version: 66.06
glider: 523
mission: 4
dive: 589
start: 6 28 113 20 19 53
data:
$ID,523
$MISSION,4
$DIVE,589
$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,-47806.887
$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,20
$R_STBD_OVSHOOT,19
$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
$GPS1,201149,2110.416,-15752.642,13,0.7,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.9
$GPS2,201937,2110.473,-15752.721,29,0.9,29,9.8
$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,107.2,19009,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.70,0.000,6,0.000,0.000,25,1949,3394,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.7,-5.6,13,119,9.68,2.28,0.00,0.000,4,0.222,0.046,2383,3385,3395,0,0,0,0,0,0
$GC,127,-0.74,-146.0,12.0,-26.9,16,135,0.00,2.30,0.00,0.000,6,0.000,0.044,2383,1949,3396,0,0,0,0,0,0
$GC,298,-0.74,-146.0,37.4,-14.3,47,303,0.00,2.25,0.00,0.000,4,0.000,0.060,2383,538,3397,0,0,0,0,0,0
$GC,452,-0.74,-146.0,61.0,-15.4,75,457,0.00,2.22,0.00,0.000,6,0.000,0.038,2374,1974,3397,0,0,0,0,0,0
$GC,782,-0.74,-146.0,103.7,-8.5,117,786,0.00,2.30,0.00,0.000,4,0.000,0.057,2374,536,3398,0,0,0,0,0,0
$GC,987,-0.74,-146.0,125.0,-11.4,135,996,0.10,2.20,0.00,0.000,6,0.141,0.037,2395,1955,3398,0,0,0,0,0,0
$GC,1315,-0.74,-146.0,158.7,-8.2,166,1319,0.00,2.28,0.00,0.000,4,0.000,0.055,2395,545,3399,0,0,0,0,0,0
$GC,1478,-0.74,-146.0,170.5,-7.3,180,1482,0.00,2.17,0.00,0.000,6,0.000,0.036,2388,1964,3399,0,0,0,0,0,0
$GC,1810,-0.74,-146.0,196.3,-7.7,211,1814,0.00,2.28,0.00,0.000,4,0.000,0.055,2388,545,3399,0,0,0,0,0,0
$GC,1910,-0.74,-146.0,204.1,-7.4,217,1915,0.00,2.17,0.00,0.000,6,0.000,0.037,2378,1958,3400,0,0,0,0,0,0
$GC,2228,-0.74,-146.0,226.6,-7.7,233,2232,0.00,2.30,0.00,0.000,4,0.000,0.055,2379,544,3400,0,0,0,0,0,0
$GC,2436,-0.74,-146.0,239.7,-5.8,242,2441,0.12,2.17,0.00,0.000,6,0.161,0.037,2402,1958,3400,0,0,0,0,0,0
$GC,2765,-0.74,-146.0,258.6,-7.6,258,2769,0.00,2.33,0.00,0.000,4,0.000,0.057,2402,535,3400,0,0,0,0,0,0
$GC,2823,-0.74,-146.0,263.6,-8.2,260,2828,0.00,2.20,0.00,0.000,6,0.000,0.038,2394,1962,3400,0,0,0,0,0,0
$GC,3141,-0.74,-146.0,284.2,-5.8,276,3145,0.00,2.33,0.00,0.000,4,0.000,0.057,2394,547,3400,0,0,0,0,0,0
$GC,3283,-0.74,-146.0,294.9,-8.8,282,3290,0.00,2.20,0.00,0.000,6,0.000,0.038,2385,1963,3399,0,0,0,0,0,0
$GC,3606,-0.74,-146.0,320.5,-7.9,292,3610,0.00,2.28,0.00,0.000,4,0.000,0.062,2375,3365,3399,0,0,0,0,0,0
$GC,3732,-0.74,-146.0,330.2,-6.8,294,3736,0.00,2.22,0.00,0.000,6,0.000,0.045,2375,1957,3399,0,0,0,0,0,0
$GC,4066,-0.74,-146.0,355.8,-7.8,302,4070,0.00,2.30,0.00,0.000,4,0.000,0.062,2374,542,3396,0,0,0,0,0,0
$GC,4325,-0.74,-146.0,373.3,-5.9,307,4331,0.12,2.20,0.00,0.000,6,0.157,0.038,2398,1960,3394,0,0,0,0,0,0
$GC,4656,-0.74,-146.0,389.0,-5.3,316,4660,0.00,2.30,0.00,0.000,4,0.000,0.059,2398,544,3393,0,0,0,0,0,0
$GC,4914,-0.74,-146.0,408.0,-6.8,321,4920,0.00,2.20,0.00,0.000,6,0.000,0.040,2390,1955,3391,0,0,0,0,0,0
$GC,5248,-0.74,-146.0,427.3,-5.9,330,5252,0.00,2.30,0.00,0.000,4,0.000,0.064,2379,3362,3389,0,0,0,0,0,0
$GC,5289,-0.74,-146.0,430.1,-6.5,331,5293,0.00,2.25,0.00,0.000,6,0.000,0.049,2379,1952,3389,0,0,0,0,0,0
$STATE,5408,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5408,begin apogee
$GC,5414,-0.17,0.0,439.0,7.4,334,5539,0.62,0.00,121.70,0.746,6,0.115,0.000,2580,1952,2799,0,0,0,0,0,0
