version: 66.06
glider: 523
mission: 4
dive: 586
start: 6 28 113 11 41 6
data:
$ID,523
$MISSION,4
$DIVE,586
$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,-47743.582
$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,23
$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
$GPS1,112828,2109.998,-15756.122,35,0.9,35,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.5
$GPS2,114048,2109.990,-15756.066,19,0.9,19,9.8
$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,99.0,23998,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.90,0.000,2,0.000,0.000,32,1973,3359,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.0,-3.9,12,114,9.60,2.38,-0.82,0.000,4,0.222,0.064,2392,535,3398,0,0,0,0,0,0
$GC,171,-0.74,-146.0,19.2,-15.4,24,178,0.00,2.25,0.00,0.000,6,0.000,0.036,2384,1970,3399,0,0,0,0,0,0
$GC,341,-0.74,-146.0,42.2,-13.2,55,347,0.00,2.28,0.00,0.000,4,0.000,0.054,2384,542,3399,0,0,0,0,0,0
$GC,435,-0.74,-146.0,56.7,-15.6,72,442,0.00,2.22,0.00,0.000,6,0.000,0.038,2375,1955,3400,0,0,0,0,0,0
$GC,770,-0.74,-146.0,94.3,-9.9,120,774,0.00,2.25,0.00,0.000,4,0.000,0.053,2375,544,3400,0,0,0,0,0,0
$GC,881,-0.74,-146.0,106.4,-10.5,130,886,0.12,2.17,0.00,0.000,6,0.165,0.035,2397,1972,3401,0,0,0,0,0,0
$GC,1208,-0.74,-146.0,138.1,-10.1,160,1212,0.00,2.28,0.00,0.000,4,0.000,0.052,2397,544,3401,0,0,0,0,0,0
$GC,1458,-0.74,-146.0,162.6,-7.9,182,1466,0.00,2.20,0.00,0.000,6,0.000,0.035,2390,1962,3401,0,0,0,0,0,0
$GC,1786,-0.74,-146.0,186.5,-8.6,213,1790,0.00,2.28,0.00,0.000,4,0.000,0.051,2390,535,3402,0,0,0,0,0,0
$GC,2042,-0.74,-146.0,209.0,-8.2,230,2048,0.00,2.17,0.00,0.000,6,0.000,0.035,2379,1966,3402,0,0,0,0,0,0
$GC,2362,-0.74,-146.0,231.1,-6.7,246,2366,0.00,2.28,0.00,0.000,4,0.000,0.052,2379,543,3402,0,0,0,0,0,0
$GC,2619,-0.74,-146.0,250.6,-6.9,257,2624,0.12,2.15,0.00,0.000,6,0.166,0.036,2402,1960,3402,0,0,0,0,0,0
$GC,2937,-0.74,-146.0,268.7,-4.9,272,2941,0.00,2.28,0.00,0.000,4,0.000,0.053,2403,544,3402,0,0,0,0,0,0
$GC,3106,-0.74,-146.0,277.5,-5.0,279,3112,0.00,2.15,0.00,0.000,6,0.000,0.036,2395,1959,3401,0,0,0,0,0,0
$GC,3423,-0.74,-146.0,294.6,-6.5,295,3427,0.00,2.28,0.00,0.000,4,0.000,0.060,2384,3368,3401,0,0,0,0,0,0
$GC,3455,-0.74,-146.0,297.1,-7.6,296,3461,0.00,2.22,0.00,0.000,6,0.000,0.043,2384,1952,3401,0,0,0,0,0,0
$GC,3790,-0.74,-146.0,322.2,-7.4,306,3794,0.00,2.22,0.00,0.000,4,0.000,0.058,2384,548,3399,0,0,0,0,0,0
$GC,3857,-0.74,-146.0,327.3,-7.3,307,3861,0.00,2.17,0.00,0.000,6,0.000,0.038,2375,1957,3398,0,0,0,0,0,0
$GC,4195,-0.74,-146.0,347.9,-6.0,316,4199,0.00,2.30,0.00,0.000,4,0.000,0.057,2375,549,3397,0,0,0,0,0,0
$GC,4420,-0.74,-146.0,366.4,-9.5,321,4424,0.12,2.17,0.00,0.000,6,0.157,0.040,2398,1960,3395,0,0,0,0,0,0
$GC,4741,-0.74,-146.0,391.7,-7.7,329,4745,0.00,2.28,0.00,0.000,4,0.000,0.057,2398,544,3393,0,0,0,0,0,0
$GC,4856,-0.74,-146.0,400.3,-7.0,331,4860,0.00,2.20,0.00,0.000,6,0.000,0.040,2390,1960,3392,0,0,0,0,0,0
$GC,5200,-0.74,-146.0,425.1,-7.8,340,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1959,3390,0,0,0,0,0,0
$STATE,5440,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5440,begin apogee
$GC,5446,-0.17,0.0,444.8,7.7,346,5572,0.60,0.00,122.18,0.749,6,0.114,0.000,2584,1959,2799,0,0,0,0,0,0
$STATE,5572,end apogee,CONTROL_FINISHED_OK
$STATE,5572,begin climb
