version: 66.06
glider: 523
mission: 4
dive: 573
start: 6 26 113 21 49 46
data:
$ID,523
$MISSION,4
$DIVE,573
$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,-47434.008
$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,23
$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
$GPS1,214329,2100.298,-15754.511,37,0.9,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.1
$GPS2,214929,2100.308,-15754.532,16,0.9,16,9.8
$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,309.0,19753,-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,-80.75,0.000,6,0.000,0.000,37,1946,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.5,-5.6,13,118,9.57,2.25,0.00,0.000,4,0.222,0.051,2381,3375,3398,0,0,0,0,0,0
$GC,215,-0.74,-146.0,26.3,-15.3,33,223,0.00,2.28,0.00,0.000,6,0.000,0.044,2381,1955,3399,0,0,0,0,0,0
$GC,386,-0.74,-146.0,50.6,-13.1,64,394,0.00,2.30,0.00,0.000,4,0.000,0.059,2381,535,3400,0,0,0,0,0,0
$GC,629,-0.74,-146.0,80.3,-12.0,108,633,0.12,2.20,0.00,0.000,6,0.160,0.036,2404,1965,3400,0,0,0,0,0,0
$GC,956,-0.74,-146.0,115.0,-10.4,138,960,0.00,2.30,0.00,0.000,4,0.000,0.054,2404,538,3401,0,0,0,0,0,0
$GC,1182,-0.74,-146.0,142.2,-11.5,158,1186,0.00,2.20,0.00,0.000,6,0.000,0.036,2396,1967,3402,0,0,0,0,0,0
$GC,1510,-0.74,-146.0,172.9,-10.5,188,1514,0.00,2.30,0.00,0.000,4,0.000,0.052,2396,537,3403,0,0,0,0,0,0
$GC,1572,-0.74,-146.0,179.8,-10.6,193,1579,0.00,2.20,0.00,0.000,6,0.000,0.036,2387,1967,3403,0,0,0,0,0,0
$GC,1914,-0.74,-146.0,205.3,-7.4,222,1918,0.00,2.28,0.00,0.000,4,0.000,0.052,2387,542,3404,0,0,0,0,0,0
$GC,2077,-0.74,-146.0,220.0,-8.5,229,2081,0.00,2.17,0.00,0.000,6,0.000,0.036,2377,1958,3404,0,0,0,0,0,0
$GC,2403,-0.74,-146.0,240.2,-6.9,245,2407,0.00,2.22,0.00,0.000,4,0.000,0.056,2367,3371,3403,0,0,0,0,0,0
$GC,2443,-0.74,-146.0,243.3,-7.2,247,2447,0.12,2.25,0.00,0.000,6,0.149,0.042,2399,1954,3403,0,0,0,0,0,0
$GC,2769,-0.74,-146.0,258.6,-4.6,263,2773,0.00,2.25,0.00,0.000,4,0.000,0.055,2400,545,3403,0,0,0,0,0,0
$GC,3028,-0.74,-146.0,279.5,-9.0,274,3032,0.00,2.17,0.00,0.000,6,0.000,0.035,2392,1964,3404,0,0,0,0,0,0
$GC,3348,-0.74,-146.0,301.1,-6.2,289,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1964,3403,0,0,0,0,0,0
$GC,3669,-0.74,-146.0,317.9,-4.4,297,3673,0.00,2.33,0.00,0.000,4,0.000,0.055,2392,545,3402,0,0,0,0,0,0
$GC,3825,-0.74,-146.0,325.4,-5.3,300,3829,0.00,2.17,0.00,0.000,6,0.000,0.038,2382,1954,3401,0,0,0,0,0,0
$GC,4164,-0.74,-146.0,345.1,-6.7,309,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1954,3400,0,0,0,0,0,0
$GC,4488,-0.74,-146.0,369.6,-7.5,317,4492,0.00,2.28,0.00,0.000,4,0.000,0.057,2382,548,3398,0,0,0,0,0,0
$GC,4725,-0.74,-146.0,387.6,-7.4,322,4729,0.00,2.20,0.00,0.000,6,0.000,0.040,2373,1961,3396,0,0,0,0,0,0
$GC,5076,-0.74,-146.0,411.9,-7.7,331,5080,0.00,2.33,0.00,0.000,4,0.000,0.058,2373,547,3395,0,0,0,0,0,0
$GC,5251,-0.74,-146.0,427.4,-7.9,335,5256,0.15,2.17,0.00,0.000,6,0.148,0.040,2405,1955,3393,0,0,0,0,0,0
$STATE,5410,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5410,begin apogee
$GC,5417,-0.17,0.0,436.8,5.4,339,5542,0.55,0.00,122.65,0.746,6,0.114,0.000,2584,1956,2800,0,0,0,0,0,0
