version: 66.06
glider: 523
mission: 4
dive: 391
start: 6 5 113 10 39 29
data:
$ID,523
$MISSION,4
$DIVE,391
$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,-43677.715
$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,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
$GPS1,103257,2108.345,-15754.016,29,0.8,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.0
$GPS2,103913,2108.360,-15753.979,26,0.9,26,9.8
$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,94.1,19684,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,88,0.00,0.00,-68.88,0.000,2,0.000,0.000,28,1974,3383,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.5,-6.0,11,107,9.75,2.35,-0.25,0.000,4,0.226,0.072,2441,547,3397,0,0,0,0,0,0
$GC,207,-0.74,-146.0,26.7,-18.8,31,214,0.00,2.20,0.00,0.000,6,0.000,0.037,2432,1956,3399,0,0,0,0,0,0
$GC,378,-0.74,-146.0,53.6,-14.3,62,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1957,3400,0,0,0,0,0,0
$GC,712,-0.74,-146.0,92.4,-9.5,112,716,0.00,2.28,0.00,0.000,4,0.000,0.054,2432,544,3401,0,0,0,0,0,0
$GC,845,-0.74,-146.0,107.4,-11.9,123,853,0.00,2.17,0.00,0.000,6,0.000,0.035,2423,1964,3402,0,0,0,0,0,0
$GC,1172,-0.74,-146.0,144.6,-10.6,154,1179,0.00,2.20,0.00,0.000,4,0.000,0.054,2413,3358,3403,0,0,0,0,0,0
$GC,1233,-0.74,-146.0,151.1,-9.7,159,1241,0.10,2.22,0.00,0.000,6,0.123,0.044,2447,1956,3404,0,0,0,0,0,0
$GC,1561,-0.74,-146.0,175.1,-7.3,190,1565,0.00,2.20,0.00,0.000,4,0.000,0.052,2447,544,3404,0,0,0,0,0,0
$GC,1781,-0.74,-146.0,194.3,-8.2,210,1788,0.00,2.15,0.00,0.000,6,0.000,0.033,2439,1970,3405,0,0,0,0,0,0
$GC,2119,-0.74,-146.0,221.0,-7.6,229,2123,0.00,2.22,0.00,0.000,4,0.000,0.051,2439,548,3405,0,0,0,0,0,0
$GC,2159,-0.74,-146.0,224.2,-8.0,231,2163,0.00,2.12,0.00,0.000,6,0.000,0.034,2430,1956,3405,0,0,0,0,0,0
$GC,2489,-0.74,-146.0,248.4,-6.3,247,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1957,3405,0,0,0,0,0,0
$GC,2795,-0.74,-146.0,269.2,-7.6,262,2799,0.00,2.22,0.00,0.000,4,0.000,0.052,2419,3362,3404,0,0,0,0,0,0
$GC,2862,-0.74,-146.0,274.3,-7.4,265,2866,0.12,2.20,0.00,0.000,6,0.140,0.041,2455,1953,3404,0,0,0,0,0,0
$GC,3190,-0.74,-146.0,294.5,-5.8,281,3194,0.00,2.22,0.00,0.000,4,0.000,0.056,2455,548,3405,0,0,0,0,0,0
$GC,3398,-0.74,-146.0,306.8,-6.3,288,3402,0.00,2.10,0.00,0.000,6,0.000,0.034,2448,1954,3404,0,0,0,0,0,0
$GC,3736,-0.74,-146.0,326.2,-5.7,297,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1954,3403,0,0,0,0,0,0
$GC,4060,-0.74,-146.0,343.5,-5.0,305,4064,0.00,2.28,0.00,0.000,4,0.000,0.056,2448,550,3402,0,0,0,0,0,0
$GC,4211,-0.74,-146.0,352.6,-6.2,308,4215,0.00,2.15,0.00,0.000,6,0.000,0.038,2439,1952,3401,0,0,0,0,0,0
$GC,4553,-0.74,-146.0,373.3,-5.9,317,4557,0.00,2.30,0.00,0.000,4,0.000,0.058,2439,544,3399,0,0,0,0,0,0
$GC,4625,-0.74,-146.0,378.5,-7.4,318,4629,0.00,2.17,0.00,0.000,6,0.000,0.038,2430,1961,3398,0,0,0,0,0,0
$GC,4964,-0.74,-146.0,399.7,-6.2,327,4969,0.00,2.30,0.00,0.000,4,0.000,0.059,2430,551,3396,0,0,0,0,0,0
