version: 66.06
glider: 523
mission: 4
dive: 29
start: 4 28 113 4 38 58
data:
$ID,523
$MISSION,4
$DIVE,29
$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,-36469.383
$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,28
$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
$GPS1,043322,2106.700,-15749.201,41,0.8,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.2
$GPS2,043841,2106.783,-15749.177,15,0.9,15,9.8
$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,89.6,10962,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.90,0.000,6,0.000,0.000,36,1969,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.5,13,118,9.38,2.20,0.00,0.000,4,0.231,0.048,2383,3375,3396,0,0,0,0,0,0
$GC,355,-0.74,-146.0,55.2,-15.9,60,362,0.00,2.22,0.00,0.000,6,0.000,0.042,2383,1966,3398,0,0,0,0,0,0
$GC,687,-0.74,-146.0,103.9,-15.4,106,693,0.00,2.22,0.00,0.000,4,0.000,0.054,2383,540,3400,0,0,0,0,0,0
$GC,760,-0.74,-146.0,115.3,-14.2,112,767,0.08,2.17,0.00,0.000,6,0.157,0.037,2397,1960,3400,0,0,0,0,0,0
$GC,1087,-0.74,-146.0,154.6,-10.8,143,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1961,3401,0,0,0,0,0,0
$GC,1405,-0.74,-146.0,188.2,-10.1,173,1409,0.00,2.22,0.00,0.000,4,0.000,0.051,2397,537,3401,0,0,0,0,0,0
$GC,1580,-0.74,-146.0,206.4,-9.2,186,1584,0.00,2.15,0.00,0.000,6,0.000,0.037,2390,1970,3401,0,0,0,0,0,0
$GC,1904,-0.74,-146.0,235.8,-8.6,202,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1970,3402,0,0,0,0,0,0
$GC,2211,-0.74,-146.0,261.4,-7.6,217,2215,0.00,2.20,0.00,0.000,4,0.000,0.058,2379,3367,3402,0,0,0,0,0,0
$GC,2306,-0.74,-146.0,268.9,-7.6,221,2310,0.00,2.20,0.00,0.000,6,0.000,0.041,2378,1948,3401,0,0,0,0,0,0
$GC,2624,-0.74,-146.0,296.1,-9.1,236,2628,0.00,2.17,0.00,0.000,4,0.000,0.058,2378,550,3402,0,0,0,0,0,0
$GC,2668,-0.74,-146.0,301.0,-10.3,238,2672,0.12,2.15,0.00,0.000,6,0.170,0.042,2402,1963,3401,0,0,0,0,0,0
$GC,2988,-0.74,-146.0,323.6,-6.7,246,2992,0.00,2.25,0.00,0.000,4,0.000,0.061,2403,555,3400,0,0,0,0,0,0
$GC,3189,-0.74,-146.0,340.8,-8.7,250,3193,0.00,2.17,0.00,0.000,6,0.000,0.045,2395,1959,3398,0,0,0,0,0,0
$GC,3528,-0.74,-146.0,367.5,-8.1,259,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1959,3397,0,0,0,0,0,0
$GC,3850,-0.74,-146.0,394.6,-8.4,267,3855,0.00,2.22,0.00,0.000,4,0.000,0.061,2384,3370,3395,0,0,0,0,0,0
$GC,3969,-0.74,-146.0,403.6,-7.9,269,3973,0.00,2.20,0.00,0.000,6,0.000,0.045,2384,1962,3395,0,0,0,0,0,0
$GC,4312,-0.74,-146.0,429.8,-7.9,278,4319,0.00,2.25,0.00,0.000,4,0.000,0.067,2384,549,3392,0,0,0,0,0,0
$GC,4439,-0.74,-146.0,441.7,-9.3,280,4443,0.00,2.20,0.00,0.000,6,0.000,0.048,2374,1966,3391,0,0,0,0,0,0
$STATE,4565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4565,begin apogee
$GC,4571,-0.17,0.0,453.1,8.9,283,4692,0.65,0.00,117.60,0.797,6,0.124,0.000,2586,1966,2799,0,0,0,0,0,0
$STATE,4692,end apogee,CONTROL_FINISHED_OK
$STATE,4693,begin climb
$GC,4695,0.74,146.0,455.5,0.0,286,4826,0.82,0.00,124.78,0.767,6,0.077,0.000,2871,1966,2204,0,0,0,0,0,0
