version: 66.06
glider: 523
mission: 4
dive: 558
start: 6 25 113 2 27 28
data:
$ID,523
$MISSION,4
$DIVE,558
$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,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,-47158.32
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,022106,2105.480,-15742.514,27,1.0,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.0
$GPS2,022711,2105.480,-15742.563,18,1.5,18,9.8
$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,212.2,18851,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.20,0.000,2,0.000,0.000,52,1938,3347,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.3,-5.1,12,120,9.60,2.33,-1.05,0.000,4,0.226,0.063,2382,3370,3397,0,0,0,0,0,0
$GC,303,-0.74,-146.0,42.2,-15.4,49,308,0.00,2.25,0.00,0.000,6,0.000,0.043,2382,1951,3399,0,0,0,0,0,0
$GC,640,-0.74,-146.0,87.5,-12.2,105,644,0.00,2.22,0.00,0.000,4,0.000,0.057,2382,547,3400,0,0,0,0,0,0
$GC,889,-0.74,-146.0,117.8,-10.4,127,897,0.00,2.20,0.00,0.000,6,0.000,0.035,2373,1962,3401,0,0,0,0,0,0
$GC,1217,-0.74,-146.0,154.6,-11.5,158,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1962,3402,0,0,0,0,0,0
$GC,1544,-0.74,-146.0,183.9,-6.5,189,1548,0.00,2.28,0.00,0.000,4,0.000,0.052,2373,544,3403,0,0,0,0,0,0
$GC,1793,-0.74,-146.0,200.8,-6.9,211,1799,0.15,2.17,0.00,0.000,6,0.153,0.035,2404,1967,3403,0,0,0,0,0,0
$GC,2113,-0.74,-146.0,223.1,-7.2,227,2117,0.00,2.30,0.00,0.000,4,0.000,0.053,2404,535,3403,0,0,0,0,0,0
$GC,2288,-0.74,-146.0,235.5,-7.6,235,2292,0.00,2.17,0.00,0.000,6,0.000,0.035,2396,1959,3403,0,0,0,0,0,0
$GC,2620,-0.74,-146.0,264.6,-10.0,251,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1959,3403,0,0,0,0,0,0
$GC,2932,-0.74,-146.0,293.1,-6.0,266,2936,0.00,2.30,0.00,0.000,4,0.000,0.053,2396,547,3403,0,0,0,0,0,0
$GC,3089,-0.74,-146.0,298.6,-3.0,273,3093,0.00,2.17,0.00,0.000,6,0.000,0.036,2387,1961,3402,0,0,0,0,0,0
$GC,3409,-0.74,-146.0,311.3,-5.0,283,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1962,3403,0,0,0,0,0,0
$GC,3732,-0.74,-146.0,335.5,-8.6,291,3736,0.00,2.33,0.00,0.000,4,0.000,0.054,2387,547,3401,0,0,0,0,0,0
$GC,3989,-0.74,-146.0,359.8,-8.1,296,3998,0.00,2.17,0.00,0.000,6,0.000,0.038,2377,1968,3399,0,0,0,0,0,0
$GC,4323,-0.74,-146.0,375.3,-4.0,305,4327,0.00,2.25,0.00,0.000,4,0.000,0.060,2367,3360,3397,0,0,0,0,0,0
$GC,4435,-0.74,-146.0,380.5,-5.5,307,4440,0.12,2.22,0.00,0.000,6,0.147,0.044,2400,1957,3398,0,0,0,0,0,0
$GC,4772,-0.74,-146.0,397.0,-4.9,316,4776,0.00,2.30,0.00,0.000,4,0.000,0.060,2400,547,3396,0,0,0,0,0,0
$GC,5032,-0.74,-146.0,411.3,-5.7,321,5036,0.00,2.20,0.00,0.000,6,0.000,0.040,2392,1962,3394,0,0,0,0,0,0
$GC,5370,-0.74,-146.0,430.2,-5.3,330,5374,0.00,2.28,0.00,0.000,4,0.000,0.058,2392,548,3392,0,0,0,0,0,0
$STATE,5407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5416,-0.17,0.0,432.5,6.1,331,5542,0.62,0.00,122.55,0.745,6,0.117,0.000,2581,1978,2799,0,0,0,0,0,0
$STATE,5542,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5545,0.74,146.0,432.5,0.0,334,5684,0.85,2.33,127.25,0.719,4,0.080,0.053,2872,3389,2202,0,0,0,0,0,0
