version: 66.06
glider: 523
mission: 4
dive: 33
start: 4 28 113 14 38 27
data:
$ID,523
$MISSION,4
$DIVE,33
$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,-36550.215
$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,20
$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
$GPS1,143234,2105.246,-15745.612,31,0.8,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.0
$GPS2,143811,2105.250,-15745.586,19,0.9,19,9.8
$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,67.4,4726,-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,-77.75,0.000,6,0.000,0.000,41,1967,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.2,13,118,9.40,2.20,0.00,0.000,4,0.232,0.048,2384,3370,3396,0,0,0,0,0,0
$GC,355,-0.74,-146.0,59.1,-18.4,60,362,0.00,2.28,0.00,0.000,6,0.000,0.046,2384,1951,3398,0,0,0,0,0,0
$GC,692,-0.74,-146.0,113.9,-16.2,103,696,0.00,2.25,0.00,0.000,4,0.000,0.056,2374,3363,3399,0,0,0,0,0,0
$GC,815,-0.74,-146.0,131.9,-13.6,114,819,0.00,2.20,0.00,0.000,6,0.000,0.044,2374,1956,3400,0,0,0,0,0,0
$GC,1143,-0.74,-146.0,176.4,-13.4,144,1147,0.00,2.17,0.00,0.000,4,0.000,0.052,2374,542,3401,0,0,0,0,0,0
$GC,1395,-0.74,-146.0,211.1,-12.3,162,1402,0.15,2.15,0.00,0.000,6,0.166,0.036,2404,1964,3401,0,0,0,0,0,0
$GC,1711,-0.74,-146.0,237.4,-7.6,178,1715,0.00,2.20,0.00,0.000,4,0.000,0.054,2404,550,3402,0,0,0,0,0,0
$GC,1831,-0.74,-146.0,247.0,-7.7,183,1835,0.00,2.12,0.00,0.000,6,0.000,0.038,2396,1959,3401,0,0,0,0,0,0
$GC,2153,-0.74,-146.0,274.4,-9.3,199,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1959,3402,0,0,0,0,0,0
$GC,2465,-0.74,-146.0,300.8,-8.6,214,2469,0.00,2.22,0.00,0.000,4,0.000,0.057,2396,544,3401,0,0,0,0,0,0
$GC,2633,-0.74,-146.0,314.8,-8.8,217,2639,0.00,2.15,0.00,0.000,6,0.000,0.041,2387,1960,3401,0,0,0,0,0,0
$GC,2964,-0.74,-146.0,344.3,-8.9,226,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1960,3400,0,0,0,0,0,0
$GC,3290,-0.74,-146.0,372.9,-8.7,234,3294,0.00,2.20,0.00,0.000,4,0.000,0.058,2377,3367,3398,0,0,0,0,0,0
$GC,3323,-0.74,-146.0,375.8,-8.7,234,3328,0.00,2.20,0.00,0.000,6,0.000,0.043,2377,1952,3398,0,0,0,0,0,0
$GC,3654,-0.74,-146.0,404.2,-8.9,243,3658,0.00,2.22,0.00,0.000,4,0.000,0.063,2377,544,3396,0,0,0,0,0,0
$GC,3699,-0.74,-146.0,408.6,-9.6,244,3704,0.12,2.17,0.00,0.000,6,0.173,0.045,2400,1967,3395,0,0,0,0,0,0
$GC,4021,-0.74,-146.0,431.6,-6.7,252,4025,0.00,2.28,0.00,0.000,4,0.000,0.062,2400,547,3394,0,0,0,0,0,0
$GC,4072,-0.74,-146.0,435.6,-7.6,253,4076,0.00,2.20,0.00,0.000,6,0.000,0.046,2392,1968,3393,0,0,0,0,0,0
$STATE,4301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4302,begin apogee
$GC,4308,-0.17,0.0,450.7,6.4,259,4429,0.57,0.00,117.62,0.790,6,0.123,0.000,2579,1969,2800,0,0,0,0,0,0
$STATE,4429,end apogee,CONTROL_FINISHED_OK
$STATE,4429,begin climb
$GC,4432,0.74,146.0,451.0,0.0,262,4564,0.88,2.40,125.32,0.759,4,0.077,0.062,2886,572,2202,0,0,0,0,0,0
