version: 66.06
glider: 523
mission: 4
dive: 122
start: 5 7 113 23 23 46
data:
$ID,523
$MISSION,4
$DIVE,122
$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,-38329.621
$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,29
$R_STBD_OVSHOOT,31
$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
$GPS1,231430,2106.323,-15751.013,16,1.3,16,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-75.8
$GPS2,232330,2106.283,-15751.046,19,1.4,19,9.8
$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,83.7,14071,-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,-77.75,0.000,6,0.000,0.000,42,1965,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.2,13,118,9.45,2.20,0.00,0.000,4,0.234,0.044,2383,3366,3397,0,0,0,0,0,0
$GC,153,-0.74,-146.0,20.4,-25.9,21,161,0.00,2.25,0.00,0.000,6,0.000,0.044,2383,1956,3399,0,0,0,0,0,0
$GC,323,-0.74,-146.0,50.9,-17.7,52,330,0.00,2.28,0.00,0.000,4,0.000,0.058,2383,549,3398,0,0,0,0,0,0
$GC,408,-0.74,-146.0,66.4,-17.1,67,414,0.00,2.15,0.00,0.000,6,0.000,0.038,2374,1960,3398,0,0,0,0,0,0
$GC,743,-0.74,-146.0,111.9,-13.6,106,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1961,3400,0,0,0,0,0,0
$GC,1062,-0.74,-146.0,153.6,-11.3,136,1066,0.00,2.20,0.00,0.000,4,0.000,0.054,2364,3375,3401,0,0,0,0,0,0
$GC,1092,-0.74,-146.0,157.2,-11.8,138,1096,0.15,2.20,0.00,0.000,6,0.149,0.043,2404,1960,3402,0,0,0,0,0,0
$GC,1419,-0.74,-146.0,187.5,-8.8,168,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1960,3403,0,0,0,0,0,0
$GC,1732,-0.74,-146.0,216.7,-8.3,189,1736,0.00,2.22,0.00,0.000,4,0.000,0.054,2405,550,3402,0,0,0,0,0,0
$GC,1874,-0.74,-146.0,229.8,-8.0,195,1879,0.00,2.12,0.00,0.000,6,0.000,0.035,2397,1974,3403,0,0,0,0,0,0
$GC,2197,-0.74,-146.0,258.7,-8.8,211,2201,0.00,2.30,0.00,0.000,4,0.000,0.055,2397,541,3402,0,0,0,0,0,0
$GC,2264,-0.74,-146.0,265.2,-9.2,214,2268,0.00,2.12,0.00,0.000,6,0.000,0.038,2387,1959,3402,0,0,0,0,0,0
$GC,2589,-0.74,-146.0,290.4,-8.0,230,2593,0.00,2.25,0.00,0.000,4,0.000,0.057,2387,542,3402,0,0,0,0,0,0
$GC,2796,-0.74,-146.0,310.6,-10.6,237,2800,0.00,2.17,0.00,0.000,6,0.000,0.040,2378,1962,3402,0,0,0,0,0,0
$GC,3128,-0.74,-146.0,341.6,-9.1,245,3132,0.00,2.22,0.00,0.000,4,0.000,0.060,2367,3369,3400,0,0,0,0,0,0
$GC,3150,-0.74,-146.0,343.5,-7.9,245,3154,0.12,2.20,0.00,0.000,6,0.151,0.045,2401,1956,3400,0,0,0,0,0,0
$GC,3495,-0.74,-146.0,365.3,-6.5,254,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1956,3398,0,0,0,0,0,0
$GC,3819,-0.74,-146.0,390.6,-8.0,262,3823,0.00,2.22,0.00,0.000,4,0.000,0.065,2402,550,3396,0,0,0,0,0,0
$GC,3936,-0.74,-146.0,401.8,-9.2,264,3940,0.00,2.17,0.00,0.000,6,0.000,0.043,2394,1960,3395,0,0,0,0,0,0
$GC,4270,-0.74,-146.0,427.6,-7.5,272,4274,0.00,2.28,0.00,0.000,4,0.000,0.063,2393,548,3392,0,0,0,0,0,0
$GC,4394,-0.74,-146.0,437.5,-7.1,274,4400,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,1968,3392,0,0,0,0,0,0
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4609,-0.17,0.0,451.3,6.5,280,4730,0.62,0.00,118.40,0.787,6,0.126,0.000,2585,1969,2800,0,0,0,0,0,0
