version: 66.06
glider: 523
mission: 4
dive: 582
start: 6 28 113 0 17 28
data:
$ID,523
$MISSION,4
$DIVE,582
$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,-47649.258
$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,21
$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
$GPS1,001104,2108.401,-15759.635,34,0.9,34,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.6
$GPS2,001711,2108.384,-15759.644,14,1.1,14,9.8
$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,89.6,29289,-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,-76.07,0.000,2,0.000,0.000,30,1974,3368,0,0,0,0,0,0
$GC,100,-0.74,-146.0,3.3,-5.3,12,115,9.65,2.30,-0.57,0.000,4,0.223,0.064,2395,545,3395,0,0,0,0,0,0
$GC,186,-0.74,-146.0,22.1,-16.0,27,194,0.00,2.22,0.00,0.000,6,0.000,0.038,2387,1958,3397,0,0,0,0,0,0
$GC,362,-0.74,-146.0,48.8,-15.8,58,369,0.00,2.33,0.00,0.000,4,0.000,0.057,2387,544,3397,0,0,0,0,0,0
$GC,437,-0.74,-146.0,62.3,-17.2,71,443,0.00,2.20,0.00,0.000,6,0.000,0.038,2378,1962,3397,0,0,0,0,0,0
$GC,773,-0.74,-146.0,98.1,-10.2,117,777,0.00,2.30,0.00,0.000,4,0.000,0.055,2378,545,3399,0,0,0,0,0,0
$GC,1026,-0.74,-146.0,130.5,-12.5,139,1033,0.08,2.20,0.00,0.000,6,0.144,0.036,2393,1958,3400,0,0,0,0,0,0
$GC,1353,-0.74,-146.0,168.1,-12.2,170,1357,0.00,2.30,0.00,0.000,4,0.000,0.054,2393,537,3401,0,0,0,0,0,0
$GC,1602,-0.74,-146.0,194.1,-9.1,192,1609,0.00,2.20,0.00,0.000,6,0.000,0.036,2385,1952,3401,0,0,0,0,0,0
$GC,1930,-0.74,-146.0,222.8,-8.2,212,1934,0.00,2.28,0.00,0.000,4,0.000,0.054,2385,541,3402,0,0,0,0,0,0
$GC,2188,-0.74,-146.0,246.2,-9.2,223,2194,0.00,2.17,0.00,0.000,6,0.000,0.037,2376,1960,3402,0,0,0,0,0,0
$GC,2507,-0.74,-146.0,270.5,-8.0,239,2511,0.00,2.28,0.00,0.000,4,0.000,0.054,2376,548,3402,0,0,0,0,0,0
$GC,2697,-0.74,-146.0,287.4,-9.1,247,2703,0.12,2.17,0.00,0.000,6,0.155,0.037,2399,1962,3402,0,0,0,0,0,0
$GC,3016,-0.74,-146.0,300.7,-4.2,263,3020,0.00,2.30,0.00,0.000,4,0.000,0.054,2400,542,3402,0,0,0,0,0,0
$GC,3134,-0.74,-146.0,307.0,-5.8,265,3138,0.00,2.17,0.00,0.000,6,0.000,0.038,2392,1962,3402,0,0,0,0,0,0
$GC,3471,-0.74,-146.0,330.6,-7.5,274,3475,0.00,2.25,0.00,0.000,4,0.000,0.060,2381,3362,3401,0,0,0,0,0,0
$GC,3628,-0.74,-146.0,343.9,-8.1,277,3632,0.00,2.25,0.00,0.000,6,0.000,0.046,2381,1956,3401,0,0,0,0,0,0
$GC,3972,-0.74,-146.0,370.5,-6.7,286,3976,0.00,2.30,0.00,0.000,4,0.000,0.056,2372,3362,3399,0,0,0,0,0,0
$GC,4029,-0.74,-146.0,375.1,-5.0,287,4034,0.12,2.22,0.00,0.000,6,0.146,0.047,2404,1948,3398,0,0,0,0,0,0
$GC,4342,-0.74,-146.0,393.5,-6.1,295,4346,0.00,2.25,0.00,0.000,4,0.000,0.061,2405,539,3397,0,0,0,0,0,0
$GC,4376,-0.74,-146.0,396.3,-7.8,295,4382,0.00,2.20,0.00,0.000,6,0.000,0.038,2398,1959,3397,0,0,0,0,0,0
$GC,4708,-0.74,-146.0,416.9,-5.4,304,4712,0.00,2.30,0.00,0.000,4,0.000,0.060,2397,537,3395,0,0,0,0,0,0
$GC,4814,-0.74,-146.0,422.2,0.2,306,4818,0.00,2.17,0.00,0.000,6,0.000,0.038,2397,1959,3394,0,0,0,0,0,0
$STATE,4950,end dive,NO_VERTICAL_VELOCITY
$STATE,4950,begin apogee
