version: 66.06
glider: 523
mission: 4
dive: 119
start: 5 7 113 15 41 46
data:
$ID,523
$MISSION,4
$DIVE,119
$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,-38248.895
$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,25
$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
$GPS1,153605,2106.917,-15753.668,28,1.0,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.7
$GPS2,154129,2106.940,-15753.678,13,1.4,13,9.8
$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,86.6,18707,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-78.38,0.000,6,0.000,0.000,31,1992,3393,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.1,13,117,9.48,2.35,0.00,0.000,4,0.232,0.051,2396,546,3395,0,0,0,0,0,0
$GC,292,-0.74,-146.0,48.5,-17.8,48,299,0.00,2.20,0.00,0.000,6,0.000,0.037,2388,1956,3396,0,0,0,0,0,0
$GC,632,-0.74,-146.0,101.8,-13.6,97,636,0.00,2.22,0.00,0.000,4,0.000,0.057,2377,3363,3397,0,0,0,0,0,0
$GC,684,-0.74,-146.0,108.1,-11.6,101,688,0.00,2.20,0.00,0.000,6,0.000,0.044,2377,1955,3398,0,0,0,0,0,0
$GC,1011,-0.74,-146.0,148.6,-12.9,131,1015,0.00,2.20,0.00,0.000,4,0.000,0.054,2378,543,3399,0,0,0,0,0,0
$GC,1141,-0.74,-146.0,164.0,-11.8,142,1146,0.12,2.12,0.00,0.000,6,0.175,0.034,2399,1970,3398,0,0,0,0,0,0
$GC,1473,-0.74,-146.0,196.6,-10.3,173,1477,0.00,2.25,0.00,0.000,4,0.000,0.051,2400,542,3400,0,0,0,0,0,0
$GC,1547,-0.74,-146.0,205.2,-11.4,177,1551,0.00,2.12,0.00,0.000,6,0.000,0.034,2393,1959,3400,0,0,0,0,0,0
$GC,1865,-0.74,-146.0,241.1,-11.2,192,1869,0.00,2.20,0.00,0.000,4,0.000,0.055,2381,3362,3400,0,0,0,0,0,0
$GC,2028,-0.74,-146.0,256.7,-8.2,199,2032,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,1957,3400,0,0,0,0,0,0
$GC,2351,-0.74,-146.0,281.4,-7.9,215,2355,0.00,2.22,0.00,0.000,4,0.000,0.055,2381,550,3400,0,0,0,0,0,0
$GC,2514,-0.74,-146.0,296.7,-9.3,222,2519,0.10,2.12,0.00,0.000,6,0.174,0.036,2398,1967,3400,0,0,0,0,0,0
$GC,2850,-0.74,-146.0,322.3,-7.5,231,2854,0.00,2.28,0.00,0.000,4,0.000,0.058,2398,544,3399,0,0,0,0,0,0
$GC,3097,-0.74,-146.0,340.7,-7.6,236,3101,0.00,2.15,0.00,0.000,6,0.000,0.038,2390,1968,3399,0,0,0,0,0,0
$GC,3440,-0.74,-146.0,362.7,-6.3,245,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1969,3397,0,0,0,0,0,0
$GC,3765,-0.74,-146.0,384.1,-6.6,253,3769,0.00,2.30,0.00,0.000,4,0.000,0.061,2390,550,3396,0,0,0,0,0,0
$GC,3804,-0.74,-146.0,387.2,-7.8,253,3809,0.00,2.15,0.00,0.000,6,0.000,0.042,2381,1963,3395,0,0,0,0,0,0
$GC,4135,-0.74,-146.0,408.9,-6.2,262,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1963,3393,0,0,0,0,0,0
$GC,4460,-0.74,-146.0,428.8,-6.5,270,4464,0.00,2.22,0.00,0.000,4,0.000,0.062,2371,3365,3391,0,0,0,0,0,0
$GC,4592,-0.74,-146.0,438.6,-8.0,273,4597,0.12,2.17,0.00,0.000,6,0.153,0.045,2404,1958,3390,0,0,0,0,0,0
$STATE,4792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4792,begin apogee
$GC,4799,-0.17,0.0,451.8,6.3,278,4919,0.55,0.00,117.78,0.796,6,0.122,0.000,2585,1957,2800,0,0,0,0,0,0
$STATE,4920,end apogee,CONTROL_FINISHED_OK
$STATE,4920,begin climb
