version: 66.06
glider: 523
mission: 4
dive: 510
start: 6 19 113 4 40 48
data:
$ID,523
$MISSION,4
$DIVE,510
$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,180
$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,578.89856
$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,-46157.941
$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,2640
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,035504,2104.410,-15744.480,22,1.1,22,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-65.1
$GPS2,044031,2104.510,-15744.649,16,0.9,16,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,206.6,15174,-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,16,-0.74,-146.0,0.0,0.0,0,138,0.00,0.00,-119.57,0.000,2,0.000,0.000,29,1954,3393,0,0,0,0,0,0
$GC,142,-0.74,-146.0,3.6,-6.0,19,156,9.38,2.25,0.00,0.000,4,0.216,0.046,2381,3371,3394,0,0,0,0,0,0
$GC,349,-0.74,-146.0,41.7,-15.3,57,354,0.00,2.22,0.00,0.000,6,0.000,0.041,2381,1954,3395,0,0,0,0,0,0
$GC,679,-0.74,-146.0,85.2,-12.3,114,683,0.00,2.22,0.00,0.000,4,0.000,0.053,2381,542,3395,0,0,0,0,0,0
$GC,839,-0.74,-146.0,107.0,-13.1,128,844,0.12,2.15,0.00,0.000,6,0.165,0.033,2403,1965,3394,0,0,0,0,0,0
$GC,1172,-0.74,-146.0,139.6,-7.9,159,1177,0.00,2.20,0.00,0.000,4,0.000,0.056,2394,3357,3395,0,0,0,0,0,0
$GC,1219,-0.74,-146.0,143.4,-7.8,163,1223,0.00,2.22,0.00,0.000,6,0.000,0.046,2394,1949,3395,0,0,0,0,0,0
$GC,1547,-0.74,-146.0,169.0,-7.6,193,1551,0.00,2.20,0.00,0.000,4,0.000,0.052,2395,541,3394,0,0,0,0,0,0
$GC,1689,-0.74,-146.0,180.8,-8.8,205,1696,0.00,2.17,0.00,0.000,6,0.000,0.034,2385,1954,3394,0,0,0,0,0,0
$GC,2010,-0.74,-146.0,213.2,-10.0,230,2014,0.00,2.22,0.00,0.000,4,0.000,0.051,2385,547,3393,0,0,0,0,0,0
$GC,2201,-0.74,-146.0,229.0,-6.9,238,2207,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1965,3392,0,0,0,0,0,0
$GC,2520,-0.74,-146.0,256.7,-9.3,254,2524,0.00,2.28,0.00,0.000,4,0.000,0.051,2375,547,3392,0,0,0,0,0,0
$GC,2772,-0.74,-146.0,276.4,-7.4,265,2777,0.12,2.15,0.00,0.000,6,0.159,0.035,2398,1966,3391,0,0,0,0,0,0
$GC,3095,-0.74,-146.0,298.9,-6.8,281,3099,0.00,2.28,0.00,0.000,4,0.000,0.053,2399,541,3389,0,0,0,0,0,0
$GC,3163,-0.74,-146.0,303.4,-6.4,283,3167,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1958,3388,0,0,0,0,0,0
$GC,3501,-0.74,-146.0,322.7,-5.8,292,3505,0.00,2.30,0.00,0.000,4,0.000,0.054,2391,537,3386,0,0,0,0,0,0
$GC,3632,-0.74,-146.0,331.8,-7.4,294,3638,0.00,2.17,0.00,0.000,6,0.000,0.036,2381,1957,3385,0,0,0,0,0,0
$GC,3966,-0.74,-146.0,356.8,-7.8,303,3970,0.00,2.25,0.00,0.000,4,0.000,0.058,2371,3359,3383,0,0,0,0,0,0
$GC,3999,-0.74,-146.0,359.6,-7.9,303,4006,0.12,2.22,0.00,0.000,6,0.150,0.044,2404,1946,3383,0,0,0,0,0,0
$GC,4332,-0.74,-146.0,380.8,-6.2,312,4336,0.00,2.25,0.00,0.000,4,0.000,0.059,2404,548,3381,0,0,0,0,0,0
$GC,4591,-0.74,-146.0,400.2,-7.8,317,4596,0.00,2.17,0.00,0.000,6,0.000,0.037,2396,1959,3379,0,0,0,0,0,0
$GC,4925,-0.74,-146.0,420.2,-5.5,326,4929,0.00,2.28,0.00,0.000,4,0.000,0.058,2396,550,3376,0,0,0,0,0,0
$GC,4992,-0.74,-146.0,424.3,-6.4,327,4996,0.00,2.17,0.00,0.000,6,0.000,0.038,2387,1956,3376,0,0,0,0,0,0
$GC,5332,-0.74,-146.0,442.4,-5.7,336,5336,0.00,2.33,0.00,0.000,4,0.000,0.060,2387,538,3373,0,0,0,0,0,0
$STATE,5406,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5416,-0.17,0.0,447.4,6.3,337,5537,0.62,0.00,117.18,0.752,6,0.120,0.000,2581,1985,2800,0,0,0,0,0,0
