version: 66.06
glider: 523
mission: 4
dive: 512
start: 6 19 113 11 35 52
data:
$ID,523
$MISSION,4
$DIVE,512
$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,-46194.176
$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,28
$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
$GPS1,105430,2102.203,-15746.546,27,0.8,27,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.2
$GPS2,113535,2102.275,-15746.816,18,1.2,18,9.8
$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,203.3,9635,-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,-146.0,0.0,0.0,0,138,0.00,0.00,-120.12,0.000,2,0.000,0.000,40,1949,3356,0,0,0,0,0,0
$GC,142,-0.74,-146.0,3.1,-3.9,19,157,9.32,2.30,-0.93,0.000,4,0.216,0.062,2390,545,3397,0,0,0,0,0,0
$GC,363,-0.74,-146.0,42.2,-15.0,59,368,0.00,2.17,0.00,0.000,6,0.000,0.034,2381,1972,3398,0,0,0,0,0,0
$GC,698,-0.74,-146.0,87.2,-13.2,116,702,0.00,2.30,0.00,0.000,4,0.000,0.051,2382,544,3398,0,0,0,0,0,0
$GC,878,-0.74,-146.0,109.9,-12.4,132,885,0.00,2.15,0.00,0.000,6,0.000,0.031,2372,1966,3398,0,0,0,0,0,0
$GC,1213,-0.74,-146.0,144.5,-10.5,163,1221,0.10,2.30,0.00,0.000,4,0.173,0.051,2397,542,3398,0,0,0,0,0,0
$GC,1471,-0.74,-146.0,171.0,-8.1,186,1475,0.00,2.12,0.00,0.000,6,0.000,0.031,2389,1962,3397,0,0,0,0,0,0
$GC,1804,-0.74,-146.0,192.7,-7.8,217,1808,0.00,2.28,0.00,0.000,4,0.000,0.049,2389,537,3397,0,0,0,0,0,0
$GC,2020,-0.74,-146.0,213.1,-8.0,230,2024,0.00,2.15,0.00,0.000,6,0.000,0.032,2379,1958,3396,0,0,0,0,0,0
$GC,2350,-0.74,-146.0,241.7,-10.0,246,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1958,3396,0,0,0,0,0,0
$GC,2658,-0.74,-146.0,260.0,-3.3,261,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1958,3395,0,0,0,0,0,0
$GC,2966,-0.74,-146.0,282.3,-9.6,276,2970,0.00,2.28,0.00,0.000,4,0.000,0.051,2379,531,3393,0,0,0,0,0,0
$GC,3027,-0.74,-146.0,287.9,-8.6,278,3033,0.12,2.17,0.00,0.000,6,0.169,0.033,2402,1964,3392,0,0,0,0,0,0
$GC,3365,-0.74,-146.0,307.5,-5.3,292,3369,0.00,2.28,0.00,0.000,4,0.000,0.052,2402,535,3391,0,0,0,0,0,0
$GC,3486,-0.74,-146.0,316.7,-8.3,294,3490,0.00,2.17,0.00,0.000,6,0.000,0.035,2394,1956,3390,0,0,0,0,0,0
$GC,3820,-0.74,-146.0,340.6,-7.1,302,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1957,3388,0,0,0,0,0,0
$GC,4142,-0.74,-146.0,358.9,-5.2,310,4146,0.00,2.33,0.00,0.000,4,0.000,0.054,2394,544,3386,0,0,0,0,0,0
$GC,4243,-0.74,-146.0,364.1,-4.8,312,4247,0.00,2.17,0.00,0.000,6,0.000,0.035,2384,1962,3385,0,0,0,0,0,0
$GC,4593,-0.74,-146.0,382.4,-5.9,321,4597,0.00,2.28,0.00,0.000,4,0.000,0.054,2384,544,3381,0,0,0,0,0,0
$GC,4750,-0.74,-146.0,392.5,-5.7,324,4754,0.00,2.17,0.00,0.000,6,0.000,0.036,2375,1959,3381,0,0,0,0,0,0
$GC,5099,-0.74,-146.0,415.4,-6.6,333,5103,0.00,2.28,0.00,0.000,4,0.000,0.056,2375,542,3378,0,0,0,0,0,0
$GC,5126,-0.74,-146.0,417.3,-7.0,333,5131,0.12,2.15,0.00,0.000,6,0.164,0.038,2397,1958,3378,0,0,0,0,0,0
$STATE,5414,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5414,begin apogee
$GC,5421,-0.17,0.0,432.0,4.9,340,5542,0.57,0.00,117.97,0.743,6,0.117,0.000,2584,1958,2800,0,0,0,0,0,0
