version: 66.06
glider: 523
mission: 4
dive: 259
start: 5 22 113 7 33 24
data:
$ID,523
$MISSION,4
$DIVE,259
$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,-40957.406
$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,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
$GPS1,072428,2108.146,-15751.780,39,0.8,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.6
$GPS2,073305,2108.194,-15751.761,15,1.2,15,9.8
$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,96.3,15903,-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,-77.20,0.000,6,0.000,0.000,46,1970,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.5,13,118,9.55,2.20,0.00,0.000,4,0.232,0.047,2384,3368,3395,0,0,0,0,0,0
$GC,278,-0.74,-146.0,41.8,-16.7,45,284,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1954,3397,0,0,0,0,0,0
$GC,608,-0.74,-146.0,94.1,-13.4,97,612,0.00,2.22,0.00,0.000,4,0.000,0.054,2384,543,3398,0,0,0,0,0,0
$GC,664,-0.74,-146.0,101.6,-13.5,102,668,0.00,2.15,0.00,0.000,6,0.000,0.035,2375,1968,3398,0,0,0,0,0,0
$GC,991,-0.74,-146.0,147.3,-12.6,132,995,0.00,2.30,0.00,0.000,4,0.000,0.052,2375,544,3399,0,0,0,0,0,0
$GC,1164,-0.74,-146.0,168.5,-12.0,147,1169,0.12,2.12,0.00,0.000,6,0.167,0.034,2397,1966,3399,0,0,0,0,0,0
$GC,1491,-0.74,-146.0,197.1,-9.3,177,1495,0.00,2.25,0.00,0.000,4,0.000,0.051,2398,550,3400,0,0,0,0,0,0
$GC,1598,-0.74,-146.0,206.4,-8.7,183,1602,0.00,2.12,0.00,0.000,6,0.000,0.034,2390,1969,3400,0,0,0,0,0,0
$GC,1929,-0.74,-146.0,230.1,-6.7,199,1933,0.00,2.25,0.00,0.000,4,0.000,0.053,2389,550,3400,0,0,0,0,0,0
$GC,1946,-0.74,-146.0,231.6,-7.0,200,1950,0.00,2.12,0.00,0.000,6,0.000,0.037,2380,1959,3400,0,0,0,0,0,0
$GC,2273,-0.74,-146.0,257.4,-8.6,216,2277,0.00,2.20,0.00,0.000,4,0.000,0.056,2370,3370,3400,0,0,0,0,0,0
$GC,2336,-0.74,-146.0,263.7,-10.2,219,2341,0.12,2.22,0.00,0.000,6,0.153,0.043,2403,1952,3400,0,0,0,0,0,0
$GC,2663,-0.74,-146.0,290.8,-7.0,235,2667,0.00,2.25,0.00,0.000,4,0.000,0.058,2403,543,3399,0,0,0,0,0,0
$GC,2853,-0.74,-146.0,305.9,-9.2,242,2857,0.00,2.17,0.00,0.000,6,0.000,0.038,2395,1970,3399,0,0,0,0,0,0
$GC,3203,-0.74,-146.0,330.9,-6.7,251,3207,0.00,2.17,0.00,0.000,4,0.000,0.056,2384,3364,3397,0,0,0,0,0,0
$GC,3309,-0.74,-146.0,337.7,-6.0,253,3313,0.00,2.20,0.00,0.000,6,0.000,0.043,2384,1949,3397,0,0,0,0,0,0
$GC,3652,-0.74,-146.0,358.9,-6.3,262,3656,0.00,2.25,0.00,0.000,4,0.000,0.062,2384,548,3396,0,0,0,0,0,0
$GC,3911,-0.74,-146.0,382.0,-9.2,267,3915,0.00,2.17,0.00,0.000,6,0.000,0.040,2375,1965,3394,0,0,0,0,0,0
$GC,4246,-0.74,-146.0,411.2,-8.9,275,4249,0.00,2.22,0.00,0.000,4,0.000,0.058,2365,3371,3391,0,0,0,0,0,0
$GC,4279,-0.74,-146.0,414.5,-9.3,275,4283,0.12,2.22,0.00,0.000,6,0.153,0.043,2397,1948,3391,0,0,0,0,0,0
