version: 66.06
glider: 523
mission: 4
dive: 393
start: 6 5 113 15 53 7
data:
$ID,523
$MISSION,4
$DIVE,393
$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,-43718.715
$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
$GPS1,154328,2107.783,-15753.120,39,0.8,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.8
$GPS2,155249,2107.768,-15753.131,17,0.9,17,9.8
$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,91.8,18014,-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,16,-0.74,-146.0,0.0,0.0,0,88,0.00,0.00,-69.55,0.000,2,0.000,0.000,50,1948,3392,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.2,-4.8,11,106,9.60,2.22,0.00,0.000,4,0.226,0.051,2440,546,3393,0,0,0,0,0,0
$GC,208,-0.74,-146.0,28.1,-16.7,32,215,0.00,2.20,0.00,0.000,6,0.000,0.037,2431,1955,3394,0,0,0,0,0,0
$GC,383,-0.74,-146.0,56.3,-14.6,63,388,0.00,2.28,0.00,0.000,4,0.000,0.057,2431,550,3394,0,0,0,0,0,0
$GC,440,-0.74,-146.0,65.6,-15.7,73,446,0.10,2.17,0.00,0.000,6,0.176,0.037,2447,1964,3395,0,0,0,0,0,0
$GC,776,-0.74,-146.0,102.4,-8.6,114,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1964,3397,0,0,0,0,0,0
$GC,1094,-0.74,-146.0,129.6,-7.7,144,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1963,3397,0,0,0,0,0,0
$GC,1413,-0.74,-146.0,157.1,-9.6,174,1416,0.00,2.20,0.00,0.000,4,0.000,0.054,2438,3361,3398,0,0,0,0,0,0
$GC,1462,-0.74,-146.0,162.0,-8.9,178,1469,0.00,2.25,0.00,0.000,6,0.000,0.044,2438,1955,3399,0,0,0,0,0,0
$GC,1789,-0.74,-146.0,190.8,-7.3,209,1793,0.00,2.22,0.00,0.000,4,0.000,0.054,2438,540,3399,0,0,0,0,0,0
$GC,1951,-0.74,-146.0,203.2,-7.1,221,1957,0.00,2.15,0.00,0.000,6,0.000,0.034,2430,1962,3399,0,0,0,0,0,0
$GC,2269,-0.74,-146.0,228.1,-7.8,237,2273,0.00,2.20,0.00,0.000,4,0.000,0.053,2419,3365,3399,0,0,0,0,0,0
$GC,2331,-0.74,-146.0,232.9,-7.4,240,2336,0.12,2.22,0.00,0.000,6,0.141,0.043,2455,1946,3399,0,0,0,0,0,0
$GC,2661,-0.74,-146.0,250.8,-5.1,256,2665,0.00,2.17,0.00,0.000,4,0.000,0.054,2455,547,3399,0,0,0,0,0,0
$GC,2706,-0.74,-146.0,253.7,-5.9,258,2710,0.00,2.10,0.00,0.000,6,0.000,0.034,2447,1957,3399,0,0,0,0,0,0
$GC,3031,-0.74,-146.0,273.8,-6.9,274,3035,0.00,2.22,0.00,0.000,4,0.000,0.053,2447,547,3399,0,0,0,0,0,0
$GC,3216,-0.74,-146.0,288.7,-7.6,282,3220,0.00,2.15,0.00,0.000,6,0.000,0.035,2438,1958,3399,0,0,0,0,0,0
$GC,3553,-0.74,-146.0,312.6,-7.1,294,3557,0.00,2.25,0.00,0.000,4,0.000,0.055,2438,545,3398,0,0,0,0,0,0
$GC,3810,-0.74,-146.0,328.7,-5.7,299,3816,0.00,2.17,0.00,0.000,6,0.000,0.038,2429,1962,3397,0,0,0,0,0,0
$GC,4141,-0.74,-146.0,349.0,-6.5,308,4145,0.00,2.28,0.00,0.000,4,0.000,0.058,2429,540,3395,0,0,0,0,0,0
$GC,4399,-0.74,-146.0,368.5,-7.0,313,4404,0.12,2.17,0.00,0.000,6,0.157,0.039,2454,1964,3393,0,0,0,0,0,0
$GC,4733,-0.74,-146.0,387.7,-6.0,321,4737,0.00,2.28,0.00,0.000,4,0.000,0.059,2454,550,3391,0,0,0,0,0,0
