version: 66.06
glider: 523
mission: 4
dive: 383
start: 6 4 113 13 47 55
data:
$ID,523
$MISSION,4
$DIVE,383
$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,-43492.836
$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,28
$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
$GPS1,134129,2107.868,-15802.325,19,1.4,19,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.2
$GPS2,134737,2107.858,-15802.381,21,0.9,22,9.8
$SPEED_LIMITS,0.157,0.244
$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,86.6,33842,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.75,-136.3,0.0,0.0,0,88,0.00,0.00,-69.32,0.000,2,0.000,0.000,37,1946,3377,0,0,0,0,0,0
$GC,92,-0.75,-136.3,3.4,-4.5,11,114,9.75,2.28,-1.70,0.000,4,0.230,0.069,2441,554,3458,0,0,0,0,0,0
$GC,153,-0.75,-136.3,19.6,-19.6,21,161,0.00,2.20,0.00,0.000,6,0.000,0.038,2432,1957,3459,0,0,0,0,0,0
$GC,323,-0.75,-136.3,47.9,-15.2,52,330,0.00,2.30,0.00,0.000,4,0.000,0.056,2432,552,3460,0,0,0,0,0,0
$GC,356,-0.75,-136.3,53.1,-16.2,57,361,0.00,2.17,0.00,0.000,6,0.000,0.037,2423,1964,3460,0,0,0,0,0,0
$GC,685,-0.75,-136.3,97.2,-11.6,106,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1964,3461,0,0,0,0,0,0
$GC,1003,-0.75,-136.3,128.8,-7.9,136,1007,0.00,2.28,0.00,0.000,4,0.000,0.052,2423,544,3462,0,0,0,0,0,0
$GC,1067,-0.75,-136.3,135.3,-10.7,141,1072,0.12,2.12,0.00,0.000,6,0.162,0.033,2446,1963,3462,0,0,0,0,0,0
$GC,1395,-0.75,-136.3,165.8,-9.4,171,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1963,3463,0,0,0,0,0,0
$GC,1722,-0.75,-136.3,193.0,-8.7,202,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1963,3464,0,0,0,0,0,0
$GC,2044,-0.75,-136.3,215.0,-6.1,222,2049,0.00,2.25,0.00,0.000,4,0.000,0.051,2447,541,3464,0,0,0,0,0,0
$GC,2246,-0.75,-136.3,232.9,-9.8,231,2250,0.00,2.15,0.00,0.000,6,0.000,0.034,2438,1965,3464,0,0,0,0,0,0
$GC,2576,-0.75,-136.3,257.8,-6.0,247,2580,0.00,2.28,0.00,0.000,4,0.000,0.051,2439,549,3464,0,0,0,0,0,0
$GC,2648,-0.75,-136.3,262.5,-6.1,250,2652,0.00,2.12,0.00,0.000,6,0.000,0.033,2430,1956,3464,0,0,0,0,0,0
$GC,2966,-0.75,-136.3,284.3,-7.7,265,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1956,3464,0,0,0,0,0,0
$GC,3295,-0.75,-136.3,307.2,-7.3,279,3299,0.00,2.25,0.00,0.000,4,0.000,0.054,2430,544,3463,0,0,0,0,0,0
$GC,3386,-0.75,-136.3,314.2,-7.2,281,3390,0.00,2.12,0.00,0.000,6,0.000,0.035,2422,1959,3463,0,0,0,0,0,0
$GC,3705,-0.75,-136.3,333.5,-5.7,289,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1959,3463,0,0,0,0,0,0
$GC,4032,-0.75,-136.3,354.3,-6.4,297,4036,0.00,2.28,0.00,0.000,4,0.000,0.056,2422,545,3462,0,0,0,0,0,0
$GC,4099,-0.75,-136.3,358.8,-6.4,298,4104,0.12,2.15,0.00,0.000,6,0.160,0.037,2447,1955,3461,0,0,0,0,0,0
$GC,4437,-0.75,-136.3,372.6,-4.2,307,4441,0.00,2.28,0.00,0.000,4,0.000,0.058,2447,551,3460,0,0,0,0,0,0
$GC,4498,-0.75,-136.3,375.7,-4.7,308,4503,0.00,2.17,0.00,0.000,6,0.000,0.040,2440,1956,3459,0,0,0,0,0,0
$GC,4841,-0.75,-136.3,398.9,-7.4,317,4845,0.00,2.30,0.00,0.000,4,0.000,0.059,2441,542,3457,0,0,0,0,0,0
$GC,4864,-0.75,-136.3,400.8,-8.2,317,4868,0.00,2.17,0.00,0.000,6,0.000,0.041,2433,1958,3456,0,0,0,0,0,0
