version: 66.06
glider: 523
mission: 4
dive: 32
start: 4 28 113 12 10 40
data:
$ID,523
$MISSION,4
$DIVE,32
$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,-36529.789
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,120454,2106.087,-15745.643,14,1.4,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-76.8
$GPS2,121024,2106.121,-15745.612,21,1.1,21,9.8
$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,87.2,4690,-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,-78.28,0.000,6,0.000,0.000,33,1973,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.5,13,118,9.50,2.17,0.00,0.000,4,0.236,0.048,2385,3363,3395,0,0,0,0,0,0
$GC,277,-0.74,-146.0,41.4,-16.8,45,282,0.00,2.20,0.00,0.000,6,0.000,0.044,2385,1958,3396,0,0,0,0,0,0
$GC,612,-0.74,-146.0,88.2,-12.0,101,616,0.00,2.25,0.00,0.000,4,0.000,0.056,2376,3364,3398,0,0,0,0,0,0
$GC,721,-0.74,-146.0,104.2,-14.0,110,728,0.00,2.22,0.00,0.000,6,0.000,0.044,2376,1962,3399,0,0,0,0,0,0
$GC,1048,-0.74,-146.0,152.1,-15.1,141,1052,0.00,2.20,0.00,0.000,4,0.000,0.053,2376,545,3400,0,0,0,0,0,0
$GC,1278,-0.74,-146.0,181.3,-11.8,161,1285,0.08,2.17,0.00,0.000,6,0.155,0.035,2390,1966,3400,0,0,0,0,0,0
$GC,1610,-0.74,-146.0,212.2,-9.4,187,1614,0.00,2.25,0.00,0.000,4,0.000,0.054,2391,549,3401,0,0,0,0,0,0
$GC,1654,-0.74,-146.0,217.0,-10.6,189,1658,0.00,2.15,0.00,0.000,6,0.000,0.038,2382,1962,3401,0,0,0,0,0,0
$GC,1975,-0.74,-146.0,250.5,-10.3,205,1979,0.00,2.20,0.00,0.000,4,0.000,0.056,2373,3362,3401,0,0,0,0,0,0
$GC,2093,-0.74,-146.0,262.6,-9.6,210,2097,0.00,2.17,0.00,0.000,6,0.000,0.041,2372,1953,3401,0,0,0,0,0,0
$GC,2408,-0.74,-146.0,293.3,-10.2,225,2412,0.00,2.20,0.00,0.000,4,0.000,0.059,2373,557,3401,0,0,0,0,0,0
$GC,2637,-0.74,-146.0,316.8,-9.8,232,2642,0.15,2.12,0.00,0.000,6,0.163,0.041,2404,1960,3400,0,0,0,0,0,0
$GC,2954,-0.74,-146.0,342.1,-8.2,240,2958,0.00,2.17,0.00,0.000,4,0.000,0.056,2395,3367,3399,0,0,0,0,0,0
$GC,3049,-0.74,-146.0,349.8,-7.9,242,3053,0.00,2.15,0.00,0.000,6,0.000,0.041,2395,1954,3399,0,0,0,0,0,0
$GC,3369,-0.74,-146.0,372.1,-7.0,250,3373,0.00,2.20,0.00,0.000,4,0.000,0.064,2394,552,3397,0,0,0,0,0,0
$GC,3623,-0.74,-146.0,394.8,-9.2,255,3627,0.00,2.15,0.00,0.000,6,0.000,0.044,2385,1969,3396,0,0,0,0,0,0
$GC,3960,-0.74,-146.0,422.7,-7.9,264,3964,0.00,2.25,0.00,0.000,4,0.000,0.061,2385,558,3394,0,0,0,0,0,0
$GC,4021,-0.74,-146.0,428.6,-9.5,265,4026,0.00,2.17,0.00,0.000,6,0.000,0.046,2376,1960,3394,0,0,0,0,0,0
$STATE,4286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4286,begin apogee
$GC,4293,-0.17,0.0,451.0,8.3,272,4414,0.65,0.00,118.07,0.792,6,0.125,0.000,2587,1961,2799,0,0,0,0,0,0
$STATE,4415,end apogee,CONTROL_FINISHED_OK
$STATE,4415,begin climb
$GC,4417,0.74,146.0,452.6,0.0,275,4552,0.85,2.38,124.88,0.763,4,0.076,0.062,2891,577,2202,0,0,0,0,0,0
$GC,4621,0.74,146.0,429.8,15.0,279,4626,0.00,2.28,0.00,0.000,6,0.000,0.046,2891,1974,2198,0,0,0,0,0,0
