version: 66.06
glider: 523
mission: 4
dive: 392
start: 6 5 113 13 15 55
data:
$ID,523
$MISSION,4
$DIVE,392
$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,-43700.176
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,130635,2108.008,-15753.681,24,0.9,24,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-78.3
$GPS2,131539,2107.979,-15753.761,21,0.8,21,9.8
$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,92.3,19159,-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,-69.43,0.000,6,0.000,0.000,36,1980,3396,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.5,-5.8,11,105,9.77,2.15,0.00,0.000,4,0.229,0.044,2434,3375,3397,0,0,0,0,0,0
$GC,124,-0.74,-146.0,14.9,-32.4,16,132,0.00,2.28,0.00,0.000,6,0.000,0.043,2434,1952,3398,0,0,0,0,0,0
$GC,297,-0.74,-146.0,40.6,-15.0,47,303,0.00,2.25,0.00,0.000,4,0.000,0.058,2434,535,3400,0,0,0,0,0,0
$GC,465,-0.74,-146.0,63.4,-12.0,77,470,0.00,2.20,0.00,0.000,6,0.000,0.036,2424,1968,3400,0,0,0,0,0,0
$GC,794,-0.74,-146.0,101.3,-11.1,120,798,0.00,2.30,0.00,0.000,4,0.000,0.055,2424,533,3400,0,0,0,0,0,0
$GC,857,-0.74,-146.0,108.2,-10.8,125,862,0.12,2.17,0.00,0.000,6,0.163,0.036,2448,1970,3401,0,0,0,0,0,0
$GC,1185,-0.74,-146.0,135.8,-7.7,155,1189,0.00,2.17,0.00,0.000,4,0.000,0.055,2439,3360,3402,0,0,0,0,0,0
$GC,1270,-0.74,-146.0,143.2,-8.8,162,1274,0.00,2.20,0.00,0.000,6,0.000,0.044,2439,1948,3403,0,0,0,0,0,0
$GC,1597,-0.74,-146.0,173.0,-9.2,192,1601,0.00,2.20,0.00,0.000,4,0.000,0.054,2439,543,3403,0,0,0,0,0,0
$GC,1846,-0.74,-146.0,197.9,-9.2,214,1850,0.00,2.15,0.00,0.000,6,0.000,0.033,2429,1968,3403,0,0,0,0,0,0
$GC,2165,-0.74,-146.0,225.6,-7.9,230,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1969,3403,0,0,0,0,0,0
$GC,2472,-0.74,-146.0,247.2,-6.4,245,2476,0.00,2.28,0.00,0.000,4,0.000,0.051,2429,544,3403,0,0,0,0,0,0
$GC,2507,-0.74,-146.0,249.5,-6.6,246,2514,0.12,2.15,0.00,0.000,6,0.157,0.036,2454,1955,3403,0,0,0,0,0,0
$GC,2826,-0.74,-146.0,266.8,-5.3,262,2830,0.00,2.25,0.00,0.000,4,0.000,0.057,2445,3366,3403,0,0,0,0,0,0
$GC,2884,-0.74,-146.0,270.3,-6.1,264,2889,0.00,2.17,0.00,0.000,6,0.000,0.041,2445,1954,3403,0,0,0,0,0,0
$GC,3200,-0.74,-146.0,287.0,-4.7,280,3204,0.00,2.22,0.00,0.000,4,0.000,0.056,2445,548,3403,0,0,0,0,0,0
$GC,3376,-0.74,-146.0,296.9,-5.9,288,3380,0.00,2.15,0.00,0.000,6,0.000,0.038,2436,1966,3403,0,0,0,0,0,0
$GC,3700,-0.74,-146.0,316.4,-6.6,298,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1967,3402,0,0,0,0,0,0
$GC,4024,-0.74,-146.0,337.5,-6.1,306,4028,0.00,2.28,0.00,0.000,4,0.000,0.058,2435,550,3400,0,0,0,0,0,0
$GC,4119,-0.74,-146.0,344.3,-7.9,308,4123,0.00,2.17,0.00,0.000,6,0.000,0.041,2426,1955,3400,0,0,0,0,0,0
$GC,4432,-0.74,-146.0,364.5,-6.2,316,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1955,3398,0,0,0,0,0,0
$GC,4759,-0.74,-146.0,386.5,-6.9,324,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1955,3396,0,0,0,0,0,0
$GC,5083,-0.74,-146.0,405.5,-5.4,332,5087,0.00,2.30,0.00,0.000,4,0.000,0.061,2426,552,3394,0,0,0,0,0,0