$GC,5740,0.74,146.0,410.0,14.1,338,5744,0.00,2.33,0.00,0.000,6,0.000,0.048,2881,1976,2199,0,0,0,0,0,0
$GC,6082,0.74,146.0,361.9,14.3,347,6086,0.00,2.28,0.00,0.000,4,0.000,0.058,2892,567,2196,0,0,0,0,0,0
$GC,6160,0.74,146.0,350.4,14.4,348,6164,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1981,2195,0,0,0,0,0,0
$GC,6491,0.74,146.0,311.5,10.3,356,6495,0.00,2.20,0.00,0.000,4,0.000,0.051,2892,3390,2193,0,0,0,0,0,0
$GC,6657,0.74,146.0,294.0,10.3,360,6661,0.00,2.25,0.00,0.000,6,0.000,0.044,2901,1974,2192,0,0,0,0,0,0
$GC,6972,0.74,146.0,262.9,10.1,375,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1974,2192,0,0,0,0,0,0
$GC,7282,0.74,146.0,221.9,13.3,390,7286,0.00,2.20,0.00,0.000,4,0.000,0.052,2913,570,2190,0,0,0,0,0,0
$GC,7413,0.74,146.0,205.9,10.5,396,7418,0.12,2.20,0.00,0.000,6,0.132,0.038,2878,1992,2189,0,0,0,0,0,0
$GC,7739,0.75,158.9,174.6,8.5,423,7754,0.00,2.22,10.18,0.537,4,0.000,0.053,2878,3387,2152,0,0,0,0,0,0
$GC,7894,0.75,158.9,160.5,9.5,437,7898,0.00,2.20,0.00,0.000,6,0.000,0.040,2886,1970,2149,0,0,0,0,0,0
$GC,8222,0.75,158.9,128.7,10.6,467,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1970,2149,0,0,0,0,0,0
$GC,8552,0.79,187.5,100.4,7.8,498,8587,0.00,2.30,25.52,0.518,4,0.000,0.053,2887,3382,2034,0,0,0,0,0,0
$GC,8602,0.84,229.3,96.7,7.3,502,8649,0.00,2.22,37.00,0.512,6,0.000,0.041,2894,1974,1865,0,0,0,0,0,0
$GC,8970,0.87,250.6,69.5,8.1,547,8995,0.00,2.28,19.45,0.472,4,0.000,0.055,2894,3388,1777,0,0,0,0,0,0
$GC,9031,0.87,252.8,64.1,8.9,557,9036,0.00,2.25,0.00,0.000,6,0.000,0.045,2894,1979,1777,0,0,0,0,0,0
$GC,9363,0.93,302.5,36.1,7.0,618,9417,0.12,2.30,45.58,0.461,4,0.070,0.050,2987,3387,1564,0,0,0,0,0,0
$GC,9461,0.93,302.5,24.2,14.9,634,9469,0.17,2.28,0.00,0.000,6,0.119,0.043,2941,1980,1563,0,0,0,0,0,0
$GC,9629,0.93,302.5,8.6,9.8,665,9636,0.00,2.30,0.00,0.000,4,0.000,0.058,2950,565,1563,0,0,0,0,0,0
$GC,9651,0.93,302.5,6.1,10.8,668,9659,0.00,2.22,0.00,0.000,6,0.000,0.039,2949,1966,1563,0,0,0,0,0,0
$STATE,9685,end climb,SURFACE_DEPTH_REACHED
$STATE,9685,begin surface coast
$FINISH,0.6,0.999749
$STATE,9724,end surface coast,CONTROL_FINISHED_OK
$STATE,9724,begin surface
$SM_CCo,9802,0.00,0.000,0,0,1558,304.66
$SM_GC,1.36,7.50,0.00,0.00,0.030,0.000,0.000,59,1986,1558,-7.98,0.82,304.66
$IRIDIUM_FIX,2059.45,-15743.60,180902,232336
$TT8_MAMPS,0.027612
$HUMID,66.18
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.4,47.526
$10V_AH,10.2,51.850
$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,19.275,81.000,387.525,0.000,0.000,29.971,36.418,157.673,18.250,0.000,18.644,1240.837,5674.070,408.492,2342.574,493.761,0.000,1266.026,0.000,2290.356,0.000,111.076,0.000
$DEVICE_MAMPS,226.265,62.894,744.757,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,461.783,398.317,1347.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38102,681
$CAP_FILE_SIZE,105301,0
$CFSIZE,260165632,228081664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250613,051204,2104.685,-15743.200,38,0.9,38,9.8