version: 66.06
glider: 523
mission: 4
dive: 593
start: 6 29 113 8 4 0
data:
$ID,523
$MISSION,4
$DIVE,593
$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,-47890.078
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,075406,2108.902,-15747.965,13,2.0,13,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.8
$GPS2,080344,2108.922,-15748.026,21,0.9,22,9.8
$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,113.3,10538,-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,-75.70,0.000,2,0.000,0.000,34,1944,3363,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-5.6,12,113,9.55,2.28,-0.73,0.000,4,0.221,0.062,2393,545,3398,0,0,0,0,0,0
$GC,211,-0.74,-146.0,27.8,-17.7,32,218,0.00,2.22,0.00,0.000,6,0.000,0.038,2385,1959,3399,0,0,0,0,0,0
$GC,385,-0.74,-146.0,52.8,-14.0,63,390,0.00,2.28,0.00,0.000,4,0.000,0.055,2385,549,3400,0,0,0,0,0,0
$GC,442,-0.74,-146.0,61.8,-16.0,73,447,0.00,2.17,0.00,0.000,6,0.000,0.038,2376,1957,3400,0,0,0,0,0,0
$GC,771,-0.74,-146.0,107.3,-12.6,115,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1957,3401,0,0,0,0,0,0
$GC,1090,-0.74,-146.0,140.7,-9.7,145,1094,0.00,2.28,0.00,0.000,4,0.000,0.054,2376,547,3402,0,0,0,0,0,0
$GC,1142,-0.74,-146.0,146.3,-10.7,149,1147,0.12,2.17,0.00,0.000,6,0.157,0.036,2399,1961,3402,0,0,0,0,0,0
$GC,1469,-0.74,-146.0,171.8,-7.6,179,1473,0.00,2.28,0.00,0.000,4,0.000,0.054,2399,544,3403,0,0,0,0,0,0
$GC,1722,-0.74,-146.0,192.0,-7.4,201,1730,0.00,2.20,0.00,0.000,6,0.000,0.036,2391,1958,3403,0,0,0,0,0,0
$GC,2044,-0.74,-146.0,216.3,-8.3,222,2048,0.00,2.33,0.00,0.000,4,0.000,0.055,2391,540,3403,0,0,0,0,0,0
$GC,2158,-0.74,-146.0,225.8,-8.2,227,2162,0.00,2.17,0.00,0.000,6,0.000,0.036,2381,1960,3403,0,0,0,0,0,0
$GC,2483,-0.74,-146.0,249.6,-6.7,243,2488,0.00,2.30,0.00,0.000,4,0.000,0.054,2381,538,3403,0,0,0,0,0,0
$GC,2741,-0.74,-146.0,267.8,-7.3,254,2745,0.12,2.17,0.00,0.000,6,0.155,0.035,2405,1967,3403,0,0,0,0,0,0
$GC,3059,-0.74,-146.0,288.6,-7.2,269,3063,0.00,2.30,0.00,0.000,4,0.000,0.055,2406,548,3403,0,0,0,0,0,0
$GC,3244,-0.74,-146.0,302.2,-8.3,277,3248,0.00,2.17,0.00,0.000,6,0.000,0.038,2398,1957,3402,0,0,0,0,0,0
$GC,3558,-0.74,-146.0,324.3,-6.7,285,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1957,3402,0,0,0,0,0,0
$GC,3883,-0.74,-146.0,338.6,-3.9,293,3887,0.00,2.33,0.00,0.000,4,0.000,0.058,2398,538,3400,0,0,0,0,0,0
$GC,3967,-0.74,-146.0,342.4,-4.7,294,3972,0.00,2.22,0.00,0.000,6,0.000,0.039,2388,1966,3398,0,0,0,0,0,0
$GC,4301,-0.74,-146.0,362.2,-6.7,303,4305,0.00,2.33,0.00,0.000,4,0.000,0.059,2388,546,3397,0,0,0,0,0,0
$GC,4479,-0.74,-146.0,375.6,-7.1,307,4483,0.00,2.20,0.00,0.000,6,0.000,0.041,2379,1954,3396,0,0,0,0,0,0
$GC,4798,-0.74,-146.0,395.5,-6.1,315,4802,0.00,2.25,0.00,0.000,4,0.000,0.057,2368,3364,3394,0,0,0,0,0,0
$GC,4820,-0.74,-146.0,397.1,-7.3,315,4825,0.12,2.25,0.00,0.000,6,0.146,0.048,2401,1960,3394,0,0,0,0,0,0
$GC,5165,-0.74,-146.0,416.2,-5.6,324,5169,0.00,2.30,0.00,0.000,4,0.000,0.061,2402,542,3392,0,0,0,0,0,0
$STATE,5404,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5404,begin apogee
