version: 66.06
glider: 523
mission: 4
dive: 578
start: 6 27 113 12 37 58
data:
$ID,523
$MISSION,4
$DIVE,578
$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,-47577.098
$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,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
$GPS1,122458,2105.313,-15759.841,40,1.0,40,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.9
$GPS2,123741,2105.331,-15759.835,18,1.0,18,9.8
$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,315.5,6765,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.47,0.000,2,0.000,0.000,24,1975,3381,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.4,-5.3,12,113,9.57,2.20,-0.30,0.000,4,0.219,0.059,2382,3365,3396,0,0,0,0,0,0
$GC,247,-0.74,-146.0,30.3,-12.5,39,253,0.00,2.28,0.00,0.000,6,0.000,0.045,2383,1950,3396,0,0,0,0,0,0
$GC,576,-0.74,-146.0,72.3,-11.4,100,583,0.00,2.28,0.00,0.000,4,0.000,0.058,2383,552,3397,0,0,0,0,0,0
$GC,830,-0.74,-146.0,106.4,-13.9,129,834,0.00,2.15,0.00,0.000,6,0.000,0.034,2374,1962,3398,0,0,0,0,0,0
$GC,1157,-0.74,-146.0,136.7,-7.5,159,1161,0.00,2.30,0.00,0.000,4,0.000,0.053,2374,538,3399,0,0,0,0,0,0
$GC,1297,-0.74,-146.0,148.5,-7.7,171,1302,0.15,2.15,0.00,0.000,6,0.156,0.035,2404,1957,3399,0,0,0,0,0,0
$GC,1630,-0.74,-146.0,170.3,-8.6,202,1634,0.00,2.28,0.00,0.000,4,0.000,0.053,2404,538,3399,0,0,0,0,0,0
$GC,1847,-0.74,-146.0,191.5,-8.6,221,1855,0.00,2.20,0.00,0.000,6,0.000,0.035,2396,1958,3399,0,0,0,0,0,0
$GC,2178,-0.74,-146.0,217.5,-8.3,243,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1958,3399,0,0,0,0,0,0
$GC,2486,-0.74,-146.0,240.0,-7.0,258,2491,0.00,2.28,0.00,0.000,4,0.000,0.053,2396,542,3399,0,0,0,0,0,0
$GC,2728,-0.74,-146.0,258.4,-7.7,268,2733,0.00,2.17,0.00,0.000,6,0.000,0.035,2386,1962,3399,0,0,0,0,0,0
$GC,3046,-0.74,-146.0,279.3,-7.0,284,3050,0.00,2.28,0.00,0.000,4,0.000,0.053,2386,547,3399,0,0,0,0,0,0
$GC,3214,-0.74,-146.0,290.6,-5.8,291,3218,0.00,2.17,0.00,0.000,6,0.000,0.038,2377,1961,3399,0,0,0,0,0,0
$GC,3529,-0.74,-146.0,311.1,-7.9,303,3533,0.00,2.30,0.00,0.000,4,0.000,0.054,2377,543,3398,0,0,0,0,0,0
$GC,3661,-0.74,-146.0,323.1,-8.2,306,3665,0.12,2.17,0.00,0.000,6,0.160,0.038,2400,1968,3397,0,0,0,0,0,0
$GC,3987,-0.74,-146.0,343.7,-5.7,314,3991,0.00,2.33,0.00,0.000,4,0.000,0.058,2400,538,3395,0,0,0,0,0,0
$GC,4245,-0.74,-146.0,356.7,-3.9,319,4251,0.00,2.20,0.00,0.000,6,0.000,0.038,2393,1957,3394,0,0,0,0,0,0
$GC,4577,-0.74,-146.0,373.0,-5.4,328,4581,0.00,2.33,0.00,0.000,4,0.000,0.060,2392,548,3392,0,0,0,0,0,0
$GC,4624,-0.74,-146.0,376.0,-6.9,329,4628,0.00,2.17,0.00,0.000,6,0.000,0.040,2383,1961,3392,0,0,0,0,0,0
$GC,4950,-0.74,-146.0,397.6,-6.5,337,4954,0.00,2.30,0.00,0.000,4,0.000,0.059,2382,548,3390,0,0,0,0,0,0
$GC,5208,-0.74,-146.0,417.5,-7.4,342,5212,0.00,2.20,0.00,0.000,6,0.000,0.040,2374,1960,3388,0,0,0,0,0,0
$STATE,5416,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5416,begin apogee
$GC,5422,-0.17,0.0,432.0,6.8,347,5546,0.65,0.00,121.20,0.741,6,0.117,0.000,2580,1960,2800,0,0,0,0,0,0
$STATE,5547,end apogee,CONTROL_FINISHED_OK
$STATE,5547,begin climb
$GC,5551,0.74,146.0,432.1,0.0,350,5688,0.82,2.38,126.88,0.717,4,0.074,0.059,2870,3388,2202,0,0,0,0,0,0