$GC,5142,0.74,146.0,405.4,12.1,297,5146,0.00,2.30,0.00,0.000,4,0.000,0.067,2881,567,2195,0,0,0,0,0,0
$GC,5208,0.74,146.0,397.5,11.8,298,5212,0.00,2.20,0.00,0.000,6,0.000,0.041,2881,1980,2194,0,0,0,0,0,0
$GC,5551,0.74,146.0,352.6,13.5,307,5555,0.00,2.20,0.00,0.000,4,0.000,0.054,2881,3387,2193,0,0,0,0,0,0
$GC,5596,0.74,146.0,345.6,16.3,308,5600,0.00,2.22,0.00,0.000,6,0.000,0.042,2891,1969,2192,0,0,0,0,0,0
$GC,5925,0.74,146.0,298.6,13.6,316,5929,0.00,2.25,0.00,0.000,4,0.000,0.061,2900,564,2191,0,0,0,0,0,0
$GC,6055,0.74,146.0,280.1,14.5,322,6059,0.00,2.22,0.00,0.000,6,0.000,0.048,2900,1979,2189,0,0,0,0,0,0
$GC,6381,0.74,146.0,232.8,15.1,338,6385,0.00,2.17,0.00,0.000,4,0.000,0.057,2900,3388,2189,0,0,0,0,0,0
$GC,6454,0.74,146.0,220.6,17.0,341,6458,0.12,2.20,0.00,0.000,6,0.161,0.043,2876,1971,2188,0,0,0,0,0,0
$GC,6777,0.74,146.0,182.9,9.5,363,6781,0.00,2.20,0.00,0.000,4,0.000,0.061,2885,562,2188,0,0,0,0,0,0
$GC,6840,0.74,146.0,176.2,10.9,368,6844,0.00,2.17,0.00,0.000,6,0.000,0.045,2885,1981,2187,0,0,0,0,0,0
$GC,7167,0.74,146.0,142.1,11.1,398,7170,0.00,2.17,0.00,0.000,4,0.000,0.056,2885,3379,2187,0,0,0,0,0,0
$GC,7220,0.74,146.0,135.6,11.5,402,7228,0.00,2.22,0.00,0.000,6,0.000,0.045,2893,1976,2186,0,0,0,0,0,0
$GC,7547,0.74,146.0,101.4,10.2,433,7551,0.00,2.20,0.00,0.000,4,0.000,0.059,2893,3378,2187,0,0,0,0,0,0
$GC,7568,0.74,146.0,98.7,10.9,434,7575,0.00,2.20,0.00,0.000,6,0.000,0.044,2900,1982,2187,0,0,0,0,0,0
$GC,7899,0.74,146.0,67.2,9.6,477,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1983,2187,0,0,0,0,0,0
$GC,8226,0.74,146.0,35.5,10.2,538,8233,0.00,2.25,0.00,0.000,4,0.000,0.058,2911,557,2188,0,0,0,0,0,0
$GC,8247,0.74,146.0,33.8,9.1,541,8253,0.12,2.17,0.00,0.000,6,0.143,0.041,2875,1982,2187,0,0,0,0,0,0
$GC,8570,0.79,190.6,8.8,7.2,602,8610,0.00,2.17,35.12,0.477,4,0.000,0.051,2875,3377,2021,0,0,0,0,0,0
$GC,8636,0.82,212.7,3.9,8.1,612,8651,0.00,2.22,10.30,0.429,2,0.000,0.041,2881,1969,1966,0,0,0,0,0,0
$STATE,8652,end climb,SURFACE_DEPTH_REACHED
$STATE,8652,begin surface coast
$FINISH,0.4,1.011536
$STATE,8685,end surface coast,CONTROL_FINISHED_OK
$STATE,8685,begin surface
$SM_CCo,8702,43.55,0.457,0,0,1575,300.24
$SM_GC,1.29,0.00,0.00,43.55,0.000,0.000,0.457,37,1966,1575,-8.14,0.17,300.24
$IRIDIUM_FIX,2057.14,-15741.46,230702,020259
$TT8_MAMPS,0.028379
$HUMID,61.53
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.6,2.886
$10V_AH,10.5,3.115
$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,18.550,75.000,287.800,43.550,0.000,29.699,34.263,134.036,19.000,0.000,16.097,1128.353,5100.741,374.529,2050.400,411.853,0.000,1095.820,0.000,2001.697,0.000,117.254,0.000
$DEVICE_MAMPS,230.867,67.496,796.913,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,421.538,350.028,1241.260,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,34902,620
$CAP_FILE_SIZE,94376,0
$CFSIZE,260165632,253718528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280413,070541,2106.649,-15748.251,18,1.0,18,9.8