version: 66.06
glider: 523
mission: 4
dive: 380
start: 6 4 113 5 43 9
data:
$ID,523
$MISSION,4
$DIVE,380
$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,140
$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,285
$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,-43429.168
$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,2690
$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,27
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,053659,2105.900,-15759.043,68,1.0,68,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.4
$GPS2,054252,2105.913,-15758.982,19,1.0,19,9.8
$SPEED_LIMITS,0.157,0.244
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,300.3,6960,-17.3,-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,14,begin dive
$GC,17,-0.75,-136.3,0.0,0.0,0,94,0.00,0.00,-72.15,0.000,6,0.000,0.000,49,1974,3456,0,0,0,0,0,0
$GC,98,-0.75,-136.3,4.0,-6.8,12,113,9.73,2.17,0.00,0.000,4,0.230,0.046,2431,3368,3456,0,0,0,0,0,0
$GC,163,-0.75,-136.3,22.8,-18.8,23,170,0.00,2.28,0.00,0.000,6,0.000,0.045,2431,1956,3458,0,0,0,0,0,0
$GC,333,-0.75,-136.3,53.4,-14.7,54,341,0.00,2.33,0.00,0.000,4,0.000,0.059,2431,546,3458,0,0,0,0,0,0
$GC,420,-0.75,-136.3,64.0,-12.6,69,425,0.00,2.17,0.00,0.000,6,0.000,0.035,2422,1963,3459,0,0,0,0,0,0
$GC,751,-0.75,-136.3,105.6,-11.1,110,755,0.00,2.30,0.00,0.000,4,0.000,0.054,2422,539,3460,0,0,0,0,0,0
$GC,846,-0.75,-136.3,117.1,-11.3,118,850,0.12,2.17,0.00,0.000,6,0.167,0.035,2445,1964,3460,0,0,0,0,0,0
$GC,1173,-0.75,-136.3,147.2,-8.3,148,1177,0.00,2.20,0.00,0.000,4,0.000,0.056,2436,3366,3461,0,0,0,0,0,0
$GC,1203,-0.75,-136.3,149.7,-7.8,150,1208,0.00,2.22,0.00,0.000,6,0.000,0.042,2436,1950,3461,0,0,0,0,0,0
$GC,1536,-0.75,-136.3,179.4,-8.1,181,1540,0.00,2.20,0.00,0.000,4,0.000,0.054,2436,545,3463,0,0,0,0,0,0
$GC,1787,-0.75,-136.3,203.4,-8.8,202,1792,0.00,2.12,0.00,0.000,6,0.000,0.033,2427,1965,3463,0,0,0,0,0,0
$GC,2111,-0.75,-136.3,226.9,-7.3,218,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1966,3463,0,0,0,0,0,0
$GC,2419,-0.75,-136.3,251.8,-8.9,233,2423,0.00,2.17,0.00,0.000,4,0.000,0.054,2419,3361,3462,0,0,0,0,0,0
$GC,2598,-0.75,-136.3,264.9,-5.4,241,2603,0.10,2.20,0.00,0.000,6,0.153,0.041,2446,1946,3463,0,0,0,0,0,0
$GC,2927,-0.75,-136.3,283.9,-6.2,257,2931,0.00,2.20,0.00,0.000,4,0.000,0.054,2447,548,3463,0,0,0,0,0,0
$GC,3017,-0.75,-136.3,290.4,-6.8,261,3021,0.00,2.15,0.00,0.000,6,0.000,0.035,2438,1966,3462,0,0,0,0,0,0
$GC,3337,-0.75,-136.3,311.2,-6.3,273,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1966,3462,0,0,0,0,0,0
$GC,3662,-0.75,-136.3,333.6,-6.8,281,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1967,3460,0,0,0,0,0,0
$GC,3989,-0.75,-136.3,352.1,-5.7,289,3993,0.00,2.33,0.00,0.000,4,0.000,0.057,2438,543,3458,0,0,0,0,0,0
$GC,4247,-0.75,-136.3,370.5,-6.8,294,4253,0.00,2.15,0.00,0.000,6,0.000,0.039,2430,1953,3457,0,0,0,0,0,0
$GC,4579,-0.75,-136.3,386.4,-4.3,303,4583,0.00,2.30,0.00,0.000,4,0.000,0.058,2430,541,3454,0,0,0,0,0,0
$GC,4839,-0.75,-136.3,400.1,-5.4,308,4844,0.00,2.20,0.00,0.000,6,0.000,0.041,2421,1961,3453,0,0,0,0,0,0