$GC,5779,0.74,146.0,405.1,13.2,355,5783,0.00,2.28,0.00,0.000,6,0.000,0.044,2879,1981,2198,0,0,0,0,0,0
$GC,6126,0.74,146.0,362.6,12.7,364,6130,0.00,2.30,0.00,0.000,4,0.000,0.058,2879,3391,2195,0,0,0,0,0,0
$GC,6159,0.74,146.0,357.9,13.7,364,6165,0.00,2.25,0.00,0.000,6,0.000,0.047,2889,1979,2194,0,0,0,0,0,0
$GC,6491,0.74,146.0,322.1,9.1,373,6495,0.00,2.28,0.00,0.000,4,0.000,0.058,2889,3385,2193,0,0,0,0,0,0
$GC,6536,0.74,146.0,317.5,10.8,374,6540,0.00,2.22,0.00,0.000,6,0.000,0.048,2899,1981,2192,0,0,0,0,0,0
$GC,6856,0.74,146.0,279.4,12.6,385,6860,0.00,2.28,0.00,0.000,4,0.000,0.060,2899,3391,2191,0,0,0,0,0,0
$GC,6941,0.74,146.0,268.5,12.8,389,6945,0.00,2.28,0.00,0.000,6,0.000,0.049,2907,1981,2191,0,0,0,0,0,0
$GC,7267,0.74,146.0,232.5,11.4,405,7271,0.00,2.30,0.00,0.000,4,0.000,0.061,2907,3392,2189,0,0,0,0,0,0
$GC,7406,0.74,146.0,215.0,13.4,411,7411,0.15,2.28,0.00,0.000,6,0.140,0.050,2874,1980,2188,0,0,0,0,0,0
$GC,7731,0.74,146.0,184.5,10.2,433,7735,0.00,2.30,0.00,0.000,4,0.000,0.060,2874,3389,2187,0,0,0,0,0,0
$GC,7847,0.74,146.0,171.8,10.2,443,7851,0.00,2.25,0.00,0.000,6,0.000,0.050,2882,1978,2187,0,0,0,0,0,0
$GC,8174,0.77,173.5,144.9,7.9,473,8202,0.00,2.30,22.38,0.559,4,0.000,0.067,2892,565,2091,0,0,0,0,0,0
$GC,8225,0.80,193.9,140.6,8.2,477,8249,0.00,2.25,18.88,0.541,6,0.000,0.040,2892,1979,2008,0,0,0,0,0,0
$GC,8570,0.81,208.8,111.4,8.4,509,8594,0.00,2.33,14.18,0.504,4,0.000,0.067,2892,3384,1946,0,0,0,0,0,0
$GC,8791,0.85,234.4,92.4,8.0,529,8819,0.00,2.28,23.02,0.507,6,0.000,0.051,2900,1978,1844,0,0,0,0,0,0
$GC,9146,0.85,234.4,60.6,9.6,579,9151,0.00,2.28,0.00,0.000,4,0.000,0.061,2901,3386,1842,0,0,0,0,0,0
$GC,9192,0.85,234.4,56.0,10.0,587,9198,0.00,2.25,0.00,0.000,6,0.000,0.051,2905,1978,1841,0,0,0,0,0,0
$GC,9528,0.85,234.4,26.4,9.3,648,9535,0.00,2.30,0.00,0.000,4,0.000,0.065,2912,572,1841,0,0,0,0,0,0
$GC,9554,0.85,234.4,24.0,9.2,652,9561,0.00,2.22,0.00,0.000,6,0.000,0.038,2912,1989,1841,0,0,0,0,0,0
$GC,9723,0.86,248.6,9.5,8.4,683,9743,0.00,2.28,13.75,0.421,4,0.000,0.065,2911,3383,1784,0,0,0,0,0,0
$GC,9804,0.93,299.6,3.4,6.9,697,9812,0.00,2.30,4.10,0.310,2,0.000,0.053,2918,1978,1770,0,0,0,0,0,0
$STATE,9813,end climb,SURFACE_DEPTH_REACHED
$STATE,9813,begin surface coast
$FINISH,2.1,1.023116
$STATE,9820,end surface coast,CONTROL_FINISHED_OK
$STATE,9820,begin surface
$SM_CCo,9839,25.00,0.423,0,0,1574,300.24
$SM_GC,1.77,0.00,0.00,25.00,0.000,0.000,0.423,56,1967,1574,-8.08,0.28,300.24
$IRIDIUM_FIX,2054.83,-15804.20,210902,121209
$TT8_MAMPS,0.028379
$HUMID,66.77
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.00
$XPDR_PINGS,3
$24V_AH,24.4,49.331
$10V_AH,10.2,53.901
$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,19.100,94.875,344.375,25.000,0.000,82.860,104.704,290.211,18.500,0.000,18.674,1299.115,5666.751,402.071,2473.839,781.422,0.000,1284.210,0.000,2423.616,0.000,116.107,0.000
$DEVICE_MAMPS,218.595,67.496,740.922,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,474.733,410.807,1407.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38138,699
$CAP_FILE_SIZE,117251,0
$CFSIZE,260165632,227028992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270613,152326,2106.414,-15800.760,23,0.7,24,9.8