$GC,5202,-0.75,-136.3,422.2,-6.0,326,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1958,3454,0,0,0,0,0,0
$STATE,5442,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5442,begin apogee
$GC,5448,-0.17,0.0,434.3,4.9,332,5564,0.62,0.00,110.78,0.763,6,0.110,0.000,2637,1958,2901,0,0,0,0,0,0
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5565,begin climb
$GC,5568,0.75,136.3,433.1,0.0,335,5696,0.80,2.40,116.82,0.734,4,0.055,0.054,2935,3387,2343,0,0,0,0,0,0
$GC,5775,0.75,136.3,402.7,17.9,339,5781,0.00,2.30,0.00,0.000,6,0.000,0.045,2945,1982,2338,0,0,0,0,0,0
$GC,6106,0.75,136.3,350.5,14.6,348,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1982,2334,0,0,0,0,0,0
$GC,6431,0.75,136.3,299.9,16.5,356,6435,0.00,2.30,0.00,0.000,4,0.000,0.058,2945,3387,2332,0,0,0,0,0,0
$GC,6471,0.75,136.3,292.9,17.6,358,6476,0.00,2.25,0.00,0.000,6,0.000,0.048,2955,1976,2331,0,0,0,0,0,0
$GC,6798,0.75,136.3,245.0,13.6,374,6802,0.00,2.25,0.00,0.000,4,0.000,0.059,2966,569,2330,0,0,0,0,0,0
$GC,6831,0.75,136.3,240.0,15.0,375,6837,0.12,2.20,0.00,0.000,6,0.158,0.042,2934,1987,2328,0,0,0,0,0,0
$GC,7148,0.75,136.3,202.6,10.5,391,7152,0.00,2.17,0.00,0.000,4,0.000,0.052,2934,3393,2328,0,0,0,0,0,0
$GC,7192,0.75,136.3,196.7,13.5,393,7200,0.00,2.28,0.00,0.000,6,0.000,0.049,2942,1981,2327,0,0,0,0,0,0
$GC,7521,0.75,136.3,159.1,9.6,424,7525,0.00,2.25,0.00,0.000,4,0.000,0.057,2942,3389,2327,0,0,0,0,0,0
$GC,7573,0.75,136.3,153.9,9.8,428,7577,0.00,2.25,0.00,0.000,6,0.000,0.048,2951,1969,2327,0,0,0,0,0,0
$GC,7900,0.75,136.3,114.6,13.2,458,7904,0.00,2.25,0.00,0.000,4,0.000,0.055,2951,3388,2327,0,0,0,0,0,0
$GC,7952,0.75,136.3,106.7,15.2,462,7956,0.12,2.22,0.00,0.000,6,0.156,0.047,2928,1977,2327,0,0,0,0,0,0
$GC,8277,0.75,136.3,72.0,9.7,500,8285,0.00,2.22,0.00,0.000,4,0.000,0.057,2937,578,2327,0,0,0,0,0,0
$GC,8353,0.75,136.3,64.7,9.4,513,8358,0.00,2.17,0.00,0.000,6,0.000,0.039,2937,1986,2326,0,0,0,0,0,0
$GC,8685,0.78,160.6,37.3,8.0,574,8709,0.00,2.25,19.00,0.466,4,0.000,0.051,2937,3399,2245,0,0,0,0,0,0
$GC,8885,0.78,160.6,19.3,10.5,610,8893,0.00,2.25,0.00,0.000,6,0.000,0.044,2947,1980,2243,0,0,0,0,0,0
$STATE,9034,end climb,SURFACE_DEPTH_REACHED
$STATE,9034,begin surface coast
$FINISH,0.5,1.009102
$STATE,9061,end surface coast,CONTROL_FINISHED_OK
$STATE,9061,begin surface
$SM_CCo,9079,56.97,0.437,0,0,1737,285.03
$SM_GC,1.64,0.00,0.00,56.97,0.000,0.000,0.437,45,1975,1737,-8.27,0.48,285.03
$IRIDIUM_FIX,2101.76,-15758.18,290802,111129
$TT8_MAMPS,0.028379
$HUMID,63.58
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.70
$XPDR_PINGS,4
$24V_AH,24.6,31.442
$10V_AH,10.4,34.505
$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,18.975,75.900,246.600,56.975,0.000,23.483,47.670,158.878,18.750,0.000,23.188,1158.494,5508.669,368.524,1986.613,482.405,0.000,1050.620,0.000,1948.431,0.000,111.065,0.000
$DEVICE_MAMPS,230.100,69.030,763.165,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,436.846,371.834,1239.174,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34945,643
$CAP_FILE_SIZE,94522,0
$CFSIZE,260165632,236937216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040613,162134,2108.055,-15801.020,43,0.8,43,9.8