version: 66.06
glider: 523
mission: 4
dive: 386
start: 6 4 113 21 39 24
data:
$ID,523
$MISSION,4
$DIVE,386
$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,260
$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,-43557.141
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,213235,2108.482,-15758.705,66,0.9,66,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.6
$GPS2,213905,2108.484,-15758.736,17,0.9,17,9.8
$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,90.5,27776,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-69.62,0.000,6,0.000,0.000,36,1969,3396,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.5,-5.7,11,106,9.77,2.20,0.00,0.000,4,0.229,0.044,2435,3366,3397,0,0,0,0,0,0
$GC,161,-0.74,-146.0,21.3,-15.8,23,169,0.00,2.25,0.00,0.000,6,0.000,0.046,2435,1965,3399,0,0,0,0,0,0
$GC,334,-0.74,-146.0,46.9,-13.0,54,342,0.00,2.33,0.00,0.000,4,0.000,0.061,2435,543,3400,0,0,0,0,0,0
$GC,442,-0.74,-146.0,59.2,-11.1,73,447,0.00,2.17,0.00,0.000,6,0.000,0.036,2425,1961,3400,0,0,0,0,0,0
$GC,778,-0.74,-146.0,95.5,-12.3,123,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1961,3401,0,0,0,0,0,0
$GC,1105,-0.74,-146.0,134.6,-11.8,154,1109,0.00,2.22,0.00,0.000,4,0.000,0.057,2415,3369,3403,0,0,0,0,0,0
$GC,1151,-0.74,-146.0,139.8,-11.0,158,1158,0.12,2.25,0.00,0.000,6,0.145,0.046,2450,1947,3403,0,0,0,0,0,0
$GC,1486,-0.74,-146.0,165.9,-7.1,189,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1947,3405,0,0,0,0,0,0
$GC,1814,-0.74,-146.0,191.3,-8.1,220,1818,0.00,2.20,0.00,0.000,4,0.000,0.052,2450,544,3405,0,0,0,0,0,0
$GC,2011,-0.74,-146.0,206.8,-7.9,234,2015,0.00,2.12,0.00,0.000,6,0.000,0.033,2442,1971,3405,0,0,0,0,0,0
$GC,2334,-0.74,-146.0,228.2,-5.7,250,2338,0.00,2.28,0.00,0.000,4,0.000,0.051,2442,541,3405,0,0,0,0,0,0
$GC,2424,-0.74,-146.0,234.1,-6.2,254,2428,0.00,2.15,0.00,0.000,6,0.000,0.034,2432,1962,3405,0,0,0,0,0,0
$GC,2749,-0.74,-146.0,256.6,-8.5,270,2753,0.00,2.25,0.00,0.000,4,0.000,0.052,2432,544,3405,0,0,0,0,0,0
$GC,2924,-0.74,-146.0,273.1,-9.5,278,2928,0.00,2.15,0.00,0.000,6,0.000,0.036,2424,1954,3405,0,0,0,0,0,0
$GC,3251,-0.74,-146.0,299.5,-7.8,294,3255,0.00,2.20,0.00,0.000,4,0.000,0.054,2413,3362,3405,0,0,0,0,0,0
$GC,3376,-0.74,-146.0,308.4,-7.3,297,3382,0.12,2.20,0.00,0.000,6,0.139,0.041,2449,1943,3404,0,0,0,0,0,0
$GC,3708,-0.74,-146.0,327.5,-5.3,306,3712,0.00,2.22,0.00,0.000,4,0.000,0.058,2449,547,3404,0,0,0,0,0,0
$GC,3887,-0.74,-146.0,337.4,-5.6,310,3891,0.00,2.15,0.00,0.000,6,0.000,0.038,2441,1962,3403,0,0,0,0,0,0
$GC,4206,-0.74,-146.0,356.8,-6.4,318,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1963,3401,0,0,0,0,0,0
$GC,4532,-0.74,-146.0,377.7,-6.0,326,4536,0.00,2.28,0.00,0.000,4,0.000,0.060,2441,550,3399,0,0,0,0,0,0
$GC,4664,-0.74,-146.0,385.2,-5.6,329,4668,0.00,2.17,0.00,0.000,6,0.000,0.040,2433,1956,3398,0,0,0,0,0,0
$GC,4989,-0.74,-146.0,404.8,-6.4,337,4993,0.00,2.28,0.00,0.000,4,0.000,0.061,2433,541,3397,0,0,0,0,0,0