$GC,5145,-0.74,-146.0,412.5,-6.3,331,5150,0.10,2.15,0.00,0.000,6,0.168,0.040,2449,1958,3395,0,0,0,0,0,0
$STATE,5426,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5427,begin apogee
$GC,5433,-0.17,0.0,425.7,4.3,338,5556,0.55,0.00,119.82,0.752,6,0.107,0.000,2631,1959,2800,0,0,0,0,0,0
$STATE,5557,end apogee,CONTROL_FINISHED_OK
$STATE,5557,begin climb
$GC,5560,0.74,146.0,424.6,0.0,341,5693,0.85,2.38,126.20,0.723,4,0.063,0.055,2932,3386,2203,0,0,0,0,0,0
$GC,5723,0.74,146.0,401.2,18.3,345,5727,0.00,2.33,0.00,0.000,6,0.000,0.046,2942,1981,2200,0,0,0,0,0,0
$GC,6035,0.74,146.0,345.8,17.8,353,6040,0.00,2.33,0.00,0.000,4,0.000,0.062,2953,562,2196,0,0,0,0,0,0
$GC,6069,0.74,146.0,339.4,19.0,353,6074,0.00,2.22,0.00,0.000,6,0.000,0.041,2953,1987,2195,0,0,0,0,0,0
$GC,6381,0.74,146.0,285.7,17.0,363,6385,0.00,2.25,0.00,0.000,4,0.000,0.063,2953,3384,2194,0,0,0,0,0,0
$GC,6459,0.74,146.0,271.6,18.7,366,6465,0.12,2.20,0.00,0.000,6,0.157,0.041,2929,1979,2192,0,0,0,0,0,0
$GC,6775,0.74,146.0,223.2,13.6,382,6779,0.00,2.25,0.00,0.000,4,0.000,0.057,2929,3397,2191,0,0,0,0,0,0
$GC,6819,0.74,146.0,216.7,14.5,384,6823,0.00,2.22,0.00,0.000,6,0.000,0.041,2937,1975,2190,0,0,0,0,0,0
$GC,7150,0.74,146.0,173.5,13.1,409,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1975,2189,0,0,0,0,0,0
$GC,7481,0.74,146.0,133.6,12.0,440,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1975,2189,0,0,0,0,0,0
$GC,7810,0.74,146.0,96.4,11.3,471,7814,0.00,2.25,0.00,0.000,4,0.000,0.058,2948,562,2189,0,0,0,0,0,0
$GC,7850,0.74,146.0,91.6,11.3,474,7854,0.00,2.22,0.00,0.000,6,0.000,0.044,2948,1983,2189,0,0,0,0,0,0
$GC,8183,0.74,146.0,51.4,10.3,525,8188,0.00,2.20,0.00,0.000,4,0.000,0.051,2948,3399,2188,0,0,0,0,0,0
$GC,8243,0.74,146.0,44.6,11.1,536,8251,0.08,2.28,0.00,0.000,6,0.119,0.050,2931,1983,2189,0,0,0,0,0,0
$GC,8572,0.82,215.9,15.5,6.1,597,8638,0.00,2.30,56.17,0.460,4,0.000,0.059,2940,570,1917,0,0,0,0,0,0
$GC,8667,0.82,215.9,6.6,12.4,612,8675,0.00,2.25,0.00,0.000,6,0.000,0.043,2940,1975,1917,0,0,0,0,0,0
$STATE,8696,end climb,SURFACE_DEPTH_REACHED
$STATE,8696,begin surface coast
$FINISH,0.6,1.021494
$STATE,8724,end surface coast,CONTROL_FINISHED_OK
$STATE,8724,begin surface
$SM_CCo,8741,20.45,0.423,0,0,1739,260.01
$SM_GC,1.62,0.00,0.00,20.45,0.000,0.000,0.423,36,1981,1739,-8.30,0.68,260.01
$IRIDIUM_FIX,2101.76,-15835.52,300802,080822
$TT8_MAMPS,0.027612
$HUMID,64.60
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.6,32.064
$10V_AH,10.4,35.242
$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,19.150,75.900,302.200,20.450,0.000,26.912,36.216,170.330,17.750,0.000,26.908,1127.941,5117.775,378.325,2035.471,476.900,0.000,1093.738,0.000,1981.925,0.000,111.450,0.000
$DEVICE_MAMPS,226.265,72.098,751.660,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,422.759,356.699,1226.017,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,34957,622
$CAP_FILE_SIZE,93982,0
$CFSIZE,260165632,236548096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050613,130635,2108.008,-15753.681,24,0.9,24,9.8