version: 66.06
glider: 523
mission: 4
dive: 387
start: 6 5 113 0 14 20
data:
$ID,523
$MISSION,4
$DIVE,387
$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,-43586.723
$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,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
$GPS1,000759,2108.581,-15757.978,15,0.9,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.2
$GPS2,001404,2108.608,-15758.055,28,0.8,28,9.8
$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,91.4,26661,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-70.03,0.000,2,0.000,0.000,31,1945,3391,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.1,-4.0,11,105,9.75,0.00,0.00,0.000,6,0.226,0.000,2443,1933,3393,0,0,0,0,0,0
$GC,267,-0.74,-146.0,34.1,-13.9,43,272,0.00,2.20,0.00,0.000,4,0.000,0.056,2443,550,3394,0,0,0,0,0,0
$GC,292,-0.74,-146.0,38.1,-14.5,47,297,0.00,2.17,0.00,0.000,6,0.000,0.039,2435,1963,3393,0,0,0,0,0,0
$GC,623,-0.74,-146.0,78.9,-9.3,108,630,0.00,2.33,0.00,0.000,4,0.000,0.056,2435,548,3396,0,0,0,0,0,0
$GC,736,-0.74,-146.0,91.1,-10.2,119,740,0.00,2.15,0.00,0.000,6,0.000,0.036,2425,1962,3396,0,0,0,0,0,0
$GC,1064,-0.74,-146.0,125.0,-9.8,149,1068,0.00,2.22,0.00,0.000,4,0.000,0.058,2414,3368,3398,0,0,0,0,0,0
$GC,1106,-0.74,-146.0,129.7,-10.5,152,1118,0.10,2.28,0.00,0.000,6,0.123,0.046,2449,1952,3398,0,0,0,0,0,0
$GC,1435,-0.74,-146.0,152.9,-8.0,183,1439,0.00,2.22,0.00,0.000,4,0.000,0.052,2449,540,3399,0,0,0,0,0,0
$GC,1510,-0.74,-146.0,160.5,-9.9,189,1518,0.00,2.17,0.00,0.000,6,0.000,0.032,2440,1966,3399,0,0,0,0,0,0
$GC,1837,-0.74,-146.0,189.8,-9.5,220,1844,0.00,2.20,0.00,0.000,4,0.000,0.052,2431,3363,3399,0,0,0,0,0,0
$GC,1920,-0.74,-146.0,196.7,-7.6,227,1924,0.00,2.17,0.00,0.000,6,0.000,0.043,2431,1958,3399,0,0,0,0,0,0
$GC,2239,-0.74,-146.0,223.1,-8.6,244,2243,0.00,2.20,0.00,0.000,4,0.000,0.053,2430,539,3400,0,0,0,0,0,0
$GC,2379,-0.74,-146.0,236.2,-8.1,250,2384,0.10,2.15,0.00,0.000,6,0.167,0.034,2447,1971,3400,0,0,0,0,0,0
$GC,2702,-0.74,-146.0,257.0,-6.0,266,2706,0.00,2.25,0.00,0.000,4,0.000,0.051,2448,538,3399,0,0,0,0,0,0
$GC,2932,-0.74,-146.0,273.2,-6.6,276,2936,0.00,2.15,0.00,0.000,6,0.000,0.035,2439,1962,3399,0,0,0,0,0,0
$GC,3251,-0.74,-146.0,292.1,-5.4,291,3254,0.00,2.25,0.00,0.000,4,0.000,0.054,2439,542,3399,0,0,0,0,0,0
$GC,3509,-0.74,-146.0,308.9,-6.8,299,3513,0.00,2.15,0.00,0.000,6,0.000,0.036,2430,1966,3399,0,0,0,0,0,0
$GC,3841,-0.74,-146.0,333.0,-6.9,307,3845,0.00,2.25,0.00,0.000,4,0.000,0.056,2431,550,3398,0,0,0,0,0,0
$GC,4016,-0.74,-146.0,342.5,-4.4,311,4020,0.10,2.17,0.00,0.000,6,0.169,0.038,2449,1966,3398,0,0,0,0,0,0
$GC,4340,-0.74,-146.0,351.9,-2.9,319,4344,0.00,2.17,0.00,0.000,4,0.000,0.056,2440,3361,3396,0,0,0,0,0,0
$GC,4465,-0.74,-146.0,356.9,-4.9,321,4470,0.00,2.20,0.00,0.000,6,0.000,0.043,2439,1953,3396,0,0,0,0,0,0
$GC,4798,-0.74,-146.0,378.1,-7.3,330,4802,0.00,2.22,0.00,0.000,4,0.000,0.060,2439,543,3394,0,0,0,0,0,0
$GC,4884,-0.74,-146.0,385.4,-8.2,332,4888,0.00,2.17,0.00,0.000,6,0.000,0.038,2431,1960,3393,0,0,0,0,0,0