$GC,4584,0.74,146.0,433.2,14.8,266,4588,0.00,2.30,0.00,0.000,6,0.000,0.045,2886,1971,2200,0,0,0,0,0,0
$GC,4908,0.74,146.0,381.5,15.4,274,4913,0.00,2.33,0.00,0.000,4,0.000,0.067,2895,561,2194,0,0,0,0,0,0
$GC,4942,0.74,146.0,376.3,15.9,274,4947,0.00,2.25,0.00,0.000,6,0.000,0.047,2895,1975,2194,0,0,0,0,0,0
$GC,5273,0.74,146.0,329.7,13.4,283,5277,0.00,2.22,0.00,0.000,4,0.000,0.055,2895,3393,2192,0,0,0,0,0,0
$GC,5323,0.74,146.0,322.8,13.9,284,5327,0.00,2.25,0.00,0.000,6,0.000,0.044,2905,1969,2191,0,0,0,0,0,0
$GC,5637,0.74,146.0,279.2,13.8,295,5641,0.00,2.22,0.00,0.000,4,0.000,0.061,2916,569,2190,0,0,0,0,0,0
$GC,5749,0.74,146.0,263.5,13.6,300,5754,0.15,2.20,0.00,0.000,6,0.153,0.042,2874,1986,2189,0,0,0,0,0,0
$GC,6070,0.74,146.0,230.8,10.2,316,6074,0.00,2.17,0.00,0.000,4,0.000,0.058,2874,3381,2188,0,0,0,0,0,0
$GC,6237,0.74,146.0,212.0,11.4,323,6243,0.00,2.15,0.00,0.000,6,0.000,0.043,2882,1976,2187,0,0,0,0,0,0
$GC,6563,0.74,146.0,177.8,10.5,349,6567,0.00,2.25,0.00,0.000,4,0.000,0.064,2882,3381,2187,0,0,0,0,0,0
$GC,6593,0.74,146.0,174.0,12.2,351,6598,0.00,2.22,0.00,0.000,6,0.000,0.052,2891,1973,2187,0,0,0,0,0,0
$GC,6922,0.74,146.0,137.8,11.2,381,6926,0.00,2.20,0.00,0.000,4,0.000,0.060,2902,564,2187,0,0,0,0,0,0
$GC,7059,0.74,146.0,121.8,10.4,393,7064,0.00,2.15,0.00,0.000,6,0.000,0.040,2902,1984,2186,0,0,0,0,0,0
$GC,7387,0.79,186.9,89.3,7.3,423,7425,0.00,2.25,32.45,0.544,4,0.000,0.052,2902,3384,2035,0,0,0,0,0,0
$GC,7488,0.79,186.9,79.0,11.2,432,7496,0.00,2.22,0.00,0.000,6,0.000,0.040,2911,1976,2034,0,0,0,0,0,0
$GC,7822,0.79,186.9,40.8,9.2,493,7827,0.00,2.20,0.00,0.000,4,0.000,0.056,2922,563,2033,0,0,0,0,0,0
$GC,7846,0.79,186.9,38.4,9.5,497,7852,0.00,2.17,0.00,0.000,6,0.000,0.040,2922,1976,2032,0,0,0,0,0,0
$GC,8168,0.79,186.9,3.9,12.0,558,8176,0.00,2.30,0.00,0.000,4,0.000,0.061,2932,569,2032,0,0,0,0,0,0
$STATE,8182,end climb,SURFACE_DEPTH_REACHED
$STATE,8182,begin surface coast
$FINISH,0.4,1.011246
$STATE,8204,end surface coast,CONTROL_FINISHED_OK
$STATE,8204,begin surface
$SM_CCo,8223,50.55,0.457,0,0,1575,300.24
$SM_GC,1.00,0.00,0.00,50.55,0.000,0.000,0.457,50,1975,1575,-8.10,0.42,300.24
$IRIDIUM_FIX,2101.76,-15743.60,230702,121240
$TT8_MAMPS,0.028379
$HUMID,60.71
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.6,3.205
$10V_AH,10.6,3.462
$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,18.625,79.875,275.400,50.550,0.000,27.207,33.634,149.172,19.000,0.000,19.795,1046.263,4884.088,400.461,1859.282,420.833,0.000,1055.260,0.000,1810.776,0.000,121.214,0.000
$DEVICE_MAMPS,232.401,66.729,790.010,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,383.796,324.421,1080.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31795,564
$CAP_FILE_SIZE,90071,0
$CFSIZE,260165632,253538304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280413,165718,2104.747,-15745.842,18,1.8,18,9.8