version: 66.06
glider: 523
mission: 4
dive: 388
start: 6 5 113 2 56 30
data:
$ID,523
$MISSION,4
$DIVE,388
$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,-43609.43
$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,26
$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
$GPS1,024011,2108.754,-15757.196,15,0.9,15,9.8
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.8
$GPS2,025612,2108.859,-15757.276,19,0.9,19,9.8
$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,93.0,25442,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,89,0.00,0.00,-69.65,0.000,6,0.000,0.000,24,1975,3396,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.3,-5.1,11,107,9.73,2.25,0.00,0.000,4,0.225,0.048,2442,545,3396,0,0,0,0,0,0
$GC,245,-0.74,-146.0,33.8,-16.5,39,251,0.00,2.20,0.00,0.000,6,0.000,0.039,2434,1960,3399,0,0,0,0,0,0
$GC,577,-0.74,-146.0,77.9,-10.4,100,584,0.00,2.22,0.00,0.000,4,0.000,0.055,2423,3365,3399,0,0,0,0,0,0
$GC,636,-0.74,-146.0,83.1,-9.4,107,640,0.00,2.22,0.00,0.000,6,0.000,0.044,2423,1959,3400,0,0,0,0,0,0
$GC,963,-0.74,-146.0,118.8,-10.8,137,967,0.00,2.22,0.00,0.000,4,0.000,0.054,2423,536,3401,0,0,0,0,0,0
$GC,1170,-0.74,-146.0,144.6,-12.0,155,1178,0.10,2.17,0.00,0.000,6,0.134,0.033,2447,1962,3401,0,0,0,0,0,0
$GC,1497,-0.74,-146.0,172.8,-7.3,186,1501,0.00,2.20,0.00,0.000,4,0.000,0.052,2438,3358,3402,0,0,0,0,0,0
$GC,1529,-0.74,-146.0,175.4,-7.9,188,1533,0.00,2.17,0.00,0.000,6,0.000,0.044,2437,1955,3402,0,0,0,0,0,0
$GC,1864,-0.74,-146.0,205.8,-8.2,216,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1955,3402,0,0,0,0,0,0
$GC,2173,-0.74,-146.0,228.5,-6.3,231,2177,0.00,2.20,0.00,0.000,4,0.000,0.054,2438,540,3402,0,0,0,0,0,0
$GC,2433,-0.74,-146.0,245.2,-6.3,242,2439,0.00,2.12,0.00,0.000,6,0.000,0.034,2429,1959,3402,0,0,0,0,0,0
$GC,2749,-0.74,-146.0,263.5,-6.1,258,2753,0.00,2.28,0.00,0.000,4,0.000,0.054,2429,540,3402,0,0,0,0,0,0
$GC,3007,-0.74,-146.0,283.9,-8.2,269,3013,0.12,2.17,0.00,0.000,6,0.155,0.035,2455,1970,3402,0,0,0,0,0,0
$GC,3325,-0.74,-146.0,305.8,-7.2,283,3329,0.00,2.28,0.00,0.000,4,0.000,0.054,2455,541,3401,0,0,0,0,0,0
$GC,3545,-0.74,-146.0,319.8,-5.6,288,3549,0.00,2.15,0.00,0.000,6,0.000,0.038,2446,1959,3400,0,0,0,0,0,0
$GC,3875,-0.74,-146.0,334.2,-4.3,296,3879,0.00,2.28,0.00,0.000,4,0.000,0.058,2447,545,3398,0,0,0,0,0,0
$GC,4000,-0.74,-146.0,341.7,-6.0,298,4005,0.00,2.17,0.00,0.000,6,0.000,0.039,2438,1959,3397,0,0,0,0,0,0
$GC,4333,-0.74,-146.0,358.3,-4.9,307,4337,0.00,2.28,0.00,0.000,4,0.000,0.058,2438,549,3395,0,0,0,0,0,0
$GC,4524,-0.74,-146.0,369.6,-7.3,311,4528,0.00,2.15,0.00,0.000,6,0.000,0.040,2429,1955,3393,0,0,0,0,0,0
$GC,4875,-0.74,-146.0,394.8,-6.8,320,4879,0.00,2.25,0.00,0.000,4,0.000,0.061,2430,550,3391,0,0,0,0,0,0
$GC,4999,-0.74,-146.0,404.8,-8.0,322,5005,0.12,2.17,0.00,0.000,6,0.157,0.042,2455,1958,3391,0,0,0,0,0,0