$GC,4952,0.74,146.0,382.6,13.8,288,4956,0.00,2.33,0.00,0.000,4,0.000,0.067,2900,569,2195,0,0,0,0,0,0
$GC,5029,0.74,146.0,371.7,14.0,289,5035,0.00,2.25,0.00,0.000,6,0.000,0.047,2900,1979,2193,0,0,0,0,0,0
$GC,5361,0.74,146.0,326.3,13.6,298,5365,0.00,2.20,0.00,0.000,4,0.000,0.058,2900,3389,2191,0,0,0,0,0,0
$GC,5405,0.74,146.0,319.5,14.7,299,5410,0.12,2.22,0.00,0.000,6,0.163,0.045,2876,1974,2190,0,0,0,0,0,0
$GC,5726,0.74,146.0,278.3,12.9,311,5730,0.00,2.20,0.00,0.000,4,0.000,0.061,2885,569,2190,0,0,0,0,0,0
$GC,5833,0.74,146.0,265.8,11.2,316,5837,0.00,2.17,0.00,0.000,6,0.000,0.044,2885,1984,2189,0,0,0,0,0,0
$GC,6159,0.74,146.0,227.2,12.2,332,6163,0.00,2.15,0.00,0.000,4,0.000,0.056,2885,3379,2189,0,0,0,0,0,0
$GC,6214,0.74,146.0,220.1,12.9,334,6219,0.00,2.17,0.00,0.000,6,0.000,0.044,2894,1964,2188,0,0,0,0,0,0
$GC,6536,0.74,146.0,176.0,13.3,357,6540,0.00,2.20,0.00,0.000,4,0.000,0.061,2904,563,2187,0,0,0,0,0,0
$GC,6630,0.74,146.0,164.4,11.2,365,6634,0.00,2.15,0.00,0.000,6,0.000,0.039,2904,1981,2187,0,0,0,0,0,0
$GC,6957,0.74,146.0,132.9,9.8,395,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1981,2187,0,0,0,0,0,0
$GC,7277,0.74,146.0,100.2,10.0,425,7281,0.00,2.22,0.00,0.000,4,0.000,0.056,2914,570,2187,0,0,0,0,0,0
$GC,7307,0.74,146.0,96.7,11.1,427,7311,0.12,2.12,0.00,0.000,6,0.142,0.039,2879,1975,2186,0,0,0,0,0,0
$GC,7638,0.78,183.7,66.8,7.5,471,7674,0.00,2.25,29.65,0.527,4,0.000,0.054,2879,3381,2050,0,0,0,0,0,0
$GC,7731,0.83,221.1,60.1,7.5,487,7771,0.00,2.22,31.67,0.512,6,0.000,0.047,2886,1972,1897,0,0,0,0,0,0
$GC,8096,0.83,221.1,32.2,10.2,554,8103,0.00,2.25,0.00,0.000,4,0.000,0.056,2896,570,1895,0,0,0,0,0,0
$GC,8133,0.83,221.1,28.4,11.3,560,8141,0.00,2.20,0.00,0.000,6,0.000,0.039,2896,1980,1895,0,0,0,0,0,0
$GC,8301,0.83,221.1,10.3,11.5,591,8309,0.00,2.25,0.00,0.000,4,0.000,0.054,2896,3380,1895,0,0,0,0,0,0
$GC,8328,0.83,221.1,7.2,11.6,595,8336,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,1977,1895,0,0,0,0,0,0
$STATE,8362,end climb,SURFACE_DEPTH_REACHED
$STATE,8362,begin surface coast
$FINISH,0.4,1.023577
$STATE,8390,end surface coast,CONTROL_FINISHED_OK
$STATE,8390,begin surface
$SM_CCo,8408,35.83,0.453,0,0,1575,300.24
$SM_GC,1.30,0.00,0.00,35.83,0.000,0.000,0.453,40,1973,1575,-8.13,0.37,300.24
$IRIDIUM_FIX,2059.45,-15743.60,230702,090947
$TT8_MAMPS,0.027612
$HUMID,60.23
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.6,3.126
$10V_AH,10.6,3.379
$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,18.800,83.875,304.275,35.825,0.000,34.735,32.550,136.080,19.250,0.000,21.445,1112.537,4807.277,387.051,2048.301,418.569,0.000,1130.753,0.000,1993.068,0.000,119.143,0.000
$DEVICE_MAMPS,236.236,66.729,792.311,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.414,339.910,1168.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34912,606
$CAP_FILE_SIZE,96570,0
$CFSIZE,260165632,253575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280413,143234,2105.246,-15745.612,31,0.8,31,9.8