$GC,4923,0.74,146.0,453.0,0.0,281,5055,0.82,2.40,125.47,0.762,4,0.077,0.064,2882,574,2203,0,0,0,0,0,0
$GC,5078,0.74,146.0,438.3,12.1,284,5083,0.00,2.28,0.00,0.000,6,0.000,0.041,2882,1974,2200,0,0,0,0,0,0
$GC,5409,0.74,146.0,395.8,13.2,293,5413,0.00,2.25,0.00,0.000,4,0.000,0.062,2882,3381,2195,0,0,0,0,0,0
$GC,5448,0.74,146.0,390.2,15.1,294,5452,0.00,2.22,0.00,0.000,6,0.000,0.043,2891,1974,2193,0,0,0,0,0,0
$GC,5772,0.74,146.0,343.4,14.5,302,5776,0.00,2.25,0.00,0.000,4,0.000,0.061,2902,565,2192,0,0,0,0,0,0
$GC,5866,0.74,146.0,329.9,13.1,304,5870,0.00,2.20,0.00,0.000,6,0.000,0.039,2902,1989,2191,0,0,0,0,0,0
$GC,6180,0.74,146.0,283.5,16.3,314,6185,0.00,2.28,0.00,0.000,4,0.000,0.059,2911,565,2190,0,0,0,0,0,0
$GC,6265,0.74,146.0,270.8,14.7,318,6270,0.12,2.17,0.00,0.000,6,0.155,0.039,2878,1977,2189,0,0,0,0,0,0
$GC,6592,0.74,146.0,231.3,11.5,334,6596,0.00,2.17,0.00,0.000,4,0.000,0.053,2878,3380,2188,0,0,0,0,0,0
$GC,6609,0.74,146.0,229.4,11.4,335,6613,0.00,2.20,0.00,0.000,6,0.000,0.041,2886,1962,2187,0,0,0,0,0,0
$GC,6935,0.74,146.0,194.0,11.0,353,6939,0.00,2.25,0.00,0.000,4,0.000,0.051,2886,3384,2187,0,0,0,0,0,0
$GC,6965,0.74,146.0,190.4,11.2,355,6969,0.00,2.17,0.00,0.000,6,0.000,0.041,2895,1976,2186,0,0,0,0,0,0
$GC,7294,0.74,146.0,152.9,11.1,385,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1976,2186,0,0,0,0,0,0
$GC,7622,0.74,146.0,117.4,10.8,416,7626,0.00,2.22,0.00,0.000,4,0.000,0.058,2906,567,2186,0,0,0,0,0,0
$GC,7687,0.74,146.0,109.4,12.2,421,7695,0.00,2.17,0.00,0.000,6,0.000,0.038,2906,1977,2186,0,0,0,0,0,0
$GC,8011,0.74,146.0,74.6,10.7,456,8019,0.00,2.17,0.00,0.000,4,0.000,0.051,2906,3377,2186,0,0,0,0,0,0
$GC,8088,0.74,146.0,66.6,10.5,469,8094,0.12,2.15,0.00,0.000,6,0.151,0.039,2879,1968,2186,0,0,0,0,0,0
$GC,8417,0.80,199.3,39.7,6.8,530,8470,0.00,2.30,42.30,0.491,4,0.000,0.055,2888,565,1985,0,0,0,0,0,0
$GC,8519,0.83,217.8,32.5,8.3,547,8544,0.00,2.17,16.65,0.461,6,0.000,0.037,2888,1991,1911,0,0,0,0,0,0
$STATE,8821,end climb,SURFACE_DEPTH_REACHED
$STATE,8821,begin surface coast
$FINISH,0.4,1.003405
$STATE,8850,end surface coast,CONTROL_FINISHED_OK
$STATE,8850,begin surface
$SM_CCo,8868,38.12,0.444,0,0,1575,300.24
$SM_GC,1.33,0.00,0.00,38.12,0.000,0.000,0.444,47,1993,1575,-8.11,0.93,300.24
$IRIDIUM_FIX,2101.76,-15753.03,010802,131307
$TT8_MAMPS,0.028379
$HUMID,62.20
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.6,10.075
$10V_AH,10.4,11.023
$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,18.725,79.725,302.200,38.125,0.000,23.667,33.453,144.477,19.000,0.000,14.351,1114.007,5289.638,404.099,1992.622,430.089,0.000,1107.451,0.000,1950.180,0.000,121.127,0.000
$DEVICE_MAMPS,232.401,64.428,796.146,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,413.528,335.656,1176.335,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,35024,609
$CAP_FILE_SIZE,94692,0
$CFSIZE,260165632,249475072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070513,181113,2106.811,-15752.695,21,0.7,22,9.8