$GC,5063,-0.74,-146.0,410.2,-6.9,338,5067,0.00,2.20,0.00,0.000,6,0.000,0.041,2424,1956,3396,0,0,0,0,0,0
$GC,5401,-0.74,-146.0,433.2,-6.8,347,5405,0.00,2.15,0.00,0.000,3,0.000,0.059,2414,3305,3394,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5405,begin apogee
$GC,5414,-0.17,0.0,433.6,6.6,347,5538,0.65,0.00,120.00,0.759,6,0.114,0.000,2628,1979,2800,0,0,0,0,0,0
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5541,0.74,146.0,433.7,0.0,350,5674,0.82,0.00,126.32,0.730,6,0.065,0.000,2925,1979,2204,0,0,0,0,0,0
$GC,5988,0.74,146.0,364.3,15.4,361,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1979,2197,0,0,0,0,0,0
$GC,6313,0.74,146.0,313.0,15.7,369,6317,0.00,2.28,0.00,0.000,4,0.000,0.055,2925,3396,2194,0,0,0,0,0,0
$GC,6346,0.74,146.0,307.4,17.1,369,6351,0.00,2.25,0.00,0.000,6,0.000,0.048,2935,1978,2193,0,0,0,0,0,0
$GC,6661,0.74,146.0,257.3,15.2,384,6665,0.00,2.25,0.00,0.000,4,0.000,0.056,2934,3389,2191,0,0,0,0,0,0
$GC,6716,0.74,146.0,248.4,15.8,386,6722,0.00,2.22,0.00,0.000,6,0.000,0.041,2944,1970,2190,0,0,0,0,0,0
$GC,7032,0.74,146.0,203.8,14.8,402,7036,0.00,2.22,0.00,0.000,4,0.000,0.059,2955,573,2190,0,0,0,0,0,0
$GC,7086,0.74,146.0,195.4,14.5,405,7094,0.00,2.22,0.00,0.000,6,0.000,0.041,2955,1985,2189,0,0,0,0,0,0
$GC,7414,0.74,146.0,146.0,15.1,436,7418,0.00,2.17,0.00,0.000,4,0.000,0.053,2955,3391,2190,0,0,0,0,0,0
$GC,7629,0.74,146.0,112.8,13.0,455,7634,0.12,2.20,0.00,0.000,6,0.152,0.048,2931,1982,2188,0,0,0,0,0,0
$GC,7956,0.74,146.0,80.2,9.5,485,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1982,2188,0,0,0,0,0,0
$GC,8276,0.74,146.0,50.1,10.0,544,8283,0.00,2.25,0.00,0.000,4,0.000,0.058,2940,575,2188,0,0,0,0,0,0
$GC,8319,0.74,146.0,46.1,9.8,551,8325,0.00,2.17,0.00,0.000,6,0.000,0.039,2939,1979,2188,0,0,0,0,0,0
$GC,8648,0.74,146.0,16.4,9.6,612,8655,0.00,2.22,0.00,0.000,4,0.000,0.052,2940,3390,2189,0,0,0,0,0,0
$STATE,8766,end climb,SURFACE_DEPTH_REACHED
$STATE,8766,begin surface coast
$FINISH,0.8,1.023038
$STATE,8790,end surface coast,CONTROL_FINISHED_OK
$STATE,8790,begin surface
$SM_CCo,8811,49.25,0.443,0,0,1739,260.01
$SM_GC,1.52,0.00,0.00,49.25,0.000,0.000,0.443,31,1945,1739,-8.31,-0.34,260.01
$IRIDIUM_FIX,2057.14,-15801.19,290802,191933
$TT8_MAMPS,0.028379
$HUMID,65.31
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.6,31.673
$10V_AH,10.5,34.782
$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,19.050,75.300,246.325,49.250,0.000,23.200,33.269,197.746,18.250,0.000,17.508,1160.163,5149.858,360.022,2083.438,498.463,0.000,1074.298,0.000,2035.854,0.000,112.996,0.000
$DEVICE_MAMPS,228.566,60.593,758.563,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,433.879,358.099,1239.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34932,638
$CAP_FILE_SIZE,95434,0
$CFSIZE,260165632,236789760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050613,000759,2108.581,-15757.978,15,0.9,15,9.8