$GC,5413,-0.17,0.0,431.3,6.9,329,5538,0.57,0.00,121.95,0.744,6,0.114,0.000,2583,1987,2800,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5542,0.74,146.0,433.3,0.0,332,5680,0.82,2.30,126.85,0.720,4,0.077,0.054,2869,3379,2203,0,0,0,0,0,0
$GC,5720,0.74,146.0,416.8,13.5,336,5724,0.00,2.33,0.00,0.000,6,0.000,0.051,2878,1981,2200,0,0,0,0,0,0
$GC,6033,0.74,146.0,373.0,14.2,344,6037,0.00,2.30,0.00,0.000,4,0.000,0.060,2889,567,2196,0,0,0,0,0,0
$GC,6072,0.74,146.0,367.3,14.1,345,6076,0.00,2.25,0.00,0.000,6,0.000,0.041,2889,1991,2196,0,0,0,0,0,0
$GC,6397,0.74,146.0,326.0,12.1,353,6401,0.00,2.22,0.00,0.000,4,0.000,0.053,2889,3395,2194,0,0,0,0,0,0
$GC,6458,0.74,146.0,317.7,14.8,354,6462,0.00,2.30,0.00,0.000,6,0.000,0.051,2898,1975,2193,0,0,0,0,0,0
$GC,6789,0.74,146.0,277.6,10.5,367,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1975,2193,0,0,0,0,0,0
$GC,7099,0.74,146.0,246.3,9.7,382,7103,0.00,2.30,0.00,0.000,4,0.000,0.060,2899,3385,2192,0,0,0,0,0,0
$GC,7138,0.74,146.0,242.3,10.6,384,7142,0.00,2.25,0.00,0.000,6,0.000,0.051,2907,1979,2191,0,0,0,0,0,0
$GC,7464,0.74,146.0,210.1,10.0,400,7468,0.00,2.30,0.00,0.000,4,0.000,0.060,2907,3391,2191,0,0,0,0,0,0
$GC,7572,0.74,146.0,199.6,10.1,405,7577,0.15,2.25,0.00,0.000,6,0.137,0.051,2872,1979,2190,0,0,0,0,0,0
$GC,7899,0.78,182.3,174.7,7.5,435,7931,0.00,0.00,29.92,0.585,6,0.000,0.000,2872,1979,2056,0,0,0,0,0,0
$GC,8249,0.84,228.9,147.0,7.1,468,8297,0.12,2.30,41.42,0.558,4,0.074,0.058,2956,3381,1864,0,0,0,0,0,0
$GC,8347,0.84,228.9,135.1,15.0,476,8352,0.20,2.30,0.00,0.000,6,0.132,0.051,2907,1972,1862,0,0,0,0,0,0
$GC,8673,0.84,228.9,99.3,10.4,506,8677,0.00,2.30,0.00,0.000,4,0.000,0.059,2908,3382,1861,0,0,0,0,0,0
$GC,8736,0.84,228.9,92.1,11.7,511,8740,0.00,2.28,0.00,0.000,6,0.000,0.050,2914,1972,1861,0,0,0,0,0,0
$GC,9066,0.84,228.9,59.3,9.7,560,9073,0.00,2.33,0.00,0.000,4,0.000,0.058,2914,3372,1861,0,0,0,0,0,0
$GC,9132,0.85,238.7,53.5,8.6,571,9149,0.00,2.25,9.52,0.436,6,0.000,0.051,2922,1976,1824,0,0,0,0,0,0
$GC,9476,0.90,278.7,24.5,7.4,634,9517,0.00,2.35,35.45,0.452,4,0.000,0.058,2922,3386,1662,0,0,0,0,0,0
$GC,9552,0.90,278.7,17.8,9.4,646,9560,0.00,2.30,0.00,0.000,6,0.000,0.050,2930,1978,1661,0,0,0,0,0,0
$STATE,9720,end climb,SURFACE_DEPTH_REACHED
$STATE,9720,begin surface coast
$FINISH,0.6,1.000253
$STATE,9753,end surface coast,CONTROL_FINISHED_OK
$STATE,9753,begin surface
$SM_CCo,9770,11.88,0.397,0,0,1576,300.24
$SM_GC,1.18,0.00,0.00,11.88,0.000,0.000,0.397,29,1973,1576,-8.16,0.45,300.24
$IRIDIUM_FIX,2101.76,-15733.30,230902,080810
$TT8_MAMPS,0.028379
$HUMID,67.20
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.4,50.688
$10V_AH,10.2,55.447
$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,19.175,90.700,365.125,11.875,0.000,53.855,86.182,224.558,18.250,0.000,22.989,1258.235,5723.642,391.575,2324.290,658.096,0.000,1231.031,0.000,2274.877,0.000,116.058,0.000
$DEVICE_MAMPS,220.896,62.127,743.990,396.539,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,464.363,401.681,1347.956,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38024,683
$CAP_FILE_SIZE,109673,0
$CFSIZE,260165632,226234368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290613,104822,2108.473,-15746.797,40,0.8,40,9.8