version: 66.06
glider: 523
mission: 4
dive: 28
start: 4 28 113 2 10 16
data:
$ID,523
$MISSION,4
$DIVE,28
$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,300
$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,-36452.656
$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,2640
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,32
$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
$GPS1,020417,2106.898,-15749.650,23,0.8,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.1
$GPS2,020959,2106.935,-15749.645,15,0.8,15,9.8
$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,90.3,11806,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.15,0.000,2,0.000,0.000,26,1935,3377,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-6.2,12,113,9.43,2.28,-0.32,0.000,4,0.233,0.065,2381,3367,3392,0,0,0,0,0,0
$GC,225,-0.74,-146.0,32.8,-19.1,35,231,0.00,2.15,0.00,0.000,6,0.000,0.043,2380,1990,3394,0,0,0,0,0,0
$GC,564,-0.74,-146.0,85.4,-14.5,94,568,0.00,2.28,0.00,0.000,4,0.000,0.057,2381,541,3397,0,0,0,0,0,0
$GC,812,-0.74,-146.0,123.1,-14.7,116,819,0.00,2.17,0.00,0.000,6,0.000,0.036,2372,1960,3397,0,0,0,0,0,0
$GC,1139,-0.74,-146.0,169.3,-13.7,147,1146,0.12,2.25,0.00,0.000,4,0.163,0.052,2405,543,3397,0,0,0,0,0,0
$GC,1396,-0.74,-146.0,198.1,-10.4,170,1400,0.00,2.17,0.00,0.000,6,0.000,0.037,2397,1975,3398,0,0,0,0,0,0
$GC,1725,-0.74,-146.0,225.6,-8.6,186,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1977,3399,0,0,0,0,0,0
$GC,2034,-0.74,-146.0,255.2,-9.3,201,2038,0.00,2.17,0.00,0.000,4,0.000,0.056,2387,3367,3399,0,0,0,0,0,0
$GC,2089,-0.74,-146.0,260.7,-9.5,203,2095,0.00,2.17,0.00,0.000,6,0.000,0.042,2387,1956,3399,0,0,0,0,0,0
$GC,2407,-0.74,-146.0,290.3,-10.9,219,2411,0.00,2.22,0.00,0.000,4,0.000,0.058,2387,546,3399,0,0,0,0,0,0
$GC,2539,-0.74,-146.0,306.5,-13.7,224,2543,0.00,2.15,0.00,0.000,6,0.000,0.041,2376,1968,3399,0,0,0,0,0,0
$GC,2865,-0.74,-146.0,343.5,-10.3,232,2869,0.00,2.25,0.00,0.000,4,0.000,0.059,2377,554,3398,0,0,0,0,0,0
$GC,2921,-0.74,-146.0,349.1,-9.7,233,2926,0.12,2.17,0.00,0.000,6,0.169,0.044,2400,1970,3398,0,0,0,0,0,0
$GC,3236,-0.74,-146.0,366.0,-4.6,241,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1970,3396,0,0,0,0,0,0
$GC,3559,-0.74,-146.0,382.5,-5.5,249,3563,0.00,2.15,0.00,0.000,4,0.000,0.058,2392,3364,3395,0,0,0,0,0,0
$GC,3684,-0.74,-146.0,393.2,-9.5,251,3690,0.00,2.17,0.00,0.000,6,0.000,0.042,2391,1960,3395,0,0,0,0,0,0
$GC,4016,-0.74,-146.0,419.4,-7.7,260,4020,0.00,2.22,0.00,0.000,4,0.000,0.066,2392,555,3392,0,0,0,0,0,0
$GC,4211,-0.74,-146.0,436.4,-8.8,264,4215,0.00,2.15,0.00,0.000,6,0.000,0.047,2381,1957,3390,0,0,0,0,0,0
$STATE,4388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4389,begin apogee
$GC,4395,-0.17,0.0,451.2,8.3,269,4515,0.62,0.00,117.43,0.795,6,0.123,0.000,2586,1957,2800,0,0,0,0,0,0
$STATE,4516,end apogee,CONTROL_FINISHED_OK
$STATE,4516,begin climb