$GC,5210,-0.74,-146.0,407.6,-6.3,340,5214,0.00,2.22,0.00,0.000,4,0.000,0.058,2421,3373,3390,0,0,0,0,0,0
$GC,5259,-0.74,-146.0,410.5,-5.2,341,5264,0.10,2.20,0.00,0.000,6,0.148,0.043,2448,1949,3390,0,0,0,0,0,0
$STATE,5413,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5413,begin apogee
$GC,5420,-0.17,0.0,415.5,2.9,345,5542,0.57,0.00,118.93,0.740,6,0.106,0.000,2639,1949,2799,0,0,0,0,0,0
$STATE,5542,end apogee,CONTROL_FINISHED_OK
$STATE,5542,begin climb
$GC,5545,0.74,146.0,413.4,0.0,348,5678,0.80,0.00,125.50,0.713,6,0.063,0.000,2928,1948,2204,0,0,0,0,0,0
$GC,5992,0.74,146.0,344.9,16.3,359,5996,0.00,2.33,0.00,0.000,4,0.000,0.053,2928,3387,2195,0,0,0,0,0,0
$GC,6098,0.74,146.0,326.8,17.6,361,6102,0.00,2.25,0.00,0.000,6,0.000,0.048,2937,1978,2194,0,0,0,0,0,0
$GC,6422,0.74,146.0,274.4,15.3,373,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1977,2192,0,0,0,0,0,0
$GC,6731,0.74,146.0,229.0,13.8,388,6735,0.00,2.22,0.00,0.000,4,0.000,0.058,2948,566,2191,0,0,0,0,0,0
$GC,6832,0.74,146.0,213.7,14.3,392,6838,0.00,2.17,0.00,0.000,6,0.000,0.039,2947,1980,2190,0,0,0,0,0,0
$GC,7158,0.74,146.0,167.8,14.0,418,7162,0.00,2.17,0.00,0.000,4,0.000,0.053,2948,3388,2190,0,0,0,0,0,0
$GC,7285,0.74,146.0,149.5,15.7,429,7289,0.00,2.22,0.00,0.000,6,0.000,0.047,2958,1974,2189,0,0,0,0,0,0
$GC,7613,0.74,146.0,103.3,13.1,459,7617,0.00,2.20,0.00,0.000,4,0.000,0.057,2968,564,2188,0,0,0,0,0,0
$GC,7635,0.74,146.0,100.5,13.4,460,7639,0.15,2.20,0.00,0.000,6,0.138,0.039,2926,1984,2188,0,0,0,0,0,0
$GC,7963,0.74,146.0,64.2,10.4,503,7968,0.00,2.25,0.00,0.000,4,0.000,0.056,2934,569,2188,0,0,0,0,0,0
$GC,7999,0.74,146.0,60.8,9.8,509,8005,0.00,2.17,0.00,0.000,6,0.000,0.038,2934,1990,2188,0,0,0,0,0,0
$GC,8330,0.74,146.0,30.5,10.3,570,8337,0.00,2.20,0.00,0.000,4,0.000,0.052,2934,3388,2188,0,0,0,0,0,0
$GC,8516,0.78,180.1,14.5,7.6,604,8550,0.00,2.22,27.27,0.452,6,0.000,0.042,2943,1981,2063,0,0,0,0,0,0
$STATE,8617,end climb,SURFACE_DEPTH_REACHED
$STATE,8617,begin surface coast
$FINISH,0.6,1.023048
$STATE,8641,end surface coast,CONTROL_FINISHED_OK
$STATE,8641,begin surface
$SM_CCo,8659,36.85,0.436,0,0,1740,260.01
$SM_GC,1.25,0.00,0.00,36.85,0.000,0.000,0.436,24,1976,1740,-8.33,0.54,260.01
$IRIDIUM_FIX,2057.14,-15759.05,290802,212118
$TT8_MAMPS,0.028379
$HUMID,64.88
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.6,31.746
$10V_AH,10.5,34.874
$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,19.125,79.525,271.700,36.850,0.000,28.236,38.484,152.637,17.250,0.000,28.953,1159.991,4926.694,364.714,2140.790,467.439,0.000,1109.145,0.000,2084.842,0.000,108.817,0.000
$DEVICE_MAMPS,226.265,59.826,740.155,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,425.199,360.489,1235.946,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,35003,626
$CAP_FILE_SIZE,97272,0
$CFSIZE,260165632,236740608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050613,024011,2108.754,-15757.196,15,0.9,15,9.8