version: 66.06
glider: 523
mission: 4
dive: 585
start: 6 28 113 8 39 45
data:
$ID,523
$MISSION,4
$DIVE,585
$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,-47722.945
$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,32
$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
$GPS1,083307,2109.614,-15757.299,22,0.9,22,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.7
$GPS2,083929,2109.650,-15757.321,36,0.9,36,9.8
$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,96.1,25881,-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,-79.55,0.000,6,0.000,0.000,28,1949,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.5,-5.1,13,118,9.68,2.25,0.00,0.000,4,0.224,0.051,2394,534,3397,0,0,0,0,0,0
$GC,194,-0.74,-146.0,23.9,-15.7,29,201,0.00,2.22,0.00,0.000,6,0.000,0.038,2386,1948,3398,0,0,0,0,0,0
$GC,364,-0.74,-146.0,47.9,-13.1,60,371,0.00,2.28,0.00,0.000,4,0.000,0.057,2376,3359,3399,0,0,0,0,0,0
$GC,396,-0.74,-146.0,52.3,-13.8,65,402,0.00,2.20,0.00,0.000,6,0.000,0.046,2376,1955,3399,0,0,0,0,0,0
$GC,733,-0.74,-146.0,95.1,-12.6,116,737,0.00,2.25,0.00,0.000,4,0.000,0.060,2376,538,3400,0,0,0,0,0,0
$GC,987,-0.74,-146.0,123.8,-10.2,139,992,0.12,2.20,0.00,0.000,6,0.166,0.036,2398,1972,3400,0,0,0,0,0,0
$GC,1315,-0.74,-146.0,149.5,-7.4,169,1322,0.00,2.30,0.00,0.000,4,0.000,0.056,2398,547,3401,0,0,0,0,0,0
$GC,1570,-0.74,-146.0,172.7,-9.0,192,1574,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1961,3401,0,0,0,0,0,0
$GC,1898,-0.74,-146.0,198.7,-6.8,222,1902,0.00,2.30,0.00,0.000,4,0.000,0.054,2390,541,3402,0,0,0,0,0,0
$GC,2011,-0.74,-146.0,209.2,-9.4,227,2015,0.00,2.17,0.00,0.000,6,0.000,0.036,2380,1956,3402,0,0,0,0,0,0
$GC,2335,-0.74,-146.0,234.7,-6.4,243,2340,0.00,2.25,0.00,0.000,4,0.000,0.056,2370,3360,3402,0,0,0,0,0,0
$GC,2391,-0.74,-146.0,238.2,-6.2,245,2396,0.12,2.25,0.00,0.000,6,0.147,0.044,2403,1948,3402,0,0,0,0,0,0
$GC,2710,-0.74,-146.0,255.6,-6.3,260,2714,0.00,2.22,0.00,0.000,4,0.000,0.057,2404,545,3403,0,0,0,0,0,0
$GC,2971,-0.74,-146.0,275.3,-8.1,271,2975,0.00,2.15,0.00,0.000,6,0.000,0.036,2395,1957,3403,0,0,0,0,0,0
$GC,3289,-0.74,-146.0,295.3,-5.7,286,3293,0.00,2.30,0.00,0.000,4,0.000,0.057,2396,548,3402,0,0,0,0,0,0
$GC,3547,-0.74,-146.0,313.2,-7.0,293,3553,0.00,2.15,0.00,0.000,6,0.000,0.038,2386,1955,3401,0,0,0,0,0,0
$GC,3881,-0.74,-146.0,336.1,-6.7,302,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1955,3400,0,0,0,0,0,0
$GC,4204,-0.74,-146.0,358.0,-6.3,310,4208,0.00,2.28,0.00,0.000,4,0.000,0.058,2386,548,3399,0,0,0,0,0,0
$GC,4305,-0.74,-146.0,364.5,-6.3,312,4309,0.00,2.20,0.00,0.000,6,0.000,0.038,2377,1963,3398,0,0,0,0,0,0
$GC,4654,-0.74,-146.0,389.4,-7.4,321,4658,0.00,2.33,0.00,0.000,4,0.000,0.059,2377,542,3396,0,0,0,0,0,0
$GC,4705,-0.74,-146.0,393.7,-8.5,322,4710,0.12,2.20,0.00,0.000,6,0.157,0.041,2400,1955,3395,0,0,0,0,0,0
$GC,5020,-0.74,-146.0,414.6,-6.3,330,5025,0.00,2.30,0.00,0.000,4,0.000,0.059,2400,542,3394,0,0,0,0,0,0
$GC,5278,-0.74,-146.0,429.9,-5.5,335,5283,0.00,2.22,0.00,0.000,6,0.000,0.041,2393,1961,3392,0,0,0,0,0,0
$STATE,5410,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5410,begin apogee
$GC,5417,-0.17,0.0,437.4,5.6,339,5542,0.60,0.00,122.55,0.741,6,0.114,0.000,2586,1961,2800,0,0,0,0,0,0