$STATE,5537,end apogee,CONTROL_FINISHED_OK
$STATE,5537,begin climb
$GC,5540,0.74,146.0,448.0,0.0,340,5678,0.85,2.38,126.00,0.725,4,0.079,0.051,2875,3388,2204,0,0,0,0,0,0
$GC,5747,0.74,146.0,421.6,15.7,344,5753,0.00,2.33,0.00,0.000,6,0.000,0.047,2883,1980,2201,0,0,0,0,0,0
$GC,6078,0.74,146.0,371.4,15.2,353,6082,0.00,2.33,0.00,0.000,4,0.000,0.056,2883,3392,2197,0,0,0,0,0,0
$GC,6095,0.74,146.0,368.8,14.7,353,6099,0.00,2.28,0.00,0.000,6,0.000,0.049,2892,1980,2196,0,0,0,0,0,0
$GC,6437,0.74,146.0,325.8,11.7,362,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1980,2194,0,0,0,0,0,0
$GC,6742,0.74,146.0,288.0,12.9,371,6746,0.00,2.25,0.00,0.000,4,0.000,0.058,2902,567,2193,0,0,0,0,0,0
$GC,6792,0.74,146.0,281.4,12.8,373,6796,0.00,2.20,0.00,0.000,6,0.000,0.040,2902,1987,2192,0,0,0,0,0,0
$GC,7108,0.74,146.0,241.7,11.7,388,7112,0.00,2.17,0.00,0.000,4,0.000,0.051,2902,3392,2191,0,0,0,0,0,0
$GC,7187,0.74,146.0,233.3,9.8,391,7193,0.12,2.22,0.00,0.000,6,0.151,0.041,2877,1973,2190,0,0,0,0,0,0
$GC,7503,0.74,146.0,201.2,11.1,407,7507,0.00,2.25,0.00,0.000,4,0.000,0.059,2885,571,2190,0,0,0,0,0,0
$GC,7544,0.74,146.0,197.5,9.3,410,7548,0.00,2.20,0.00,0.000,6,0.000,0.038,2885,1990,2189,0,0,0,0,0,0
$GC,7872,0.74,146.0,168.0,9.8,440,7875,0.00,2.17,0.00,0.000,4,0.000,0.055,2885,3384,2189,0,0,0,0,0,0
$GC,7958,0.74,146.0,158.9,10.6,447,7966,0.00,2.25,0.00,0.000,6,0.000,0.046,2893,1980,2189,0,0,0,0,0,0
$GC,8286,0.74,146.0,123.7,9.5,478,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1980,2189,0,0,0,0,0,0
$GC,8605,0.74,146.0,95.5,10.2,508,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1980,2189,0,0,0,0,0,0
$GC,8932,0.81,208.2,67.6,6.4,554,8990,0.00,2.30,50.03,0.498,4,0.000,0.053,2893,3382,1950,0,0,0,0,0,0
$GC,9023,0.84,227.8,61.7,8.2,569,9047,0.00,2.25,17.83,0.465,6,0.000,0.041,2894,1968,1870,0,0,0,0,0,0
$GC,9377,0.86,245.4,34.4,8.3,633,9401,0.00,2.28,16.02,0.443,4,0.000,0.058,2893,578,1798,0,0,0,0,0,0
$GC,9464,0.87,250.8,27.3,8.8,648,9479,0.00,2.20,6.00,0.372,6,0.000,0.035,2893,1984,1778,0,0,0,0,0,0
$GC,9640,0.88,263.9,18.1,8.5,680,9661,0.00,2.22,13.18,0.420,4,0.000,0.051,2893,3380,1723,0,0,0,0,0,0
$GC,9696,0.88,263.9,13.2,9.1,689,9703,0.00,2.22,0.00,0.000,6,0.000,0.037,2893,1977,1722,0,0,0,0,0,0
$GC,9865,1.01,364.6,3.6,4.8,720,9874,0.20,0.00,6.22,0.357,2,0.159,0.000,3011,1976,1698,0,0,0,0,0,0
$STATE,9875,end climb,SURFACE_DEPTH_REACHED
$STATE,9875,begin surface coast
$FINISH,0.7,1.022748
$STATE,9922,end surface coast,CONTROL_FINISHED_OK
$STATE,9922,begin surface
$SM_CCo,9941,191.85,0.423,0,0,439,578.90
$SM_GC,1.28,0.00,0.00,191.85,0.000,0.000,0.423,40,1973,439,-8.13,0.45,578.90
$IRIDIUM_FIX,2057.14,-15756.04,130902,040405
$TT8_MAMPS,0.028379
$HUMID,62.36
$INTERNAL_PRESSURE,9.32378
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,24.4,42.729
$10V_AH,10.3,46.871
$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,19.050,93.825,352.450,191.850,0.000,142.086,195.175,1919.723,19.250,0.000,17.309,1300.216,5891.411,597.977,2436.884,2629.715,0.000,1474.410,0.000,2390.710,0.000,120.195,0.000
$DEVICE_MAMPS,215.527,59.826,751.660,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,493.949,424.264,1496.301,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,41216,730
$CAP_FILE_SIZE,122551,0
$CFSIZE,260165632,230514688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190613,073058,2103.517,-15745.350,38,0.9,38,9.8