version: 66.06
glider: 523
mission: 4
dive: 580
start: 6 27 113 18 24 5
data:
$ID,523
$MISSION,4
$DIVE,580
$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,-47612.844
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,181752,2107.482,-15802.107,34,0.8,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.0
$GPS2,182348,2107.527,-15802.140,17,0.8,17,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,85.7,33363,-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,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,101,0.00,0.00,-80.93,0.000,6,0.000,0.000,44,1943,3396,0,0,0,0,0,0
$GC,105,-0.74,-146.0,3.1,-3.5,13,120,9.62,2.22,0.00,0.000,4,0.225,0.047,2393,542,3397,0,0,0,0,0,0
$GC,191,-0.74,-146.0,23.2,-15.5,28,198,0.00,2.22,0.00,0.000,6,0.000,0.038,2385,1955,3398,0,0,0,0,0,0
$GC,363,-0.74,-146.0,48.2,-13.0,59,368,0.00,2.30,0.00,0.000,4,0.000,0.054,2385,538,3399,0,0,0,0,0,0
$GC,432,-0.74,-146.0,58.9,-15.7,71,437,0.00,2.17,0.00,0.000,6,0.000,0.038,2375,1959,3399,0,0,0,0,0,0
$GC,761,-0.74,-146.0,98.9,-10.2,115,765,0.00,2.30,0.00,0.000,4,0.000,0.054,2375,535,3400,0,0,0,0,0,0
$GC,824,-0.74,-146.0,105.5,-10.5,120,828,0.12,2.20,0.00,0.000,6,0.160,0.038,2398,1960,3400,0,0,0,0,0,0
$GC,1156,-0.74,-146.0,136.5,-9.6,151,1160,0.00,2.30,0.00,0.000,4,0.000,0.054,2398,539,3401,0,0,0,0,0,0
$GC,1412,-0.74,-146.0,162.0,-9.1,174,1416,0.00,2.17,0.00,0.000,6,0.000,0.036,2390,1957,3402,0,0,0,0,0,0
$GC,1740,-0.74,-146.0,190.5,-8.4,204,1744,0.00,2.28,0.00,0.000,4,0.000,0.054,2390,545,3403,0,0,0,0,0,0
$GC,1947,-0.74,-146.0,210.0,-10.5,218,1953,0.00,2.17,0.00,0.000,6,0.000,0.037,2380,1960,3403,0,0,0,0,0,0
$GC,2266,-0.74,-146.0,235.4,-7.2,234,2270,0.00,2.28,0.00,0.000,4,0.000,0.059,2370,3370,3403,0,0,0,0,0,0
$GC,2339,-0.74,-146.0,242.4,-9.4,237,2344,0.12,2.22,0.00,0.000,6,0.146,0.044,2404,1948,3403,0,0,0,0,0,0
$GC,2657,-0.74,-146.0,263.2,-5.8,252,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1948,3403,0,0,0,0,0,0
$GC,2964,-0.74,-146.0,280.0,-5.8,267,2969,0.00,2.25,0.00,0.000,4,0.000,0.058,2404,535,3403,0,0,0,0,0,0
$GC,3042,-0.74,-146.0,285.4,-5.8,270,3046,0.00,2.17,0.00,0.000,6,0.000,0.037,2396,1956,3403,0,0,0,0,0,0
$GC,3365,-0.74,-146.0,306.5,-6.7,284,3369,0.00,2.30,0.00,0.000,4,0.000,0.058,2396,539,3403,0,0,0,0,0,0
$GC,3517,-0.74,-146.0,317.6,-7.3,287,3521,0.00,2.17,0.00,0.000,6,0.000,0.038,2386,1954,3402,0,0,0,0,0,0
$GC,3862,-0.74,-146.0,346.1,-8.1,296,3866,0.00,2.28,0.00,0.000,4,0.000,0.061,2376,3373,3400,0,0,0,0,0,0
$GC,4007,-0.74,-146.0,356.3,-6.6,299,4011,0.00,2.22,0.00,0.000,6,0.000,0.044,2376,1953,3400,0,0,0,0,0,0
$GC,4358,-0.74,-146.0,375.3,-5.5,308,4362,0.00,2.25,0.00,0.000,4,0.000,0.061,2376,545,3398,0,0,0,0,0,0
$GC,4583,-0.74,-146.0,391.9,-7.7,313,4588,0.12,2.17,0.00,0.000,6,0.160,0.040,2398,1959,3396,0,0,0,0,0,0
$GC,4904,-0.74,-146.0,408.5,-5.0,321,4908,0.00,2.28,0.00,0.000,4,0.000,0.060,2398,548,3395,0,0,0,0,0,0
$GC,5036,-0.74,-146.0,417.5,-7.3,324,5040,0.00,2.17,0.00,0.000,6,0.000,0.041,2390,1956,3394,0,0,0,0,0,0
$GC,5363,-0.74,-146.0,443.5,-8.0,332,5367,0.00,2.25,0.00,0.000,4,0.000,0.061,2380,3375,3392,0,0,0,0,0,0
$STATE,5404,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5404,begin apogee
