version: 66.06
glider: 523
mission: 4
dive: 577
start: 6 27 113 9 35 46
data:
$ID,523
$MISSION,4
$DIVE,577
$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,-47557.797
$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,29
$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
$GPS1,092847,2104.232,-15759.015,22,0.8,22,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.0
$GPS2,093530,2104.248,-15759.023,19,1.0,19,9.8
$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,315.4,9212,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-76.10,0.000,2,0.000,0.000,26,1973,3372,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.3,-5.0,12,115,9.60,2.20,-0.47,0.000,4,0.221,0.058,2384,3368,3395,0,0,0,0,0,0
$GC,184,-0.74,-146.0,22.9,-17.6,27,192,0.00,2.28,0.00,0.000,6,0.000,0.044,2384,1951,3397,0,0,0,0,0,0
$GC,356,-0.74,-146.0,50.6,-15.0,58,363,0.00,2.30,0.00,0.000,4,0.000,0.059,2384,542,3397,0,0,0,0,0,0
$GC,611,-0.74,-146.0,85.6,-12.3,100,615,0.00,2.20,0.00,0.000,6,0.000,0.035,2375,1969,3398,0,0,0,0,0,0
$GC,938,-0.74,-146.0,118.4,-7.9,130,942,0.00,2.28,0.00,0.000,4,0.000,0.054,2375,547,3399,0,0,0,0,0,0
$GC,1191,-0.74,-146.0,141.9,-10.2,152,1199,0.10,2.20,0.00,0.000,6,0.139,0.035,2397,1964,3400,0,0,0,0,0,0
$GC,1519,-0.74,-146.0,168.6,-7.4,183,1523,0.00,2.28,0.00,0.000,4,0.000,0.053,2397,537,3401,0,0,0,0,0,0
$GC,1767,-0.74,-146.0,190.0,-9.0,205,1776,0.00,2.20,0.00,0.000,6,0.000,0.035,2389,1956,3402,0,0,0,0,0,0
$GC,2097,-0.74,-146.0,218.3,-8.0,227,2101,0.00,2.28,0.00,0.000,4,0.000,0.053,2389,541,3402,0,0,0,0,0,0
$GC,2130,-0.74,-146.0,221.0,-8.1,228,2136,0.00,2.15,0.00,0.000,6,0.000,0.036,2379,1960,3401,0,0,0,0,0,0
$GC,2448,-0.74,-146.0,248.4,-10.1,244,2452,0.00,2.28,0.00,0.000,4,0.000,0.053,2379,547,3401,0,0,0,0,0,0
$GC,2498,-0.74,-146.0,253.7,-9.6,246,2503,0.12,2.15,0.00,0.000,6,0.163,0.035,2402,1959,3401,0,0,0,0,0,0
$GC,2814,-0.74,-146.0,274.1,-5.4,261,2818,0.00,2.25,0.00,0.000,4,0.000,0.054,2403,545,3402,0,0,0,0,0,0
$GC,2916,-0.74,-146.0,280.0,-5.5,265,2921,0.00,2.15,0.00,0.000,6,0.000,0.035,2395,1957,3401,0,0,0,0,0,0
$GC,3232,-0.74,-146.0,298.8,-6.3,281,3236,0.00,2.30,0.00,0.000,4,0.000,0.055,2395,536,3401,0,0,0,0,0,0
$GC,3374,-0.74,-146.0,306.9,-5.2,285,3378,0.00,2.17,0.00,0.000,6,0.000,0.037,2385,1962,3401,0,0,0,0,0,0
$GC,3699,-0.74,-146.0,323.6,-5.2,293,3703,0.00,2.28,0.00,0.000,4,0.000,0.055,2385,537,3401,0,0,0,0,0,0
$GC,3818,-0.74,-146.0,331.9,-8.4,295,3822,0.00,2.17,0.00,0.000,6,0.000,0.038,2377,1958,3399,0,0,0,0,0,0
$GC,4156,-0.74,-146.0,360.4,-9.0,304,4160,0.00,2.20,0.00,0.000,4,0.000,0.057,2366,3362,3398,0,0,0,0,0,0
$GC,4218,-0.74,-146.0,366.9,-10.5,305,4223,0.12,2.20,0.00,0.000,6,0.145,0.043,2398,1953,3398,0,0,0,0,0,0
$GC,4565,-0.74,-146.0,394.1,-7.5,314,4569,0.00,2.25,0.00,0.000,4,0.000,0.060,2398,549,3396,0,0,0,0,0,0
$GC,4750,-0.74,-146.0,408.8,-7.8,318,4754,0.00,2.15,0.00,0.000,6,0.000,0.037,2390,1957,3395,0,0,0,0,0,0
$GC,5072,-0.74,-146.0,430.0,-6.2,326,5076,0.00,2.28,0.00,0.000,4,0.000,0.058,2380,3372,3393,0,0,0,0,0,0
$GC,5209,-0.74,-146.0,438.1,-6.1,329,5213,0.00,2.25,0.00,0.000,6,0.000,0.046,2381,1952,3393,0,0,0,0,0,0
$STATE,5443,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5443,begin apogee
$GC,5450,-0.17,0.0,449.4,4.6,335,5575,0.62,0.00,122.43,0.755,6,0.118,0.000,2579,1952,2800,0,0,0,0,0,0