$GC,4968,-0.74,-146.0,402.2,-6.8,326,4972,0.00,2.17,0.00,0.000,6,0.000,0.041,2447,1955,3389,0,0,0,0,0,0
$GC,5316,-0.74,-146.0,419.5,-4.6,335,5320,0.00,2.28,0.00,0.000,4,0.000,0.059,2447,550,3388,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5405,begin apogee
$GC,5414,-0.17,0.0,424.2,5.0,337,5536,0.57,0.00,118.53,0.744,6,0.109,0.000,2631,1983,2800,0,0,0,0,0,0
$STATE,5536,end apogee,CONTROL_FINISHED_OK
$STATE,5537,begin climb
$GC,5540,0.74,146.0,424.2,0.0,340,5677,0.80,2.40,125.65,0.718,4,0.064,0.058,2922,3391,2203,0,0,0,0,0,0
$GC,5746,0.74,146.0,396.2,16.3,344,5752,0.00,2.33,0.00,0.000,6,0.000,0.047,2932,1979,2199,0,0,0,0,0,0
$GC,6077,0.74,146.0,340.2,17.2,353,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1979,2196,0,0,0,0,0,0
$GC,6382,0.74,146.0,293.4,15.1,361,6386,0.00,2.30,0.00,0.000,4,0.000,0.060,2942,558,2193,0,0,0,0,0,0
$GC,6410,0.74,146.0,288.8,16.4,362,6414,0.00,2.22,0.00,0.000,6,0.000,0.041,2942,1980,2193,0,0,0,0,0,0
$GC,6726,0.74,146.0,238.4,15.1,377,6730,0.00,2.20,0.00,0.000,4,0.000,0.051,2942,3389,2192,0,0,0,0,0,0
$GC,6916,0.74,146.0,210.0,15.0,385,6921,0.00,2.22,0.00,0.000,6,0.000,0.044,2953,1972,2191,0,0,0,0,0,0
$GC,7243,0.74,146.0,163.2,13.6,413,7247,0.00,2.22,0.00,0.000,4,0.000,0.059,2963,573,2190,0,0,0,0,0,0
$GC,7284,0.74,146.0,156.6,15.7,416,7288,0.12,2.20,0.00,0.000,6,0.151,0.043,2930,1980,2189,0,0,0,0,0,0
$GC,7612,0.74,146.0,115.7,11.6,446,7616,0.00,2.17,0.00,0.000,4,0.000,0.052,2930,3389,2189,0,0,0,0,0,0
$GC,7706,0.74,146.0,103.7,12.8,454,7711,0.00,2.22,0.00,0.000,6,0.000,0.048,2937,1982,2189,0,0,0,0,0,0
$GC,8034,0.74,146.0,68.3,9.1,494,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1982,2189,0,0,0,0,0,0
$GC,8371,0.74,146.0,40.8,10.0,555,8376,0.00,2.25,0.00,0.000,4,0.000,0.058,2948,572,2189,0,0,0,0,0,0
$GC,8450,0.74,146.0,32.6,11.3,569,8456,0.00,2.17,0.00,0.000,6,0.000,0.041,2948,1982,2189,0,0,0,0,0,0
$STATE,8728,end climb,SURFACE_DEPTH_REACHED
$STATE,8728,begin surface coast
$FINISH,0.4,1.008785
$STATE,8751,end surface coast,CONTROL_FINISHED_OK
$STATE,8751,begin surface
$SM_CCo,8769,48.92,0.438,0,0,1739,260.01
$SM_GC,1.56,0.00,0.00,48.92,0.000,0.000,0.438,42,1984,1739,-8.28,0.76,260.01
$IRIDIUM_FIX,2057.14,-15748.75,300802,151527
$TT8_MAMPS,0.028379
$HUMID,64.72
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.6,32.221
$10V_AH,10.4,35.429
$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,18.750,75.575,244.175,48.925,0.000,50.660,85.404,221.395,17.500,0.000,17.912,1163.911,5092.978,350.435,2155.727,615.657,0.000,1086.497,0.000,2108.939,0.000,107.946,0.000
$DEVICE_MAMPS,226.265,59.826,743.990,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,425.410,363.658,1245.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34955,626
$CAP_FILE_SIZE,99883,0
$CFSIZE,260165632,236441600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050613,182100,2107.647,-15751.987,16,1.2,16,9.8