$GC,4519,0.74,146.0,454.0,0.0,272,4653,0.82,2.38,124.78,0.766,4,0.077,0.054,2872,3388,2203,0,0,0,0,0,0
$GC,4665,0.74,146.0,441.5,11.9,275,4669,0.00,2.30,0.00,0.000,6,0.000,0.046,2882,1980,2201,0,0,0,0,0,0
$GC,5001,0.74,146.0,399.9,12.0,284,5005,0.00,2.28,0.00,0.000,4,0.000,0.061,2892,565,2195,0,0,0,0,0,0
$GC,5090,0.74,146.0,388.8,13.9,286,5094,0.00,2.25,0.00,0.000,6,0.000,0.048,2892,1989,2194,0,0,0,0,0,0
$GC,5408,0.74,146.0,342.2,14.5,294,5412,0.00,2.17,0.00,0.000,4,0.000,0.057,2892,3382,2193,0,0,0,0,0,0
$GC,5514,0.74,146.0,326.9,14.3,296,5518,0.00,2.25,0.00,0.000,6,0.000,0.054,2902,1978,2192,0,0,0,0,0,0
$GC,5837,0.74,146.0,281.2,14.2,307,5841,0.00,2.22,0.00,0.000,4,0.000,0.061,2912,562,2190,0,0,0,0,0,0
$GC,6000,0.74,146.0,256.5,15.2,314,6005,0.12,2.17,0.00,0.000,6,0.156,0.042,2879,1983,2189,0,0,0,0,0,0
$GC,6327,0.74,146.0,218.0,11.2,330,6331,0.00,2.15,0.00,0.000,4,0.000,0.055,2879,3382,2189,0,0,0,0,0,0
$GC,6388,0.74,146.0,210.5,11.8,332,6393,0.00,2.17,0.00,0.000,6,0.000,0.044,2886,1968,2188,0,0,0,0,0,0
$GC,6714,0.74,146.0,174.2,10.8,358,6718,0.00,2.17,0.00,0.000,4,0.000,0.061,2897,568,2188,0,0,0,0,0,0
$GC,6798,0.74,146.0,164.0,12.0,365,6802,0.00,2.15,0.00,0.000,6,0.000,0.041,2897,1980,2187,0,0,0,0,0,0
$GC,7124,0.74,146.0,124.4,11.2,395,7128,0.00,2.17,0.00,0.000,4,0.000,0.055,2896,3388,2187,0,0,0,0,0,0
$GC,7188,0.74,146.0,117.2,11.7,400,7191,0.00,2.15,0.00,0.000,6,0.000,0.041,2907,1974,2187,0,0,0,0,0,0
$GC,7516,0.75,157.9,85.8,8.5,430,7529,0.00,2.28,8.70,0.498,4,0.000,0.059,2915,559,2155,0,0,0,0,0,0
$GC,7555,0.78,184.3,82.6,7.9,433,7583,0.00,2.15,23.42,0.536,6,0.000,0.039,2915,1978,2048,0,0,0,0,0,0
$GC,7912,0.78,184.3,51.1,10.8,494,7920,0.00,2.22,0.00,0.000,4,0.000,0.053,2915,3384,2044,0,0,0,0,0,0
$GC,8002,0.78,184.3,41.1,11.1,510,8008,0.08,2.20,0.00,0.000,6,0.133,0.041,2897,1974,2045,0,0,0,0,0,0
$GC,8328,0.78,184.3,10.0,10.3,571,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1974,2044,0,0,0,0,0,0
$STATE,8405,end climb,SURFACE_DEPTH_REACHED
$STATE,8405,begin surface coast
$FINISH,0.3,1.011113
$STATE,8437,end surface coast,CONTROL_FINISHED_OK
$STATE,8438,begin surface
$SM_CCo,8455,50.78,0.459,0,0,1575,300.24
$SM_GC,1.02,0.00,0.00,50.78,0.000,0.000,0.459,36,1971,1575,-8.14,0.31,300.24
$IRIDIUM_FIX,2059.45,-15741.46,220702,232334
$TT8_MAMPS,0.027612
$HUMID,60.63
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.6,2.807
$10V_AH,10.6,3.024
$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,18.525,75.000,274.325,50.775,0.000,30.573,38.387,150.324,19.250,0.000,16.054,1094.634,4931.143,375.764,2003.203,444.631,0.000,1086.419,0.000,1958.443,0.000,117.244,0.000
$DEVICE_MAMPS,233.168,65.962,795.379,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.535,335.134,1142.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,31819,591
$CAP_FILE_SIZE,93470,0
$CFSIZE,260165632,253775872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280413,043322,2106.700,-15749.201,41,0.8,41,9.8