$GC,5414,-0.17,0.0,446.9,7.0,333,5540,0.62,0.00,122.53,0.752,6,0.121,0.000,2581,1981,2800,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5544,0.74,146.0,447.8,0.0,336,5679,0.88,2.40,127.97,0.728,4,0.073,0.056,2881,3383,2203,0,0,0,0,0,0
$GC,5727,0.74,146.0,426.4,15.4,340,5731,0.00,2.28,0.00,0.000,6,0.000,0.047,2891,1982,2200,0,0,0,0,0,0
$GC,6058,0.74,146.0,380.0,13.7,348,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1981,2196,0,0,0,0,0,0
$GC,6383,0.74,146.0,342.0,11.1,356,6387,0.00,2.30,0.00,0.000,4,0.000,0.058,2891,3395,2195,0,0,0,0,0,0
$GC,6478,0.74,146.0,329.2,15.1,358,6482,0.00,2.28,0.00,0.000,6,0.000,0.049,2901,1969,2194,0,0,0,0,0,0
$GC,6797,0.74,146.0,290.0,11.0,368,6801,0.00,2.30,0.00,0.000,4,0.000,0.059,2901,3385,2193,0,0,0,0,0,0
$GC,6893,0.74,146.0,278.1,12.8,372,6898,0.12,2.25,0.00,0.000,6,0.149,0.051,2876,1979,2192,0,0,0,0,0,0
$GC,7209,0.74,146.0,241.4,12.3,387,7213,0.00,2.28,0.00,0.000,4,0.000,0.061,2885,568,2192,0,0,0,0,0,0
$GC,7243,0.74,146.0,237.1,12.1,388,7249,0.00,2.22,0.00,0.000,6,0.000,0.043,2885,1984,2191,0,0,0,0,0,0
$GC,7560,0.80,195.1,207.8,7.0,404,7606,0.00,2.22,41.12,0.618,4,0.000,0.051,2885,3391,2003,0,0,0,0,0,0
$GC,7753,0.80,195.1,192.0,9.2,416,7758,0.00,2.30,0.00,0.000,6,0.000,0.048,2893,1969,2000,0,0,0,0,0,0
$GC,8082,0.85,237.3,165.0,7.3,446,8127,0.00,0.00,37.35,0.574,6,0.000,0.000,2893,1969,1831,0,0,0,0,0,0
$GC,8447,0.85,237.3,131.4,9.6,480,8451,0.00,2.33,0.00,0.000,4,0.000,0.057,2893,3387,1830,0,0,0,0,0,0
$GC,8531,0.85,237.3,121.8,12.8,487,8535,0.00,2.22,0.00,0.000,6,0.000,0.047,2893,1981,1828,0,0,0,0,0,0
$GC,8858,0.85,237.3,86.6,9.7,517,8862,0.00,2.28,0.00,0.000,4,0.000,0.055,2893,3383,1828,0,0,0,0,0,0
$GC,8922,0.85,237.3,79.4,11.6,522,8930,0.00,2.25,0.00,0.000,6,0.000,0.048,2893,1985,1828,0,0,0,0,0,0
$GC,9260,0.88,264.6,48.6,7.9,583,9288,0.00,0.00,24.48,0.468,6,0.000,0.000,2893,1985,1720,0,0,0,0,0,0
$GC,9617,0.95,318.0,23.4,6.8,648,9670,0.15,2.28,46.20,0.450,4,0.065,0.058,3010,569,1503,0,0,0,0,0,0
$GC,9695,0.95,318.0,13.3,14.9,660,9704,0.20,2.25,0.00,0.000,6,0.110,0.041,2944,1971,1502,0,0,0,0,0,0
$STATE,9781,end climb,SURFACE_DEPTH_REACHED
$STATE,9781,begin surface coast
$FINISH,0.6,1.006829
$STATE,9815,end surface coast,CONTROL_FINISHED_OK
$STATE,9815,begin surface
$SM_CCo,9893,0.00,0.000,0,0,1498,319.38
$SM_GC,1.46,7.45,0.00,0.00,0.025,0.000,0.000,43,1973,1498,-8.00,0.48,319.38
$IRIDIUM_FIX,2057.14,-15801.19,210902,151529
$TT8_MAMPS,0.027612
$HUMID,65.43
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,7
$24V_AH,24.4,49.510
$10V_AH,10.2,54.104
$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,19.425,90.075,399.650,0.000,0.000,23.897,43.055,149.517,20.250,0.000,18.095,1256.215,5758.265,426.891,2306.263,494.669,0.000,1260.913,0.000,2254.812,0.000,118.158,0.000
$DEVICE_MAMPS,224.731,61.360,752.427,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,462.364,395.529,1320.391,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38126,682
$CAP_FILE_SIZE,106510,0
$CFSIZE,260165632,226930688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270613,211005,2107.979,-15801.060,30,0.9,30,9.8