version: 66.06
glider: 523
mission: 4
dive: 594
start: 6 29 113 10 54 52
data:
$ID,523
$MISSION,4
$DIVE,594
$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,-47906.211
$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,30
$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
$GPS1,104822,2108.473,-15746.797,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.6
$GPS2,105435,2108.504,-15746.786,15,1.6,15,9.8
$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,116.9,8336,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-77.78,0.000,6,0.000,0.000,29,1970,3395,0,0,0,0,0,0
$GC,106,-0.74,-146.0,4.0,-7.1,13,119,9.65,0.00,0.00,0.000,6,0.222,0.000,2393,1969,3397,0,0,0,0,0,0
$GC,281,-0.74,-146.0,35.5,-14.1,45,287,0.00,2.28,0.00,0.000,4,0.000,0.058,2393,544,3398,0,0,0,0,0,0
$GC,349,-0.74,-146.0,45.2,-13.7,57,354,0.00,2.20,0.00,0.000,6,0.000,0.036,2386,1963,3398,0,0,0,0,0,0
$GC,684,-0.74,-146.0,88.5,-12.5,113,688,0.00,2.28,0.00,0.000,4,0.000,0.054,2386,533,3399,0,0,0,0,0,0
$GC,915,-0.74,-146.0,118.5,-12.5,133,922,0.00,2.20,0.00,0.000,6,0.000,0.035,2376,1953,3400,0,0,0,0,0,0
$GC,1242,-0.74,-146.0,151.9,-7.9,164,1246,0.00,2.25,0.00,0.000,4,0.000,0.054,2376,542,3401,0,0,0,0,0,0
$GC,1316,-0.74,-146.0,158.6,-9.7,170,1321,0.12,2.17,0.00,0.000,6,0.163,0.035,2398,1962,3401,0,0,0,0,0,0
$GC,1644,-0.74,-146.0,185.3,-8.1,200,1649,0.00,2.30,0.00,0.000,4,0.000,0.054,2399,541,3402,0,0,0,0,0,0
$GC,1899,-0.74,-146.0,207.6,-7.5,218,1904,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1957,3402,0,0,0,0,0,0
$GC,2217,-0.74,-146.0,229.6,-6.9,234,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1957,3402,0,0,0,0,0,0
$GC,2525,-0.74,-146.0,253.1,-7.4,249,2529,0.00,2.33,0.00,0.000,4,0.000,0.054,2391,537,3402,0,0,0,0,0,0
$GC,2657,-0.74,-146.0,262.7,-7.5,255,2661,0.00,2.20,0.00,0.000,6,0.000,0.037,2381,1962,3402,0,0,0,0,0,0
$GC,2986,-0.74,-146.0,288.1,-7.1,271,2990,0.00,2.28,0.00,0.000,4,0.000,0.055,2381,543,3402,0,0,0,0,0,0
$GC,3071,-0.74,-146.0,295.6,-9.4,275,3076,0.12,2.20,0.00,0.000,6,0.157,0.038,2405,1966,3402,0,0,0,0,0,0
$GC,3418,-0.74,-146.0,318.8,-6.2,285,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1967,3402,0,0,0,0,0,0
$GC,3740,-0.74,-146.0,335.6,-5.4,293,3744,0.00,2.35,0.00,0.000,4,0.000,0.057,2405,537,3400,0,0,0,0,0,0
$GC,3942,-0.74,-146.0,350.0,-7.4,297,3946,0.00,2.22,0.00,0.000,6,0.000,0.039,2397,1963,3399,0,0,0,0,0,0
$GC,4281,-0.74,-146.0,377.4,-8.2,306,4285,0.00,2.33,0.00,0.000,4,0.000,0.059,2398,541,3397,0,0,0,0,0,0
$GC,4539,-0.74,-146.0,396.8,-7.2,311,4545,0.00,2.20,0.00,0.000,6,0.000,0.040,2387,1964,3396,0,0,0,0,0,0
$GC,4871,-0.74,-146.0,418.1,-6.1,320,4875,0.00,2.33,0.00,0.000,4,0.000,0.061,2388,542,3394,0,0,0,0,0,0
$GC,4986,-0.74,-146.0,425.4,-6.4,322,4990,0.00,2.22,0.00,0.000,6,0.000,0.041,2378,1962,3393,0,0,0,0,0,0
$GC,5323,-0.74,-146.0,444.1,-5.6,331,5327,0.00,2.33,0.00,0.000,4,0.000,0.060,2378,540,3392,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5406,begin apogee
$GC,5415,-0.17,0.0,449.8,7.1,333,5540,0.68,0.00,122.75,0.751,6,0.117,0.000,2583,1980,2800,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5545,0.74,146.0,451.3,0.0,336,5683,0.85,2.38,127.55,0.729,4,0.078,0.061,2877,3379,2202,0,0,0,0,0,0