$GC,5312,-0.74,-146.0,418.1,-5.1,337,5317,0.12,2.17,0.00,0.000,6,0.156,0.044,2452,1962,3392,0,0,0,0,0,0
$STATE,5419,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5419,begin apogee
$GC,5426,-0.17,0.0,422.5,4.0,340,5548,0.55,0.00,119.43,0.749,6,0.105,0.000,2634,1961,2800,0,0,0,0,0,0
$STATE,5549,end apogee,CONTROL_FINISHED_OK
$STATE,5549,begin climb
$GC,5552,0.74,146.0,421.6,0.0,343,5688,0.82,2.42,126.15,0.721,4,0.063,0.061,2929,3380,2203,0,0,0,0,0,0
$GC,5751,0.74,146.0,391.7,18.9,348,5755,0.00,2.30,0.00,0.000,6,0.000,0.049,2938,1987,2199,0,0,0,0,0,0
$GC,6080,0.74,146.0,333.8,17.6,356,6084,0.00,2.25,0.00,0.000,4,0.000,0.058,2938,3389,2195,0,0,0,0,0,0
$GC,6120,0.74,146.0,326.5,18.4,357,6124,0.00,2.28,0.00,0.000,6,0.000,0.051,2948,1975,2194,0,0,0,0,0,0
$GC,6446,0.74,146.0,269.8,17.3,369,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1975,2193,0,0,0,0,0,0
$GC,6756,0.74,146.0,220.3,15.1,384,6760,0.00,2.28,0.00,0.000,4,0.000,0.060,2948,3390,2191,0,0,0,0,0,0
$GC,6904,0.74,146.0,199.0,14.1,390,6910,0.12,2.25,0.00,0.000,6,0.160,0.051,2925,1977,2190,0,0,0,0,0,0
$GC,7231,0.74,146.0,159.1,12.7,421,7235,0.00,2.22,0.00,0.000,4,0.000,0.058,2934,556,2189,0,0,0,0,0,0
$GC,7293,0.74,146.0,151.0,12.3,426,7297,0.00,2.20,0.00,0.000,6,0.000,0.037,2934,1983,2189,0,0,0,0,0,0
$GC,7621,0.74,146.0,110.0,12.6,456,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1983,2188,0,0,0,0,0,0
$GC,7948,0.74,146.0,73.0,10.3,493,7954,0.00,2.20,0.00,0.000,4,0.000,0.050,2934,3396,2188,0,0,0,0,0,0
$GC,8081,0.74,146.0,59.4,10.1,517,8087,0.00,2.22,0.00,0.000,6,0.000,0.041,2944,1965,2188,0,0,0,0,0,0
$GC,8412,0.77,175.5,33.8,7.8,578,8443,0.00,2.25,23.15,0.469,4,0.000,0.056,2954,570,2084,0,0,0,0,0,0
$GC,8504,0.77,175.5,24.7,11.1,594,8511,0.00,2.20,0.00,0.000,6,0.000,0.036,2954,1980,2082,0,0,0,0,0,0
$GC,8669,0.77,175.5,6.5,13.0,625,8676,0.00,2.25,0.00,0.000,4,0.000,0.054,2954,3389,2082,0,0,0,0,0,0
$STATE,8699,end climb,SURFACE_DEPTH_REACHED
$STATE,8699,begin surface coast
$FINISH,0.5,1.002532
$STATE,8716,end surface coast,CONTROL_FINISHED_OK
$STATE,8716,begin surface
$SM_CCo,8736,37.90,0.436,0,0,1738,260.01
$SM_GC,1.10,0.00,0.00,37.90,0.000,0.000,0.436,51,1948,1738,-8.25,-0.25,260.01
$IRIDIUM_FIX,2106.38,-15802.47,300802,101044
$TT8_MAMPS,0.027612
$HUMID,64.72
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.6,32.143
$10V_AH,10.4,35.334
$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,19.075,75.850,268.725,37.900,0.000,54.660,74.146,209.832,17.500,0.000,21.831,1150.288,5158.739,371.269,2040.021,596.579,0.000,1065.638,0.000,2001.832,0.000,107.959,0.000
$DEVICE_MAMPS,228.566,60.593,748.592,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,429.755,363.769,1226.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34994,633
$CAP_FILE_SIZE,97793,0
$CFSIZE,260165632,236494848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,050613,154328,2107.783,-15753.120,39,0.8,39,9.8