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5546,0.74,146.0,437.6,0.0,342,5684,0.82,2.42,127.00,0.717,4,0.072,0.058,2875,3388,2203,0,0,0,0,0,0
$GC,5746,0.74,146.0,414.4,15.2,346,5750,0.00,2.30,0.00,0.000,6,0.000,0.044,2885,1980,2199,0,0,0,0,0,0
$GC,6082,0.74,146.0,373.7,11.2,355,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1980,2196,0,0,0,0,0,0
$GC,6408,0.74,146.0,335.6,11.6,363,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1980,2194,0,0,0,0,0,0
$GC,6732,0.74,146.0,302.2,10.6,371,6736,0.00,2.28,0.00,0.000,4,0.000,0.058,2885,3395,2193,0,0,0,0,0,0
$GC,6879,0.74,146.0,284.4,12.5,376,6885,0.00,2.25,0.00,0.000,6,0.000,0.048,2894,1981,2192,0,0,0,0,0,0
$GC,7195,0.74,146.0,247.7,10.1,392,7200,0.00,2.28,0.00,0.000,4,0.000,0.059,2894,3391,2192,0,0,0,0,0,0
$GC,7223,0.74,146.0,244.6,11.6,393,7227,0.00,2.28,0.00,0.000,6,0.000,0.048,2903,1973,2192,0,0,0,0,0,0
$GC,7539,0.74,146.0,208.7,11.4,408,7543,0.00,2.25,0.00,0.000,4,0.000,0.061,2913,569,2191,0,0,0,0,0,0
$GC,7560,0.74,146.0,205.9,12.1,409,7565,0.12,2.22,0.00,0.000,6,0.133,0.042,2878,1989,2191,0,0,0,0,0,0
$GC,7887,0.78,182.5,177.9,7.5,437,7922,0.00,2.22,30.30,0.587,4,0.000,0.051,2878,3390,2054,0,0,0,0,0,0
$GC,8098,0.78,182.5,156.7,10.0,456,8102,0.00,2.30,0.00,0.000,6,0.000,0.049,2884,1971,2050,0,0,0,0,0,0
$GC,8425,0.79,187.1,130.4,8.8,486,8438,0.00,2.35,4.80,0.416,4,0.000,0.058,2884,3389,2036,0,0,0,0,0,0
$GC,8507,0.79,187.1,122.7,9.8,493,8511,0.00,2.28,0.00,0.000,6,0.000,0.048,2892,1973,2036,0,0,0,0,0,0
$GC,8834,0.80,193.3,91.9,8.8,523,8846,0.00,2.28,7.32,0.443,4,0.000,0.056,2892,3386,2011,0,0,0,0,0,0
$GC,8883,0.80,199.6,87.6,8.8,527,8896,0.00,2.25,7.15,0.430,6,0.000,0.048,2897,1970,1985,0,0,0,0,0,0
$GC,9220,0.85,240.8,65.0,7.3,579,9259,0.00,0.00,36.35,0.487,6,0.000,0.000,2897,1970,1817,0,0,0,0,0,0
$GC,9586,0.87,258.2,35.3,8.3,646,9610,0.00,2.33,16.50,0.443,4,0.000,0.058,2897,3383,1746,0,0,0,0,0,0
$GC,9641,0.90,277.0,31.0,8.3,655,9667,0.00,2.28,17.75,0.438,6,0.000,0.049,2903,1972,1669,0,0,0,0,0,0
$GC,9829,0.93,299.5,16.4,8.1,689,9855,0.10,2.25,20.42,0.429,4,0.084,0.054,2997,567,1577,0,0,0,0,0,0
$GC,9875,0.93,299.5,10.8,13.5,696,9882,0.17,2.25,0.00,0.000,6,0.100,0.041,2937,1973,1577,0,0,0,0,0,0
$STATE,9945,end climb,SURFACE_DEPTH_REACHED
$STATE,9945,begin surface coast
$FINISH,0.6,1.002935
$STATE,9974,end surface coast,CONTROL_FINISHED_OK
$STATE,9975,begin surface
$SM_CCo,10052,0.00,0.000,0,0,1575,300.49
$SM_GC,1.39,7.35,0.00,0.00,0.018,0.000,0.000,32,1973,1575,-8.00,0.45,300.49
$IRIDIUM_FIX,2104.07,-15722.99,220902,050528
$TT8_MAMPS,0.028379
$HUMID,65.63
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,4
$24V_AH,24.4,49.967
$10V_AH,10.2,54.612
$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,19.225,90.225,390.150,0.000,0.000,30.354,36.380,157.628,19.000,0.000,37.226,1300.183,5771.600,403.141,2450.977,499.852,0.000,1283.791,0.000,2375.417,0.000,112.626,0.000
$DEVICE_MAMPS,223.964,61.360,740.922,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,484.317,414.293,1416.475,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38084,714
$CAP_FILE_SIZE,110126,0
$CFSIZE,260165632,226668544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280613,112828,2109.998,-15756.122,35,0.9,35,9.8