$GC,5752,0.74,146.0,429.9,12.8,340,5757,0.00,2.33,0.00,0.000,6,0.000,0.047,2886,1972,2199,0,0,0,0,0,0
$GC,6083,0.74,146.0,388.6,12.5,349,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1972,2196,0,0,0,0,0,0
$GC,6408,0.74,146.0,349.1,11.8,357,6412,0.00,2.28,0.00,0.000,4,0.000,0.067,2897,569,2194,0,0,0,0,0,0
$GC,6493,0.74,146.0,339.7,11.0,359,6497,0.00,2.22,0.00,0.000,6,0.000,0.041,2897,1988,2193,0,0,0,0,0,0
$GC,6817,0.74,146.0,302.8,11.2,367,6821,0.00,2.25,0.00,0.000,4,0.000,0.062,2897,3385,2192,0,0,0,0,0,0
$GC,6861,0.74,146.0,297.6,11.7,368,6865,0.00,2.28,0.00,0.000,6,0.000,0.048,2906,1974,2191,0,0,0,0,0,0
$GC,7182,0.74,146.0,260.7,12.8,384,7186,0.00,2.28,0.00,0.000,4,0.000,0.061,2907,3384,2191,0,0,0,0,0,0
$GC,7260,0.74,146.0,250.4,13.0,387,7266,0.12,2.25,0.00,0.000,6,0.148,0.049,2880,1978,2190,0,0,0,0,0,0
$GC,7576,0.74,146.0,213.4,11.4,403,7580,0.00,2.28,0.00,0.000,4,0.000,0.061,2880,3388,2189,0,0,0,0,0,0
$GC,7654,0.74,146.0,204.4,10.7,406,7659,0.00,2.28,0.00,0.000,6,0.000,0.049,2888,1968,2188,0,0,0,0,0,0
$GC,7980,0.78,185.1,177.2,7.4,435,8019,0.00,0.00,31.98,0.588,6,0.000,0.000,2888,1968,2046,0,0,0,0,0,0
$GC,8340,0.79,192.6,147.5,8.7,469,8353,0.00,2.30,7.97,0.492,4,0.000,0.058,2888,3391,2014,0,0,0,0,0,0
$GC,8479,0.79,192.6,133.1,10.3,481,8486,0.00,2.30,0.00,0.000,6,0.000,0.050,2896,1981,2013,0,0,0,0,0,0
$GC,8806,0.82,217.1,105.2,8.0,512,8833,0.00,2.30,22.55,0.515,4,0.000,0.061,2896,3383,1914,0,0,0,0,0,0
$GC,8933,0.82,217.1,93.4,9.7,523,8938,0.00,2.28,0.00,0.000,6,0.000,0.050,2903,1976,1913,0,0,0,0,0,0
$GC,9261,0.82,217.1,60.6,9.1,570,9268,0.00,2.33,0.00,0.000,4,0.000,0.061,2903,3385,1912,0,0,0,0,0,0
$GC,9347,0.82,217.1,52.6,9.1,585,9353,0.00,2.25,0.00,0.000,6,0.000,0.051,2906,1972,1912,0,0,0,0,0,0
$GC,9679,0.85,238.2,27.8,8.2,646,9707,0.00,2.33,19.48,0.444,4,0.000,0.059,2906,3386,1828,0,0,0,0,0,0
$GC,9754,0.87,255.9,21.6,8.3,658,9781,0.00,2.28,16.83,0.429,6,0.000,0.046,2907,1975,1755,0,0,0,0,0,0
$GC,9940,0.87,255.9,7.0,9.7,692,9947,0.00,2.33,0.00,0.000,4,0.000,0.061,2907,3385,1754,0,0,0,0,0,0
$GC,9966,0.87,256.6,4.5,9.0,696,9973,0.00,2.28,0.00,0.000,6,0.000,0.048,2907,1979,1755,0,0,0,0,0,0
$STATE,9979,end climb,SURFACE_DEPTH_REACHED
$STATE,9979,begin surface coast
$FINISH,0.7,1.011891
$STATE,10007,end surface coast,CONTROL_FINISHED_OK
$STATE,10007,begin surface
$SM_CCo,10026,21.70,0.414,0,0,1575,300.24
$SM_GC,1.55,0.00,0.00,21.70,0.000,0.000,0.414,44,1976,1575,-8.12,0.54,300.24
$IRIDIUM_FIX,2106.38,-15807.62,230902,080834
$TT8_MAMPS,0.028379
$HUMID,66.02
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,50.773
$10V_AH,10.2,55.550
$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,18.900,90.850,349.100,21.700,0.000,32.764,37.454,164.741,18.750,0.000,15.503,1284.933,5818.901,412.027,2379.757,521.514,0.000,1268.147,0.000,2336.206,0.000,118.207,0.000
$DEVICE_MAMPS,222.430,66.729,750.893,414.180,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,477.097,407.013,1393.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,38111,703
$CAP_FILE_SIZE,109180,0
$CFSIZE,260165632,226181120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290613,134318,2107.985,-15745.255,19,1.4,19,9.8