version: 66.06
glider: 523
mission: 4
dive: 587
start: 6 28 113 14 36 17
data:
$ID,523
$MISSION,4
$DIVE,587
$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,-47758.898
$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,19
$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
$GPS1,143004,2110.170,-15754.739,26,0.9,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.9
$GPS2,143600,2110.145,-15754.731,14,1.4,14,9.8
$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,101.7,21931,-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,-79.88,0.000,6,0.000,0.000,39,1964,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.6,-5.5,13,118,9.62,2.30,0.00,0.000,4,0.225,0.055,2392,542,3398,0,0,0,0,0,0
$GC,218,-0.74,-146.0,28.3,-15.4,34,225,0.00,2.22,0.00,0.000,6,0.000,0.038,2384,1960,3399,0,0,0,0,0,0
$GC,392,-0.74,-146.0,52.8,-14.9,65,397,0.00,2.30,0.00,0.000,4,0.000,0.057,2384,533,3399,0,0,0,0,0,0
$GC,450,-0.74,-146.0,61.6,-14.3,75,455,0.00,2.22,0.00,0.000,6,0.000,0.038,2374,1968,3399,0,0,0,0,0,0
$GC,786,-0.74,-146.0,97.6,-11.2,121,790,0.00,2.30,0.00,0.000,4,0.000,0.056,2374,536,3401,0,0,0,0,0,0
$GC,1037,-0.74,-146.0,127.7,-11.6,143,1046,0.10,2.22,0.00,0.000,6,0.139,0.037,2396,1962,3402,0,0,0,0,0,0
$GC,1365,-0.74,-146.0,155.3,-7.2,174,1369,0.00,2.28,0.00,0.000,4,0.000,0.055,2396,535,3402,0,0,0,0,0,0
$GC,1616,-0.74,-146.0,176.0,-8.8,196,1624,0.00,2.20,0.00,0.000,6,0.000,0.037,2388,1957,3403,0,0,0,0,0,0
$GC,1942,-0.74,-146.0,201.9,-7.1,226,1946,0.00,2.28,0.00,0.000,4,0.000,0.054,2388,544,3403,0,0,0,0,0,0
$GC,2151,-0.74,-146.0,219.1,-9.0,235,2155,0.00,2.17,0.00,0.000,6,0.000,0.036,2379,1961,3403,0,0,0,0,0,0
$GC,2469,-0.74,-146.0,244.6,-7.2,250,2473,0.00,2.28,0.00,0.000,4,0.000,0.053,2379,544,3404,0,0,0,0,0,0
$GC,2727,-0.74,-146.0,265.9,-8.4,261,2732,0.12,2.15,0.00,0.000,6,0.166,0.036,2401,1958,3403,0,0,0,0,0,0
$GC,3050,-0.74,-146.0,286.7,-6.3,277,3054,0.00,2.25,0.00,0.000,4,0.000,0.058,2393,3357,3403,0,0,0,0,0,0
$GC,3084,-0.74,-146.0,289.1,-6.3,278,3090,0.00,2.20,0.00,0.000,6,0.000,0.044,2393,1953,3403,0,0,0,0,0,0
$GC,3421,-0.74,-146.0,311.4,-6.9,291,3425,0.00,2.28,0.00,0.000,4,0.000,0.060,2393,545,3402,0,0,0,0,0,0
$GC,3510,-0.74,-146.0,319.1,-8.1,293,3514,0.00,2.15,0.00,0.000,6,0.000,0.037,2383,1954,3402,0,0,0,0,0,0
$GC,3831,-0.74,-146.0,344.1,-7.9,301,3835,0.00,2.30,0.00,0.000,4,0.000,0.058,2384,546,3400,0,0,0,0,0,0
$GC,3899,-0.74,-146.0,349.8,-7.9,302,3904,0.00,2.17,0.00,0.000,6,0.000,0.038,2374,1955,3400,0,0,0,0,0,0
$GC,4242,-0.74,-146.0,371.4,-6.0,311,4246,0.00,2.28,0.00,0.000,4,0.000,0.060,2364,3364,3398,0,0,0,0,0,0
$GC,4316,-0.74,-146.0,376.4,-6.8,312,4321,0.12,2.25,0.00,0.000,6,0.146,0.047,2397,1955,3398,0,0,0,0,0,0
$GC,4647,-0.74,-146.0,398.8,-6.9,320,4651,0.00,2.30,0.00,0.000,4,0.000,0.063,2397,542,3395,0,0,0,0,0,0
$GC,4855,-0.74,-146.0,414.2,-7.5,324,4859,0.00,2.17,0.00,0.000,6,0.000,0.039,2390,1958,3394,0,0,0,0,0,0
$GC,5189,-0.74,-146.0,435.1,-6.2,332,5193,0.00,2.30,0.00,0.000,4,0.000,0.062,2379,3368,3392,0,0,0,0,0,0
$GC,5262,-0.74,-146.0,439.6,-5.6,333,5266,0.00,2.28,0.00,0.000,6,0.000,0.049,2379,1957,3392,0,0,0,0,0,0
$STATE,5429,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5429,begin apogee