$STATE,4731,end apogee,CONTROL_FINISHED_OK
$STATE,4731,begin climb
$GC,4734,0.74,146.0,450.7,0.0,283,4863,0.85,0.00,125.88,0.755,6,0.080,0.000,2872,1969,2204,0,0,0,0,0,0
$GC,5169,0.74,146.0,387.0,15.4,294,5173,0.00,2.33,0.00,0.000,4,0.000,0.065,2882,571,2196,0,0,0,0,0,0
$GC,5208,0.74,146.0,381.5,13.3,295,5212,0.00,2.20,0.00,0.000,6,0.000,0.044,2882,1969,2195,0,0,0,0,0,0
$GC,5532,0.74,146.0,335.1,14.6,303,5536,0.00,2.20,0.00,0.000,4,0.000,0.053,2882,3389,2193,0,0,0,0,0,0
$GC,5572,0.74,146.0,329.2,15.9,304,5576,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1969,2192,0,0,0,0,0,0
$GC,5898,0.74,146.0,280.0,15.6,315,5902,0.00,2.22,0.00,0.000,4,0.000,0.060,2902,567,2190,0,0,0,0,0,0
$GC,5975,0.74,146.0,267.5,14.7,318,5981,0.00,2.17,0.00,0.000,6,0.000,0.038,2902,1992,2189,0,0,0,0,0,0
$GC,6291,0.74,146.0,222.4,15.2,334,6295,0.00,2.28,0.00,0.000,4,0.000,0.057,2912,559,2189,0,0,0,0,0,0
$GC,6357,0.74,146.0,211.3,17.0,337,6362,0.12,2.17,0.00,0.000,6,0.146,0.039,2878,1975,2188,0,0,0,0,0,0
$GC,6681,0.74,146.0,172.7,10.5,363,6685,0.00,2.25,0.00,0.000,4,0.000,0.058,2886,567,2187,0,0,0,0,0,0
$GC,6733,0.74,146.0,167.0,11.9,367,6737,0.00,2.15,0.00,0.000,6,0.000,0.038,2886,1981,2187,0,0,0,0,0,0
$GC,7060,0.74,146.0,132.8,9.8,397,7064,0.00,2.20,0.00,0.000,4,0.000,0.051,2886,3384,2187,0,0,0,0,0,0
$GC,7176,0.74,146.0,119.1,11.9,407,7180,0.00,2.17,0.00,0.000,6,0.000,0.040,2895,1967,2186,0,0,0,0,0,0
$GC,7503,0.77,171.2,82.9,8.0,437,7525,0.00,0.00,19.60,0.531,6,0.000,0.000,2895,1967,2101,0,0,0,0,0,0
$GC,7849,0.77,171.2,55.2,9.2,497,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1966,2099,0,0,0,0,0,0
$GC,8180,0.77,171.2,24.7,9.2,558,8187,0.00,2.22,0.00,0.000,4,0.000,0.055,2905,565,2099,0,0,0,0,0,0
$GC,8237,0.77,171.2,19.3,9.6,568,8244,0.00,2.17,0.00,0.000,6,0.000,0.035,2905,1981,2099,0,0,0,0,0,0
$GC,8404,0.77,171.2,3.3,10.0,599,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1981,2099,0,0,0,0,0,0
$STATE,8416,end climb,SURFACE_DEPTH_REACHED
$STATE,8416,begin surface coast
$FINISH,0.5,1.009422
$STATE,8445,end surface coast,CONTROL_FINISHED_OK
$STATE,8445,begin surface
$SM_CCo,8463,57.90,0.453,0,0,1575,300.24
$SM_GC,1.36,0.00,0.00,57.90,0.000,0.000,0.453,35,1982,1575,-8.14,0.62,300.24
$IRIDIUM_FIX,2054.83,-15748.75,010802,232314
$TT8_MAMPS,0.028379
$HUMID,60.98
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.6,10.312
$10V_AH,10.5,11.286
$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,18.650,70.750,263.875,57.900,0.000,55.355,71.307,211.268,19.000,0.000,19.937,1100.322,5032.072,413.012,1940.963,574.972,0.000,1059.040,0.000,1894.668,0.000,121.041,0.000
$DEVICE_MAMPS,233.935,65.195,786.942,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.455,344.365,1202.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,34897,606
$CAP_FILE_SIZE,92607,0
$CFSIZE,260165632,249339904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080513,014704,2106.107,-15750.798,38,0.7,38,9.8