version: 66.06
glider: 523
mission: 4
dive: 389
start: 6 5 113 5 30 11
data:
$ID,523
$MISSION,4
$DIVE,389
$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,-43626.711
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,052404,2108.865,-15756.012,25,1.0,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.1
$GPS2,052954,2108.874,-15755.980,16,1.1,16,9.8
$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,94.3,23271,-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,-69.82,0.000,2,0.000,0.000,37,1966,3390,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.3,-4.6,11,106,9.73,2.28,0.00,0.000,4,0.229,0.053,2441,543,3391,0,0,0,0,0,0
$GC,187,-0.74,-146.0,27.3,-18.8,28,195,0.00,2.20,0.00,0.000,6,0.000,0.035,2432,1958,3392,0,0,0,0,0,0
$GC,361,-0.74,-146.0,54.0,-16.8,59,367,0.00,2.25,0.00,0.000,4,0.000,0.057,2421,3364,3393,0,0,0,0,0,0
$GC,419,-0.74,-146.0,62.9,-14.7,69,425,0.10,2.22,0.00,0.000,6,0.160,0.046,2447,1948,3394,0,0,0,0,0,0
$GC,754,-0.74,-146.0,99.9,-9.5,113,761,0.00,2.20,0.00,0.000,4,0.000,0.056,2448,544,3395,0,0,0,0,0,0
$GC,892,-0.74,-146.0,112.7,-8.8,125,896,0.00,2.15,0.00,0.000,6,0.000,0.033,2439,1969,3395,0,0,0,0,0,0
$GC,1219,-0.74,-146.0,141.6,-8.7,155,1223,0.00,2.28,0.00,0.000,4,0.000,0.052,2439,538,3396,0,0,0,0,0,0
$GC,1422,-0.74,-146.0,163.2,-10.2,173,1426,0.00,2.15,0.00,0.000,6,0.000,0.033,2429,1961,3397,0,0,0,0,0,0
$GC,1749,-0.74,-146.0,198.2,-10.2,203,1753,0.00,2.20,0.00,0.000,4,0.000,0.054,2419,3356,3398,0,0,0,0,0,0
$GC,1771,-0.74,-146.0,200.4,-9.0,204,1779,0.08,2.22,0.00,0.000,6,0.126,0.044,2446,1960,3398,0,0,0,0,0,0
$GC,2089,-0.74,-146.0,228.2,-8.3,220,2093,0.00,2.20,0.00,0.000,4,0.000,0.053,2447,546,3398,0,0,0,0,0,0
$GC,2151,-0.74,-146.0,233.9,-9.0,223,2155,0.00,2.12,0.00,0.000,6,0.000,0.034,2438,1966,3398,0,0,0,0,0,0
$GC,2481,-0.74,-146.0,256.0,-5.9,239,2485,0.00,2.30,0.00,0.000,4,0.000,0.052,2438,538,3398,0,0,0,0,0,0
$GC,2571,-0.74,-146.0,261.2,-5.7,243,2575,0.00,2.15,0.00,0.000,6,0.000,0.034,2430,1957,3398,0,0,0,0,0,0
$GC,2894,-0.74,-146.0,279.2,-5.7,259,2898,0.00,2.28,0.00,0.000,4,0.000,0.053,2430,540,3398,0,0,0,0,0,0
$GC,3151,-0.74,-146.0,296.5,-7.7,270,3156,0.12,2.17,0.00,0.000,6,0.156,0.036,2456,1966,3398,0,0,0,0,0,0
$GC,3464,-0.74,-146.0,311.5,-4.1,279,3468,0.00,2.17,0.00,0.000,4,0.000,0.054,2446,3365,3398,0,0,0,0,0,0
$GC,3559,-0.74,-146.0,315.7,-4.5,281,3563,0.00,2.22,0.00,0.000,6,0.000,0.041,2446,1945,3398,0,0,0,0,0,0
$GC,3878,-0.74,-146.0,333.4,-5.8,289,3882,0.00,2.22,0.00,0.000,4,0.000,0.059,2446,550,3396,0,0,0,0,0,0
$GC,3918,-0.74,-146.0,335.9,-5.7,290,3922,0.00,2.15,0.00,0.000,6,0.000,0.037,2438,1953,3395,0,0,0,0,0,0
$GC,4246,-0.74,-146.0,356.2,-6.4,298,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,1954,3394,0,0,0,0,0,0
$GC,4567,-0.74,-146.0,374.3,-5.0,306,4572,0.00,2.28,0.00,0.000,4,0.000,0.059,2438,544,3392,0,0,0,0,0,0
$GC,4704,-0.74,-146.0,381.2,-4.8,309,4708,0.00,2.17,0.00,0.000,6,0.000,0.038,2428,1961,3391,0,0,0,0,0,0
$GC,5024,-0.74,-146.0,396.6,-5.4,317,5028,0.00,2.28,0.00,0.000,4,0.000,0.059,2428,544,3389,0,0,0,0,0,0
