76,-146.0,318.9,-7.1,337,3938,0.00,2.28,0.00,0.000,4,0.000,0.062,2370,546,3401,0,0,0,0,0,0
$GC,3995,-0.76,-146.0,323.5,-6.8,338,4000,0.12,2.20,0.00,0.000,6,0.155,0.039,2394,1961,3400,0,0,0,0,0,0
$GC,4340,-0.76,-146.0,344.9,-6.3,347,4344,0.00,2.28,0.00,0.000,4,0.000,0.058,2394,543,3399,0,0,0,0,0,0
$GC,4423,-0.76,-146.0,349.9,-5.3,348,4430,0.00,2.20,0.00,0.000,6,0.000,0.039,2386,1957,3398,0,0,0,0,0,0
$GC,4755,-0.76,-146.0,363.6,-3.6,357,4759,0.00,2.28,0.00,0.000,4,0.000,0.062,2377,3370,3397,0,0,0,0,0,0
$GC,4811,-0.76,-146.0,366.1,-4.5,358,4815,0.00,2.25,0.00,0.000,6,0.000,0.046,2376,1945,3396,0,0,0,0,0,0
$GC,5125,-0.76,-146.0,383.7,-6.1,366,5129,0.00,2.28,0.00,0.000,4,0.000,0.063,2377,538,3395,0,0,0,0,0,0
$GC,5383,-0.76,-146.0,400.5,-6.1,371,5388,0.00,2.22,0.00,0.000,6,0.000,0.041,2367,1962,3394,0,0,0,0,0,0
$STATE,5714,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5714,begin apogee
$GC,5721,-0.17,0.0,420.5,6.2,380,5846,0.68,0.00,122.68,0.729,6,0.119,0.000,2580,1963,2800,0,0,0,0,0,0
$STATE,5847,end apogee,CONTROL_FINISHED_OK
$STATE,5847,begin climb
$GC,5850,0.76,146.0,422.3,0.0,383,5989,0.85,2.40,127.30,0.707,4,0.074,0.056,2877,3408,2202,0,0,0,0,0,0
$GC,6095,0.76,146.0,398.0,13.4,388,6100,0.00,2.30,0.00,0.000,6,0.000,0.041,2886,1975,2199,0,0,0,0,0,0
$GC,6426,0.76,146.0,363.2,10.0,396,6431,0.00,2.25,0.00,0.000,4,0.000,0.055,2886,3387,2196,0,0,0,0,0,0
$GC,6512,0.76,146.0,354.0,11.9,398,6516,0.00,2.22,0.00,0.000,6,0.000,0.044,2894,1980,2195,0,0,0,0,0,0
$GC,6836,0.76,146.0,318.1,11.2,406,6840,0.00,2.28,0.00,0.000,4,0.000,0.057,2894,3389,2194,0,0,0,0,0,0
$GC,6942,0.76,146.0,305.1,12.2,408,6946,0.00,2.22,0.00,0.000,6,0.000,0.044,2904,1980,2193,0,0,0,0,0,0
$GC,7269,0.76,146.0,270.3,10.2,423,7273,0.00,2.25,0.00,0.000,4,0.000,0.058,2904,3388,2193,0,0,0,0,0,0
$GC,7369,0.76,146.0,258.6,12.0,427,7375,0.12,2.22,0.00,0.000,6,0.145,0.044,2877,1971,2193,0,0,0,0,0,0
$GC,7686,0.78,164.9,230.3,8.2,443,7707,0.00,2.28,15.82,0.595,4,0.000,0.057,2877,3388,2126,0,0,0,0,0,0
$GC,7792,0.79,169.6,221.6,8.8,447,7802,0.00,2.25,5.55,0.482,6,0.000,0.047,2884,1977,2108,0,0,0,0,0,0
$GC,8119,0.84,214.9,197.2,7.0,465,8166,0.00,0.00,40.20,0.594,6,0.000,0.000,2884,1977,1925,0,0,0,0,0,0
$GC,8489,0.88,241.6,169.3,7.8,500,8517,0.10,0.00,24.77,0.557,6,0.087,0.000,2955,1977,1814,0,0,0,0,0,0
$GC,8839,0.88,241.6,128.5,11.7,532,8844,0.12,2.30,0.00,0.000,4,0.127,0.059,2919,3385,1813,0,0,0,0,0,0
$GC,8914,0.88,241.6,120.0,10.8,538,8922,0.00,2.30,0.00,0.000,6,0.000,0.050,2925,1977,1813,0,0,0,0,0,0
$GC,9241,0.88,247.0,91.4,8.8,569,9254,0.00,2.33,5.82,0.413,4,0.000,0.059,2925,3384,1793,0,0,0,0,0,0
$GC,9374,0.88,247.0,78.5,10.2,581,9379,0.00,2.25,0.00,0.000,6,0.000,0.048,2934,1978,1792,0,0,0,0,0,0
$GC,9705,0.89,252.0,48.1,8.8,642,9717,0.00,2.28,6.47,0.392,4,0.000,0.059,2934,3389,1771,0,0,0,0,0,0
$GC,9769,0.89,252.0,42.6,9.2,653,9774,0.00,2.25,0.00,0.000,6,0.000,0.048,2937,1977,1771,0,0,0,0,0,0
$GC,10096,0.93,281.7,15.1,7.7,714,10130,0.00,2.33,26.85,0.439,4,0.000,0.058,2937,3388,1650,0,0,0,0,0,0
$GC,10150,0.93,282.4,10.6,9.0,722,10158,0.00,2.28,0.00,0.000,6,0.000,0.048,2946,1982,1649,0,0,0,0,0,0
$STATE,10233,end climb,SURFACE_DEPTH_REACHED
$STATE,10233,begin surface coast
$FINISH,0.8,1.008692
$STATE,10268,end surface coast,CONTROL_FINISHED_OK
$STATE,10268,begin surface
$SM_CCo,10285,11.52,0.402,0,0,1575,300.24
$SM_GC,1.25,0.00,0.00,11.52,0.000,0.000,0.402,30,1977,1575,-8.15,0.57,300.24
$IRIDIUM_FIX,2057.14,-15806.34,071002,111135
$TT8_MAMPS,0.028379
$HUMID,66.42
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.50
$XPDR_PINGS,3
$24V_AH,24.3,61.043
$10V_AH,10.0,67.501
$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,19.350,99.725,375.475,11.525,0.000,33.511,33.788,170.774,18.000,0.000,15.531,1352.987,5854.288,426.337,2507.906,540.531,0.000,1329.692,0.000,2457.968,0.000,107.987,0.000
$DEVICE_MAMPS,220.896,68.263,729.417,401.908,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,503.720,428.445,1463.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,41331,743
$CAP_FILE_SIZE,114650,0
$CFSIZE,260165632,219873280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130713,165003,2108.830,-15802.845,24,0.8,24,9.8