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5546,0.74,146.0,437.9,0.0,342,5683,0.85,2.40,127.20,0.722,4,0.069,0.054,2879,3384,2203,0,0,0,0,0,0
$GC,5751,0.74,146.0,411.3,16.9,347,5756,0.00,2.33,0.00,0.000,6,0.000,0.048,2888,1979,2198,0,0,0,0,0,0
$GC,6064,0.74,146.0,366.7,13.3,355,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1979,2197,0,0,0,0,0,0
$GC,6389,0.74,146.0,323.8,12.9,363,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1979,2194,0,0,0,0,0,0
$GC,6695,0.74,146.0,289.1,11.1,372,6699,0.00,2.28,0.00,0.000,4,0.000,0.059,2899,565,2193,0,0,0,0,0,0
$GC,6735,0.74,146.0,284.5,11.5,374,6739,0.00,2.22,0.00,0.000,6,0.000,0.041,2899,1979,2193,0,0,0,0,0,0
$GC,7062,0.74,146.0,249.1,11.9,390,7066,0.00,2.20,0.00,0.000,4,0.000,0.053,2899,3389,2192,0,0,0,0,0,0
$GC,7124,0.74,146.0,241.0,13.3,393,7129,0.00,2.25,0.00,0.000,6,0.000,0.043,2908,1971,2191,0,0,0,0,0,0
$GC,7451,0.74,146.0,202.7,11.2,409,7456,0.12,2.28,0.00,0.000,4,0.146,0.051,2873,3393,2191,0,0,0,0,0,0
$GC,7558,0.74,146.0,190.9,11.6,417,7562,0.00,2.20,0.00,0.000,6,0.000,0.041,2881,1980,2190,0,0,0,0,0,0
$GC,7885,0.74,146.0,156.3,9.9,447,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1980,2189,0,0,0,0,0,0
$GC,8206,0.76,166.3,131.3,8.2,477,8230,0.00,2.28,16.38,0.537,4,0.000,0.049,2881,3393,2120,0,0,0,0,0,0
$GC,8267,0.76,166.3,125.7,9.6,482,8271,0.00,2.22,0.00,0.000,6,0.000,0.041,2890,1979,2119,0,0,0,0,0,0
$GC,8594,0.82,214.9,98.1,7.0,512,8643,0.00,0.00,42.50,0.524,6,0.000,0.000,2891,1979,1922,0,0,0,0,0,0
$GC,8966,0.82,214.9,67.6,11.1,557,8971,0.00,2.30,0.00,0.000,4,0.000,0.058,2891,3393,1920,0,0,0,0,0,0
$GC,9012,0.82,214.9,63.3,9.3,565,9018,0.00,2.28,0.00,0.000,6,0.000,0.047,2891,1975,1920,0,0,0,0,0,0
$GC,9342,0.89,274.0,45.6,6.6,626,9400,0.10,2.28,51.53,0.469,4,0.087,0.057,2981,563,1680,0,0,0,0,0,0
$GC,9444,0.89,274.0,35.0,11.8,644,9452,0.15,2.25,0.00,0.000,6,0.103,0.035,2930,1988,1680,0,0,0,0,0,0
$GC,9772,0.91,286.7,3.4,8.5,705,9781,0.00,0.00,6.50,0.367,2,0.000,0.000,2930,1988,1656,0,0,0,0,0,0
$STATE,9782,end climb,SURFACE_DEPTH_REACHED
$STATE,9782,begin surface coast
$FINISH,0.6,1.023063
$STATE,9816,end surface coast,CONTROL_FINISHED_OK
$STATE,9817,begin surface
$SM_CCo,9835,11.05,0.393,0,0,1575,300.24
$SM_GC,1.08,0.00,0.00,11.05,0.000,0.000,0.393,51,1998,1575,-8.10,1.16,300.24
$IRIDIUM_FIX,2047.91,-15757.78,200902,191950
$TT8_MAMPS,0.028379
$HUMID,66.22
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.4,48.877
$10V_AH,10.2,53.379
$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,19.125,76.600,366.750,11.050,0.000,29.779,33.544,157.577,18.250,0.000,17.292,1284.352,5680.888,402.946,2344.104,489.569,0.000,1218.112,0.000,2295.760,0.000,112.608,0.000
$DEVICE_MAMPS,222.430,59.059,745.524,393.471,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,483.154,409.612,1404.032,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,37973,712
$CAP_FILE_SIZE,104208,0
$CFSIZE,260165632,227303424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270613,003456,2101.190,-15755.146,24,0.8,24,9.8