$GC,5259,-0.74,-146.0,414.3,-7.8,322,5264,0.12,2.17,0.00,0.000,6,0.153,0.038,2454,1960,3387,0,0,0,0,0,0
$STATE,5407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5414,-0.17,0.0,424.0,6.4,326,5535,0.55,0.00,118.57,0.748,6,0.104,0.000,2636,1961,2800,0,0,0,0,0,0
$STATE,5536,end apogee,CONTROL_FINISHED_OK
$STATE,5536,begin climb
$GC,5539,0.74,146.0,425.8,0.0,329,5677,0.80,2.42,125.82,0.722,4,0.064,0.056,2925,3387,2202,0,0,0,0,0,0
$GC,5706,0.74,146.0,404.2,18.4,333,5710,0.00,2.30,0.00,0.000,6,0.000,0.048,2935,1985,2200,0,0,0,0,0,0
$GC,6029,0.74,146.0,346.0,16.6,341,6033,0.00,2.33,0.00,0.000,4,0.000,0.067,2945,566,2196,0,0,0,0,0,0
$GC,6114,0.74,146.0,333.2,16.3,343,6119,0.00,2.22,0.00,0.000,6,0.000,0.042,2945,1977,2195,0,0,0,0,0,0
$GC,6441,0.74,146.0,279.2,16.6,354,6445,0.00,2.25,0.00,0.000,4,0.000,0.064,2945,3389,2192,0,0,0,0,0,0
$GC,6503,0.74,146.0,268.1,17.6,357,6507,0.00,2.22,0.00,0.000,6,0.000,0.041,2955,1962,2192,0,0,0,0,0,0
$GC,6836,0.74,146.0,210.5,15.9,373,6840,0.00,2.20,0.00,0.000,4,0.000,0.059,2965,576,2191,0,0,0,0,0,0
$GC,6874,0.74,146.0,204.2,15.5,374,6880,0.15,2.20,0.00,0.000,6,0.146,0.043,2924,1983,2191,0,0,0,0,0,0
$GC,7200,0.74,146.0,162.6,13.4,403,7204,0.00,2.20,0.00,0.000,4,0.000,0.052,2924,3392,2189,0,0,0,0,0,0
$GC,7274,0.74,146.0,152.8,13.2,409,7278,0.00,2.20,0.00,0.000,6,0.000,0.041,2932,1976,2189,0,0,0,0,0,0
$GC,7602,0.74,146.0,111.8,11.7,439,7606,0.00,2.20,0.00,0.000,4,0.000,0.059,2943,574,2189,0,0,0,0,0,0
$GC,7635,0.74,146.0,107.4,11.9,441,7643,0.00,2.22,0.00,0.000,6,0.000,0.041,2943,1987,2189,0,0,0,0,0,0
$GC,7961,0.74,146.0,69.6,10.1,480,7969,0.00,2.20,0.00,0.000,4,0.000,0.053,2943,3387,2189,0,0,0,0,0,0
$GC,8103,0.74,149.2,56.2,8.9,505,8109,0.00,2.20,0.00,0.000,6,0.000,0.047,2952,1975,2188,0,0,0,0,0,0
$GC,8435,0.74,150.0,27.9,9.0,566,8442,0.00,2.25,0.00,0.000,4,0.000,0.054,2953,3383,2188,0,0,0,0,0,0
$GC,8521,0.74,150.0,18.7,11.4,582,8528,0.10,2.22,0.00,0.000,6,0.123,0.043,2928,1976,2189,0,0,0,0,0,0
$GC,8690,0.77,171.6,5.4,8.1,613,8716,0.00,0.00,20.52,0.439,6,0.000,0.000,2928,1976,2098,0,0,0,0,0,0
$STATE,8722,end climb,SURFACE_DEPTH_REACHED
$STATE,8722,begin surface coast
$FINISH,0.4,1.022298
$STATE,8762,end surface coast,CONTROL_FINISHED_OK
$STATE,8762,begin surface
$SM_CCo,8780,39.03,0.436,0,0,1739,260.01
$SM_GC,1.27,0.00,0.00,39.03,0.000,0.000,0.436,27,1970,1739,-8.33,0.37,260.01
$IRIDIUM_FIX,2104.07,-15755.17,300802,030313
$TT8_MAMPS,0.028379
$HUMID,64.17
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.6,31.913
$10V_AH,10.5,35.059
$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,19.025,88.900,264.925,39.025,0.000,30.417,35.167,152.037,17.750,0.000,16.653,1174.793,5043.101,363.752,2117.921,468.885,0.000,1116.916,0.000,2071.363,0.000,111.849,0.000
$DEVICE_MAMPS,229.333,66.729,747.825,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,425.050,358.894,1224.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34950,625
$CAP_FILE_SIZE,100756,0
$CFSIZE,260165632,236638208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050613,075828,2108.678,-15754.865,38,1.1,38,9.8