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5546,0.74,146.0,431.6,0.0,343,5683,0.82,2.42,125.75,0.717,4,0.077,0.056,2870,3381,2202,0,0,0,0,0,0
$GC,5804,0.74,146.0,400.0,13.6,349,5808,0.00,2.28,0.00,0.000,6,0.000,0.046,2880,1980,2198,0,0,0,0,0,0
$GC,6135,0.74,146.0,358.2,12.2,357,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1980,2195,0,0,0,0,0,0
$GC,6459,0.74,146.0,323.2,10.7,365,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1980,2193,0,0,0,0,0,0
$GC,6765,0.74,146.0,287.1,11.1,375,6769,0.00,2.25,0.00,0.000,4,0.000,0.057,2880,3380,2190,0,0,0,0,0,0
$GC,6851,0.74,146.0,277.9,10.6,379,6855,0.00,2.25,0.00,0.000,6,0.000,0.048,2889,1971,2190,0,0,0,0,0,0
$GC,7177,0.74,146.0,238.2,14.0,395,7181,0.00,2.25,0.00,0.000,4,0.000,0.058,2889,3382,2189,0,0,0,0,0,0
$GC,7294,0.74,146.0,224.0,11.0,400,7298,0.00,2.20,0.00,0.000,6,0.000,0.049,2897,1981,2189,0,0,0,0,0,0
$GC,7613,0.74,146.0,193.4,10.3,417,7617,0.00,2.25,0.00,0.000,4,0.000,0.063,2908,569,2188,0,0,0,0,0,0
$GC,7655,0.74,146.0,188.7,11.3,420,7659,0.12,2.20,0.00,0.000,6,0.134,0.039,2873,1984,2187,0,0,0,0,0,0
$GC,7981,0.74,146.0,157.2,9.6,450,7985,0.00,2.22,0.00,0.000,4,0.000,0.060,2873,3389,2186,0,0,0,0,0,0
$GC,8057,0.74,146.0,149.3,9.6,456,8065,0.00,2.28,0.00,0.000,6,0.000,0.048,2879,1978,2187,0,0,0,0,0,0
$GC,8385,0.75,155.8,120.8,8.6,487,8394,0.00,0.00,6.90,0.464,6,0.000,0.000,2880,1978,2164,0,0,0,0,0,0
$GC,8715,0.75,155.8,88.4,9.1,518,8719,0.00,2.25,0.00,0.000,4,0.000,0.061,2888,561,2162,0,0,0,0,0,0
$GC,8747,0.75,160.7,85.3,8.8,520,8758,0.00,2.22,5.43,0.409,6,0.000,0.038,2889,1977,2146,0,0,0,0,0,0
$GC,9087,0.83,217.9,58.7,6.7,577,9145,0.00,2.30,48.88,0.492,4,0.000,0.061,2889,3382,1909,0,0,0,0,0,0
$GC,9197,0.83,218.3,50.1,9.0,596,9205,0.00,2.28,0.00,0.000,6,0.000,0.045,2892,1975,1907,0,0,0,0,0,0
$GC,9530,0.85,238.7,23.6,8.2,657,9558,0.00,2.28,18.45,0.439,4,0.000,0.058,2900,573,1825,0,0,0,0,0,0
$GC,9574,0.89,271.4,20.4,7.7,663,9607,0.00,2.22,28.88,0.443,6,0.000,0.035,2900,1988,1692,0,0,0,0,0,0
$GC,9769,0.96,326.4,4.6,6.7,698,9791,0.12,0.00,18.67,0.421,2,0.073,0.000,2993,1987,1607,0,0,0,0,0,0
$STATE,9792,end climb,SURFACE_DEPTH_REACHED
$STATE,9792,begin surface coast
$FINISH,0.5,1.023099
$STATE,9825,end surface coast,CONTROL_FINISHED_OK
$STATE,9825,begin surface
$SM_CCo,9845,179.48,0.424,0,0,440,578.90
$SM_GC,1.29,0.00,0.00,179.48,0.000,0.000,0.424,39,1914,440,-8.13,-1.22,578.90
$IRIDIUM_FIX,2057.14,-15746.61,130902,111120
$TT8_MAMPS,0.027612
$HUMID,63.42
$INTERNAL_PRESSURE,9.31402
$TCM_TEMP,24.20
$XPDR_PINGS,7
$24V_AH,24.6,43.125
$10V_AH,10.3,47.120
$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,18.950,76.275,370.925,179.475,0.000,148.557,183.401,1679.132,19.500,0.000,18.613,1249.286,6009.986,571.026,2309.209,2346.366,0.000,1414.591,0.000,2260.198,0.000,113.560,0.000
$DEVICE_MAMPS,215.527,102.778,743.223,424.151,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,478.891,414.605,1407.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,38100,707
$CAP_FILE_SIZE,117670,0
$CFSIZE,260165632,230400000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190613,142354,2101.290,-15747.168,18,0.9,18,9.8