$GC,4957,-0.17,0.0,422.3,0.0,310,5082,0.52,0.00,122.25,0.733,6,0.074,0.000,2587,1960,2800,0,0,0,0,0,0
$STATE,5083,end apogee,CONTROL_FINISHED_OK
$STATE,5083,begin climb
$GC,5086,0.74,146.0,421.8,0.0,313,5224,0.82,2.40,127.00,0.709,4,0.075,0.060,2885,578,2202,0,0,0,0,0,0
$GC,5472,0.74,146.0,379.0,12.0,321,5477,0.00,2.20,0.00,0.000,6,0.000,0.040,2885,1981,2196,0,0,0,0,0,0
$GC,5803,0.74,146.0,344.4,10.6,330,5807,0.00,2.25,0.00,0.000,4,0.000,0.060,2885,3392,2195,0,0,0,0,0,0
$GC,5944,0.74,146.0,325.3,13.4,333,5948,0.00,2.25,0.00,0.000,6,0.000,0.046,2894,1979,2193,0,0,0,0,0,0
$GC,6258,0.74,146.0,283.9,13.4,343,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1979,2192,0,0,0,0,0,0
$GC,6567,0.74,146.0,243.2,12.0,358,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1979,2191,0,0,0,0,0,0
$GC,6877,0.74,146.0,212.4,9.6,373,6881,0.00,2.25,0.00,0.000,4,0.000,0.059,2895,3385,2190,0,0,0,0,0,0
$GC,7044,0.74,146.0,195.8,9.3,382,7048,0.00,2.22,0.00,0.000,6,0.000,0.048,2903,1981,2189,0,0,0,0,0,0
$GC,7372,0.74,146.0,165.2,10.7,412,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1980,2189,0,0,0,0,0,0
$GC,7701,0.74,146.0,128.2,11.4,443,7705,0.00,2.28,0.00,0.000,4,0.000,0.058,2903,3388,2188,0,0,0,0,0,0
$GC,7799,0.74,146.0,116.6,10.9,451,7806,0.10,2.28,0.00,0.000,6,0.123,0.049,2877,1982,2188,0,0,0,0,0,0
$GC,8126,0.76,164.3,88.8,8.3,482,8150,0.00,2.33,14.35,0.496,4,0.000,0.065,2886,565,2129,0,0,0,0,0,0
$GC,8186,0.77,172.8,83.8,8.7,487,8202,0.00,2.20,9.15,0.466,6,0.000,0.038,2886,1978,2094,0,0,0,0,0,0
$GC,8530,0.85,237.6,57.8,6.3,546,8595,0.00,2.33,55.70,0.490,4,0.000,0.060,2886,3390,1829,0,0,0,0,0,0
$GC,8666,0.86,243.2,46.2,8.8,569,8679,0.00,2.28,6.43,0.393,6,0.000,0.045,2890,1973,1807,0,0,0,0,0,0
$GC,9007,0.91,285.4,20.9,7.3,631,9054,0.12,2.35,37.17,0.448,4,0.072,0.055,2984,3386,1634,0,0,0,0,0,0
$GC,9094,0.91,285.4,10.0,14.3,645,9102,0.17,2.30,0.00,0.000,6,0.108,0.047,2936,1982,1634,0,0,0,0,0,0
$STATE,9155,end climb,SURFACE_DEPTH_REACHED
$STATE,9155,begin surface coast
$FINISH,0.6,1.023200
$STATE,9190,end surface coast,CONTROL_FINISHED_OK
$STATE,9190,begin surface
$SM_CCo,9208,8.93,0.385,0,0,1575,300.24
$SM_GC,1.10,0.00,0.00,8.93,0.000,0.000,0.385,46,1978,1575,-8.11,0.59,300.24
$IRIDIUM_FIX,2057.14,-15803.33,210902,212106
$TT8_MAMPS,0.028379
$HUMID,67.01
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,355.2,59.7
$24V_AH,24.4,49.701
$10V_AH,10.2,54.306
$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,19.350,81.275,372.050,8.925,0.000,37.726,36.421,157.483,14.750,0.000,15.171,1194.713,5207.229,401.073,2276.004,500.831,0.000,1242.087,0.000,2239.003,0.000,90.855,0.000
$DEVICE_MAMPS,223.197,65.195,733.252,385.034,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,449.109,373.598,1289.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38083,662
$CAP_FILE_SIZE,102214,0
$CFSIZE,260165632,226832384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280613,025205,2108.979,-15758.821,20,0.9,20,9.8