$STATE,5576,end apogee,CONTROL_FINISHED_OK
$STATE,5576,begin climb
$GC,5579,0.74,146.0,448.8,0.0,338,5717,0.85,2.45,127.07,0.729,4,0.074,0.053,2873,3385,2202,0,0,0,0,0,0
$GC,5786,0.74,146.0,422.4,14.6,342,5792,0.00,2.30,0.00,0.000,6,0.000,0.044,2883,1973,2199,0,0,0,0,0,0
$GC,6118,0.74,146.0,377.5,12.8,351,6122,0.00,2.30,0.00,0.000,4,0.000,0.057,2883,3391,2196,0,0,0,0,0,0
$GC,6202,0.74,146.0,366.9,12.2,353,6206,0.00,2.25,0.00,0.000,6,0.000,0.045,2892,1980,2194,0,0,0,0,0,0
$GC,6526,0.74,146.0,326.3,13.0,361,6530,0.00,2.28,0.00,0.000,4,0.000,0.058,2893,3388,2193,0,0,0,0,0,0
$GC,6577,0.74,146.0,319.9,13.0,362,6581,0.00,2.22,0.00,0.000,6,0.000,0.046,2900,1981,2192,0,0,0,0,0,0
$GC,6903,0.74,146.0,284.3,11.5,373,6907,0.00,2.25,0.00,0.000,4,0.000,0.059,2901,3382,2192,0,0,0,0,0,0
$GC,7015,0.74,146.0,270.5,12.9,378,7020,0.12,2.22,0.00,0.000,6,0.148,0.049,2876,1982,2191,0,0,0,0,0,0
$GC,7336,0.77,174.3,246.2,7.9,394,7365,0.00,2.33,23.48,0.631,4,0.000,0.061,2876,3383,2088,0,0,0,0,0,0
$GC,7440,0.77,174.3,235.2,11.2,398,7445,0.00,2.25,0.00,0.000,6,0.000,0.050,2882,1981,2086,0,0,0,0,0,0
$GC,7756,0.77,174.3,206.6,9.5,414,7760,0.00,2.28,0.00,0.000,4,0.000,0.061,2882,3387,2084,0,0,0,0,0,0
$GC,7864,0.77,174.3,195.2,9.6,421,7868,0.00,2.25,0.00,0.000,6,0.000,0.050,2891,1977,2083,0,0,0,0,0,0
$GC,8192,0.77,174.3,164.3,10.6,451,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1977,2083,0,0,0,0,0,0
$GC,8521,0.77,174.3,127.9,9.5,482,8525,0.00,2.30,0.00,0.000,4,0.000,0.061,2891,3386,2082,0,0,0,0,0,0
$GC,8648,0.79,192.0,116.1,8.3,493,8673,0.00,2.22,15.85,0.521,6,0.000,0.046,2897,1970,2017,0,0,0,0,0,0
$GC,8993,0.79,192.4,86.6,9.0,525,8997,0.00,2.28,0.00,0.000,4,0.000,0.058,2896,3388,2015,0,0,0,0,0,0
$GC,9110,0.79,192.4,75.5,9.3,539,9116,0.00,2.25,0.00,0.000,6,0.000,0.048,2904,1980,2015,0,0,0,0,0,0
$GC,9440,0.79,192.4,47.1,9.3,600,9447,0.00,2.28,0.00,0.000,4,0.000,0.061,2905,575,2015,0,0,0,0,0,0
$GC,9473,0.81,202.9,44.5,8.6,605,9490,0.00,2.17,10.73,0.438,6,0.000,0.035,2905,1986,1971,0,0,0,0,0,0
$GC,9812,0.82,214.3,17.3,8.6,668,9833,0.00,2.25,11.55,0.417,4,0.000,0.061,2905,3379,1925,0,0,0,0,0,0
$GC,9927,0.84,229.5,8.5,8.4,688,9949,0.00,2.22,14.57,0.419,6,0.000,0.042,2905,1978,1863,0,0,0,0,0,0
$STATE,9986,end climb,SURFACE_DEPTH_REACHED
$STATE,9986,begin surface coast
$FINISH,0.8,1.023107
$STATE,10020,end surface coast,CONTROL_FINISHED_OK
$STATE,10020,begin surface
$SM_CCo,10038,34.40,0.424,0,0,1575,300.24
$SM_GC,1.31,0.00,0.00,34.40,0.000,0.000,0.424,24,1975,1575,-8.18,0.51,300.24
$IRIDIUM_FIX,2101.76,-15801.19,210902,060646
$TT8_MAMPS,0.027612
$HUMID,65.19
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.4,49.235
$10V_AH,10.2,53.793
$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,18.875,98.775,325.675,34.400,0.000,30.497,40.459,167.128,18.750,0.000,20.199,1306.239,5787.085,410.356,2421.659,545.501,0.000,1278.695,0.000,2365.714,0.000,115.713,0.000
$DEVICE_MAMPS,220.896,61.360,754.728,424.151,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,478.202,412.343,1384.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,38146,704
$CAP_FILE_SIZE,112636,0
$CFSIZE,260165632,227086336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270613,122458,2105.313,-15759.841,40,1.0,40,9.8