$GC,5339,-0.74,-146.0,427.1,-6.6,331,5344,0.00,2.30,0.00,0.000,4,0.000,0.063,2455,537,3388,0,0,0,0,0,0
$STATE,5404,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5404,begin apogee
$GC,5413,-0.17,0.0,432.6,7.8,332,5535,0.55,0.00,118.57,0.755,6,0.109,0.000,2630,1995,2800,0,0,0,0,0,0
$STATE,5536,end apogee,CONTROL_FINISHED_OK
$STATE,5536,begin climb
$GC,5539,0.74,146.0,435.6,0.0,335,5669,0.82,0.00,126.15,0.729,6,0.067,0.000,2924,1995,2204,0,0,0,0,0,0
$GC,5986,0.74,146.0,374.3,15.9,346,5990,0.00,2.20,0.00,0.000,4,0.000,0.051,2924,3389,2197,0,0,0,0,0,0
$GC,6047,0.74,146.0,363.5,16.9,347,6051,0.00,2.20,0.00,0.000,6,0.000,0.039,2934,1976,2195,0,0,0,0,0,0
$GC,6390,0.74,146.0,307.0,16.1,356,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1976,2193,0,0,0,0,0,0
$GC,6698,0.74,146.0,261.8,13.2,369,6702,0.00,2.22,0.00,0.000,4,0.000,0.058,2945,569,2191,0,0,0,0,0,0
$GC,6754,0.74,146.0,253.5,15.5,371,6758,0.00,2.20,0.00,0.000,6,0.000,0.042,2945,1973,2191,0,0,0,0,0,0
$GC,7069,0.74,146.0,206.8,16.1,386,7073,0.00,2.20,0.00,0.000,4,0.000,0.051,2945,3393,2190,0,0,0,0,0,0
$GC,7206,0.74,146.0,184.6,15.1,396,7213,0.00,2.22,0.00,0.000,6,0.000,0.042,2955,1981,2189,0,0,0,0,0,0
$GC,7534,0.74,146.0,138.7,14.3,427,7538,0.00,2.22,0.00,0.000,4,0.000,0.057,2955,3389,2189,0,0,0,0,0,0
$GC,7640,0.74,146.0,123.4,13.7,436,7645,0.12,2.20,0.00,0.000,6,0.151,0.048,2930,1978,2188,0,0,0,0,0,0
$GC,7967,0.74,146.0,84.6,11.8,466,7971,0.00,2.25,0.00,0.000,4,0.000,0.061,2939,566,2188,0,0,0,0,0,0
$GC,8032,0.74,146.0,77.0,11.4,474,8040,0.00,2.22,0.00,0.000,6,0.000,0.038,2939,1990,2188,0,0,0,0,0,0
$GC,8367,0.78,179.3,44.3,7.7,535,8402,0.00,2.22,26.45,0.482,4,0.000,0.054,2940,3386,2068,0,0,0,0,0,0
$GC,8521,0.78,179.3,26.9,13.7,562,8528,0.00,2.25,0.00,0.000,6,0.000,0.043,2949,1970,2066,0,0,0,0,0,0
$GC,8689,0.78,179.3,6.0,14.1,593,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1970,2066,0,0,0,0,0,0
$STATE,8712,end climb,SURFACE_DEPTH_REACHED
$STATE,8712,begin surface coast
$FINISH,0.5,1.023056
$STATE,8734,end surface coast,CONTROL_FINISHED_OK
$STATE,8734,begin surface
$SM_CCo,8752,36.35,0.439,0,0,1738,260.01
$SM_GC,1.17,0.00,0.00,36.35,0.000,0.000,0.439,37,1966,1738,-8.30,0.25,260.01
$IRIDIUM_FIX,2104.07,-15800.33,300802,020202
$TT8_MAMPS,0.028379
$HUMID,65.63
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.6,31.840
$10V_AH,10.4,34.967
$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,19.025,75.400,271.175,36.350,0.000,107.995,187.109,324.569,18.250,0.000,22.078,1126.715,5310.575,370.945,2055.346,887.001,0.000,1096.183,0.000,2000.691,0.000,113.031,0.000
$DEVICE_MAMPS,224.731,62.894,754.728,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.524,340.539,1139.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,31800,601
$CAP_FILE_SIZE,102618,0
$CFSIZE,260165632,236687360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050613,052404,2108.865,-15756.012,25,1.0,25,9.8