$GC,5575,0.74,146.0,446.5,0.0,349,5710,0.82,0.00,127.40,0.726,6,0.077,0.000,2870,1959,2204,0,0,0,0,0,0
$GC,6022,0.74,146.0,402.5,10.2,360,6026,0.00,2.30,0.00,0.000,4,0.000,0.054,2870,3386,2197,0,0,0,0,0,0
$GC,6111,0.74,146.0,391.9,11.8,362,6115,0.00,2.28,0.00,0.000,6,0.000,0.049,2879,1982,2195,0,0,0,0,0,0
$GC,6429,0.74,146.0,355.1,11.6,370,6434,0.00,2.25,0.00,0.000,4,0.000,0.057,2879,3385,2194,0,0,0,0,0,0
$GC,6457,0.74,146.0,351.6,12.9,370,6461,0.00,2.22,0.00,0.000,6,0.000,0.048,2889,1979,2194,0,0,0,0,0,0
$GC,6788,0.74,146.0,311.1,12.5,378,6792,0.00,2.25,0.00,0.000,4,0.000,0.056,2889,3389,2193,0,0,0,0,0,0
$GC,6833,0.74,146.0,305.0,14.2,379,6837,0.00,2.25,0.00,0.000,6,0.000,0.048,2898,1979,2192,0,0,0,0,0,0
$GC,7156,0.74,146.0,265.7,11.2,393,7160,0.00,2.28,0.00,0.000,4,0.000,0.056,2898,3394,2192,0,0,0,0,0,0
$GC,7183,0.74,146.0,262.3,12.2,394,7187,0.00,2.28,0.00,0.000,6,0.000,0.049,2907,1975,2191,0,0,0,0,0,0
$GC,7505,0.74,146.0,226.1,11.6,410,7509,0.00,2.28,0.00,0.000,4,0.000,0.058,2907,3392,2191,0,0,0,0,0,0
$GC,7538,0.74,146.0,221.9,12.7,411,7544,0.12,2.25,0.00,0.000,6,0.147,0.050,2879,1976,2191,0,0,0,0,0,0
$GC,7858,0.80,196.5,194.5,6.9,430,7909,0.00,2.35,42.22,0.605,4,0.000,0.059,2879,3388,1997,0,0,0,0,0,0
$GC,7934,0.83,225.0,188.6,7.9,437,7969,0.00,2.28,26.23,0.579,6,0.000,0.048,2885,1980,1880,0,0,0,0,0,0
$GC,8289,0.83,225.0,156.5,9.4,470,8293,0.00,2.30,0.00,0.000,4,0.000,0.058,2885,3383,1878,0,0,0,0,0,0
$GC,8362,0.83,225.0,148.9,10.7,476,8366,0.00,2.22,0.00,0.000,6,0.000,0.049,2893,1980,1877,0,0,0,0,0,0
$GC,8689,0.85,236.1,119.1,8.6,506,8705,0.00,2.30,10.65,0.499,4,0.000,0.058,2893,3382,1836,0,0,0,0,0,0
$GC,8727,0.86,242.9,115.7,8.8,509,8739,0.00,2.25,7.47,0.459,6,0.000,0.048,2893,1983,1809,0,0,0,0,0,0
$GC,9062,0.89,272.9,88.9,7.8,540,9098,0.10,2.30,27.50,0.502,4,0.091,0.054,2970,3386,1685,0,0,0,0,0,0
$GC,9134,0.89,272.9,79.6,14.6,546,9142,0.15,2.28,0.00,0.000,6,0.105,0.050,2928,1987,1684,0,0,0,0,0,0
$GC,9470,0.92,292.0,48.6,8.2,607,9493,0.00,2.25,17.62,0.457,4,0.000,0.055,2928,3382,1608,0,0,0,0,0,0
$GC,9508,0.94,312.6,45.5,8.2,613,9533,0.00,2.28,19.12,0.453,6,0.000,0.050,2934,1973,1524,0,0,0,0,0,0
$GC,9856,0.94,312.6,14.7,9.8,677,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1973,1522,0,0,0,0,0,0
$STATE,9969,end climb,SURFACE_DEPTH_REACHED
$STATE,9969,begin surface coast
$FINISH,0.7,1.023145
$STATE,9998,end surface coast,CONTROL_FINISHED_OK
$STATE,9999,begin surface
$SM_CCo,10076,0.00,0.000,0,0,1520,313.73
$SM_GC,1.41,7.38,0.00,0.00,0.025,0.000,0.000,39,1969,1520,-8.00,0.42,313.73
$IRIDIUM_FIX,2059.45,-15745.74,220902,111116
$TT8_MAMPS,0.027612
$HUMID,66.26
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,3
$24V_AH,24.4,50.068
$10V_AH,10.2,54.718
$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,19.150,94.600,400.400,0.000,0.000,89.687,146.049,233.196,19.000,0.000,20.005,1278.416,5991.547,420.939,2360.822,757.317,0.000,1279.646,0.000,2309.535,0.000,114.175,0.000
$DEVICE_MAMPS,222.430,64.428,749.359,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,476.459,411.592,1385.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38178,703
$CAP_FILE_SIZE,114307,0
$CFSIZE,260165632,226611200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,280613,143004,2110.170,-15754.739,26,0.9,26,9.8