$STATE,5540,end apogee,CONTROL_FINISHED_OK
$STATE,5540,begin climb
$GC,5543,0.74,146.0,442.5,0.0,337,5681,0.82,2.42,127.05,0.723,4,0.072,0.058,2872,3385,2203,0,0,0,0,0,0
$GC,5826,0.74,146.0,418.7,10.9,343,5830,0.00,2.28,0.00,0.000,6,0.000,0.046,2882,1972,2197,0,0,0,0,0,0
$GC,6163,0.74,146.0,377.6,13.1,352,6167,0.00,2.33,0.00,0.000,4,0.000,0.058,2882,3392,2196,0,0,0,0,0,0
$GC,6190,0.74,146.0,373.7,14.6,352,6194,0.00,2.28,0.00,0.000,6,0.000,0.048,2892,1978,2195,0,0,0,0,0,0
$GC,6522,0.74,146.0,332.1,12.0,360,6526,0.00,2.28,0.00,0.000,4,0.000,0.067,2902,572,2194,0,0,0,0,0,0
$GC,6543,0.74,146.0,329.3,12.3,360,6547,0.00,2.22,0.00,0.000,6,0.000,0.043,2902,1979,2194,0,0,0,0,0,0
$GC,6861,0.74,146.0,286.3,11.8,371,6865,0.00,2.28,0.00,0.000,4,0.000,0.064,2903,3387,2192,0,0,0,0,0,0
$GC,6945,0.74,146.0,276.2,12.9,374,6951,0.12,2.25,0.00,0.000,6,0.150,0.047,2877,1979,2192,0,0,0,0,0,0
$GC,7260,0.74,146.0,239.9,10.6,390,7264,0.00,2.28,0.00,0.000,4,0.000,0.060,2876,3388,2191,0,0,0,0,0,0
$GC,7310,0.74,146.0,234.4,11.0,392,7315,0.00,2.25,0.00,0.000,6,0.000,0.048,2884,1982,2190,0,0,0,0,0,0
$GC,7627,0.74,146.0,202.5,11.4,407,7631,0.00,2.30,0.00,0.000,4,0.000,0.061,2884,3391,2189,0,0,0,0,0,0
$GC,7779,0.76,165.9,188.4,8.2,419,7804,0.00,2.28,16.08,0.581,6,0.000,0.051,2893,1980,2123,0,0,0,0,0,0
$GC,8122,0.76,165.9,156.3,10.8,451,8126,0.00,2.30,0.00,0.000,4,0.000,0.062,2893,3386,2119,0,0,0,0,0,0
$GC,8239,0.76,165.9,144.0,10.5,461,8243,0.00,2.25,0.00,0.000,6,0.000,0.051,2894,1976,2119,0,0,0,0,0,0
$GC,8568,0.82,213.4,116.4,7.1,491,8615,0.00,2.30,41.60,0.536,4,0.000,0.059,2894,3387,1927,0,0,0,0,0,0
$GC,8677,0.82,213.4,106.9,9.5,500,8685,0.00,2.30,0.00,0.000,6,0.000,0.049,2901,1981,1925,0,0,0,0,0,0
$GC,9004,0.87,250.7,78.4,7.5,532,9046,0.00,2.35,32.83,0.499,4,0.000,0.059,2900,3387,1775,0,0,0,0,0,0
$GC,9108,0.87,250.7,69.4,9.8,550,9116,0.00,2.30,0.00,0.000,6,0.000,0.050,2907,1985,1774,0,0,0,0,0,0
$GC,9447,0.90,276.4,39.9,8.0,611,9475,0.00,0.00,23.25,0.456,6,0.000,0.000,2907,1985,1672,0,0,0,0,0,0
$GC,9798,0.92,298.9,13.3,8.1,676,9825,0.00,2.30,20.23,0.429,4,0.000,0.058,2907,3382,1581,0,0,0,0,0,0
$GC,9844,0.97,332.2,9.6,7.7,683,9883,0.08,2.30,29.73,0.429,6,0.042,0.051,2989,1973,1443,0,0,0,0,0,0
$STATE,9895,end climb,SURFACE_DEPTH_REACHED
$STATE,9896,begin surface coast
$FINISH,0.5,1.012023
$STATE,9920,end surface coast,CONTROL_FINISHED_OK
$STATE,9921,begin surface
$SM_CCo,9999,0.00,0.000,0,0,1438,333.60
$SM_GC,1.45,7.60,0.00,0.00,0.024,0.000,0.000,27,1971,1438,-8.01,0.42,333.60
$IRIDIUM_FIX,2059.45,-15748.75,220902,171755
$TT8_MAMPS,0.028379
$HUMID,64.96
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,50.335
$10V_AH,10.2,55.028
$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,19.275,99.850,412.450,0.000,0.000,26.221,34.254,255.933,18.250,0.000,29.699,1261.430,5736.460,422.508,2426.839,611.003,0.000,1325.056,0.000,2368.936,0.000,112.623,0.000
$DEVICE_MAMPS,222.430,66.729,745.524,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,471.276,400.983,1377.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38175,695
$CAP_FILE_SIZE,112705,0
$CFSIZE,260165632,226451456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280613,230734,2110.284,-15751.018,26,1.0,26,9.8