$GC,5436,-0.17,0.0,448.4,5.2,337,5561,0.65,0.00,122.57,0.758,6,0.118,0.000,2586,1956,2800,0,0,0,0,0,0
$STATE,5562,end apogee,CONTROL_FINISHED_OK
$STATE,5562,begin climb
$GC,5565,0.74,146.0,447.5,0.0,340,5703,0.82,2.40,127.07,0.730,4,0.072,0.053,2876,3386,2202,0,0,0,0,0,0
$GC,5782,0.74,146.0,419.6,15.3,345,5786,0.00,2.33,0.00,0.000,6,0.000,0.046,2885,1968,2199,0,0,0,0,0,0
$GC,6100,0.74,146.0,378.4,12.6,353,6105,0.00,2.30,0.00,0.000,4,0.000,0.058,2885,3389,2195,0,0,0,0,0,0
$GC,6167,0.74,146.0,369.1,13.7,354,6172,0.00,2.28,0.00,0.000,6,0.000,0.048,2895,1982,2194,0,0,0,0,0,0
$GC,6505,0.74,146.0,327.6,12.2,363,6509,0.00,2.30,0.00,0.000,4,0.000,0.061,2895,3392,2192,0,0,0,0,0,0
$GC,6610,0.74,146.0,312.9,14.1,365,6615,0.00,2.22,0.00,0.000,6,0.000,0.042,2905,1972,2191,0,0,0,0,0,0
$GC,6935,0.74,146.0,273.0,11.2,378,6939,0.00,2.30,0.00,0.000,4,0.000,0.058,2905,3393,2190,0,0,0,0,0,0
$GC,7059,0.74,146.0,256.9,13.6,383,7065,0.12,2.22,0.00,0.000,6,0.149,0.042,2878,1979,2190,0,0,0,0,0,0
$GC,7374,0.74,146.0,222.6,10.2,399,7378,0.00,2.25,0.00,0.000,4,0.000,0.053,2878,3398,2189,0,0,0,0,0,0
$GC,7534,0.74,146.0,205.6,11.7,406,7538,0.00,2.22,0.00,0.000,6,0.000,0.041,2887,1977,2189,0,0,0,0,0,0
$GC,7865,0.77,173.8,175.3,7.9,435,7893,0.00,2.22,22.80,0.584,4,0.000,0.055,2897,572,2090,0,0,0,0,0,0
$GC,7930,0.79,190.0,170.0,8.4,440,7954,0.00,2.20,15.32,0.555,6,0.000,0.035,2897,1986,2025,0,0,0,0,0,0
$GC,8274,0.79,190.0,136.5,9.9,472,8278,0.00,2.22,0.00,0.000,4,0.000,0.054,2897,3391,2022,0,0,0,0,0,0
$GC,8424,0.79,190.0,120.9,10.3,485,8428,0.00,2.22,0.00,0.000,6,0.000,0.041,2907,1978,2021,0,0,0,0,0,0
$GC,8751,0.83,218.9,90.3,7.8,515,8787,0.00,2.28,25.90,0.510,4,0.000,0.051,2907,3378,1905,0,0,0,0,0,0
$GC,8825,0.83,218.9,83.6,10.0,521,8832,0.00,2.22,0.00,0.000,6,0.000,0.042,2910,1985,1904,0,0,0,0,0,0
$GC,9158,0.86,245.0,52.7,7.9,579,9187,0.00,2.25,23.05,0.472,4,0.000,0.054,2920,560,1801,0,0,0,0,0,0
$GC,9210,0.90,276.9,48.5,7.7,588,9245,0.00,2.22,29.30,0.469,6,0.000,0.035,2920,1977,1670,0,0,0,0,0,0
$GC,9569,0.90,276.9,15.0,10.7,654,9577,0.00,2.25,0.00,0.000,4,0.000,0.054,2920,3381,1670,0,0,0,0,0,0
$GC,9687,0.90,276.9,3.7,9.9,675,9694,0.00,2.28,0.00,0.000,6,0.000,0.048,2924,1980,1669,0,0,0,0,0,0
$STATE,9700,end climb,SURFACE_DEPTH_REACHED
$STATE,9700,begin surface coast
$FINISH,0.5,1.022824
$STATE,9729,end surface coast,CONTROL_FINISHED_OK
$STATE,9729,begin surface
$SM_CCo,9747,13.35,0.405,0,0,1575,300.24
$SM_GC,1.21,0.00,0.00,13.35,0.000,0.000,0.405,41,1976,1575,-8.12,0.54,300.24
$IRIDIUM_FIX,2057.14,-15801.19,220902,111118
$TT8_MAMPS,0.028379
$HUMID,66.89
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.30
$XPDR_PINGS,13
$24V_AH,24.4,50.154
$10V_AH,10.1,54.820
$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,18.975,99.050,366.025,13.350,0.000,25.475,36.587,152.265,21.750,0.000,14.685,1267.505,5536.616,412.068,2401.577,495.248,0.000,1291.201,0.000,2352.768,0.000,118.182,0.000
$DEVICE_MAMPS,225.498,62.894,757.796,404.976,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,462.794,392.292,1361.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,38218,682
$CAP_FILE_SIZE,111311,0
$CFSIZE,260165632,226557952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280613,172005,2110.381,-15753.772,27,0.8,27,9.8