$GC,5170,-0.75,-136.3,418.0,-5.5,317,5174,0.00,2.30,0.00,0.000,4,0.000,0.059,2421,544,3451,0,0,0,0,0,0
$GC,5405,-0.75,-136.3,434.0,-6.9,322,5409,0.00,2.10,0.00,0.000,3,0.000,0.041,2412,1904,3449,0,0,0,0,0,0
$STATE,5409,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5410,begin apogee
$GC,5416,-0.17,0.0,434.4,6.8,322,5530,0.68,0.00,110.43,0.766,6,0.117,0.000,2632,1998,2900,0,0,0,0,0,0
$STATE,5531,end apogee,CONTROL_FINISHED_OK
$STATE,5531,begin climb
$GC,5534,0.75,136.3,435.2,0.0,325,5655,0.85,0.00,117.62,0.738,6,0.057,0.000,2939,1998,2343,0,0,0,0,0,0
$GC,5968,0.75,136.3,368.3,17.0,336,5972,0.00,2.22,0.00,0.000,4,0.000,0.054,2939,3387,2335,0,0,0,0,0,0
$GC,5995,0.75,136.3,363.5,17.3,336,5999,0.00,2.25,0.00,0.000,6,0.000,0.043,2948,1982,2334,0,0,0,0,0,0
$GC,6326,0.75,136.3,307.5,16.2,344,6330,0.00,2.25,0.00,0.000,4,0.000,0.057,2949,3389,2331,0,0,0,0,0,0
$GC,6437,0.75,136.3,289.3,16.4,347,6441,0.00,2.25,0.00,0.000,6,0.000,0.046,2958,1980,2330,0,0,0,0,0,0
$GC,6759,0.75,136.3,239.3,15.6,363,6763,0.00,2.25,0.00,0.000,4,0.000,0.059,2958,3383,2329,0,0,0,0,0,0
$GC,6793,0.75,136.3,234.1,14.9,364,6799,0.15,2.25,0.00,0.000,6,0.156,0.049,2929,1978,2329,0,0,0,0,0,0
$GC,7112,0.75,136.3,191.8,13.2,382,7116,0.00,2.25,0.00,0.000,4,0.000,0.059,2928,3387,2328,0,0,0,0,0,0
$GC,7185,0.75,136.3,181.8,13.7,388,7189,0.00,2.25,0.00,0.000,6,0.000,0.048,2936,1973,2328,0,0,0,0,0,0
$GC,7512,0.75,136.3,141.1,11.4,418,7516,0.00,2.25,0.00,0.000,4,0.000,0.058,2947,559,2327,0,0,0,0,0,0
$GC,7628,0.75,136.3,127.3,12.1,428,7632,0.00,2.20,0.00,0.000,6,0.000,0.042,2947,1980,2326,0,0,0,0,0,0
$GC,7955,0.75,136.3,88.7,12.7,458,7959,0.00,2.20,0.00,0.000,4,0.000,0.051,2947,3392,2326,0,0,0,0,0,0
$GC,8164,0.75,136.3,63.5,10.8,489,8170,0.00,2.25,0.00,0.000,6,0.000,0.048,2957,1975,2327,0,0,0,0,0,0
$GC,8498,0.78,165.6,33.8,7.7,550,8528,0.00,2.25,22.58,0.476,4,0.000,0.055,2967,573,2225,0,0,0,0,0,0
$GC,8622,0.78,165.6,22.2,11.0,572,8630,0.00,2.20,0.00,0.000,6,0.000,0.040,2968,1976,2223,0,0,0,0,0,0
$GC,8794,0.78,165.6,4.6,9.8,603,8802,0.00,2.22,0.00,0.000,4,0.000,0.050,2967,3379,2223,0,0,0,0,0,0
$STATE,8815,end climb,SURFACE_DEPTH_REACHED
$STATE,8815,begin surface coast
$FINISH,0.4,1.009890
$STATE,8847,end surface coast,CONTROL_FINISHED_OK
$STATE,8847,begin surface
$SM_CCo,8868,53.25,0.444,0,0,1738,285.03
$SM_GC,1.51,0.00,0.00,53.25,0.000,0.000,0.444,38,1941,1738,-8.29,-0.42,285.03
$IRIDIUM_FIX,2059.45,-15805.48,290802,030356
$TT8_MAMPS,0.027612
$HUMID,65.55
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,23.70
$XPDR_PINGS,3
$24V_AH,24.6,31.201
$10V_AH,10.5,34.227
$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,19.175,80.200,250.625,53.250,0.000,24.624,35.852,157.494,18.500,0.000,19.478,1142.373,5236.785,387.804,2052.869,452.594,0.000,1090.513,0.000,2002.046,0.000,111.066,0.000
$DEVICE_MAMPS,230.100,96.642,766.233,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.864,347.909,1176.546,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34990,612
$CAP_FILE_SIZE,96381,0
$CFSIZE,260165632,237084672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040613,081248,2106.364,-15759.756,18,1.3,18,9.8