$GC,4612,-0.74,-146.0,438.8,-7.0,283,4616,0.00,2.25,0.00,0.000,4,0.000,0.064,2397,553,3389,0,0,0,0,0,0
$GC,4668,-0.74,-146.0,443.6,-8.9,284,4672,0.00,2.17,0.00,0.000,6,0.000,0.042,2390,1962,3388,0,0,0,0,0,0
$STATE,4770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4770,begin apogee
$GC,4776,-0.17,0.0,451.1,7.2,287,4897,0.60,0.00,118.12,0.779,6,0.123,0.000,2581,1962,2799,0,0,0,0,0,0
$STATE,4898,end apogee,CONTROL_FINISHED_OK
$STATE,4898,begin climb
$GC,4901,0.74,146.0,452.6,0.0,290,5033,0.85,0.00,125.00,0.749,6,0.077,0.000,2876,1962,2204,0,0,0,0,0,0
$GC,5352,0.74,146.0,394.4,14.2,301,5356,0.00,2.25,0.00,0.000,4,0.000,0.058,2876,3379,2197,0,0,0,0,0,0
$GC,5402,0.74,146.0,386.4,16.3,302,5406,0.00,2.25,0.00,0.000,6,0.000,0.048,2885,1979,2196,0,0,0,0,0,0
$GC,5726,0.74,146.0,335.7,15.7,310,5730,0.00,2.30,0.00,0.000,4,0.000,0.070,2896,559,2194,0,0,0,0,0,0
$GC,5843,0.74,146.0,316.5,16.2,312,5847,0.00,2.22,0.00,0.000,6,0.000,0.044,2896,1982,2193,0,0,0,0,0,0
$GC,6156,0.74,146.0,269.3,14.6,324,6160,0.00,2.17,0.00,0.000,4,0.000,0.052,2896,3394,2192,0,0,0,0,0,0
$GC,6219,0.74,146.0,260.1,13.7,327,6223,0.00,2.22,0.00,0.000,6,0.000,0.041,2906,1968,2191,0,0,0,0,0,0
$GC,6551,0.74,146.0,217.1,12.5,343,6555,0.00,2.22,0.00,0.000,4,0.000,0.060,2916,559,2190,0,0,0,0,0,0
$GC,6584,0.74,146.0,212.7,13.2,344,6589,0.15,2.20,0.00,0.000,6,0.142,0.043,2873,1995,2189,0,0,0,0,0,0
$GC,6908,0.74,146.0,178.4,9.8,368,6912,0.00,2.12,0.00,0.000,4,0.000,0.051,2874,3380,2189,0,0,0,0,0,0
$GC,6970,0.74,146.0,172.1,10.5,373,6974,0.00,2.15,0.00,0.000,6,0.000,0.040,2881,1975,2188,0,0,0,0,0,0
$GC,7297,0.75,160.0,140.2,8.5,403,7313,0.00,2.28,10.52,0.542,4,0.000,0.057,2892,562,2146,0,0,0,0,0,0
$GC,7423,0.75,160.0,127.4,10.2,414,7431,0.00,2.17,0.00,0.000,6,0.000,0.037,2893,1972,2144,0,0,0,0,0,0
$GC,7751,0.75,160.0,91.8,10.9,445,7755,0.00,2.20,0.00,0.000,4,0.000,0.051,2892,3388,2144,0,0,0,0,0,0
$GC,7846,0.75,160.0,80.8,12.2,453,7850,0.00,2.17,0.00,0.000,6,0.000,0.041,2902,1974,2144,0,0,0,0,0,0
$GC,8180,0.75,160.0,48.5,9.5,513,8185,0.00,2.20,0.00,0.000,4,0.000,0.048,2902,3386,2144,0,0,0,0,0,0
$GC,8205,0.75,160.0,46.1,9.6,517,8210,0.00,2.17,0.00,0.000,6,0.000,0.039,2912,1975,2144,0,0,0,0,0,0
$GC,8533,0.75,160.0,13.5,9.4,578,8541,0.00,2.22,0.00,0.000,4,0.000,0.056,2923,566,2145,0,0,0,0,0,0
$GC,8575,0.75,160.0,9.7,9.1,585,8583,0.10,2.17,0.00,0.000,6,0.107,0.037,2886,1977,2145,0,0,0,0,0,0
$STATE,8666,end climb,SURFACE_DEPTH_REACHED
$STATE,8666,begin surface coast
$FINISH,0.6,1.015328
$STATE,8706,end surface coast,CONTROL_FINISHED_OK
$STATE,8706,begin surface
$SM_CCo,8724,63.05,0.445,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,63.05,0.000,0.000,0.445,40,1981,1575,-8.13,0.59,300.24
$IRIDIUM_FIX,2104.07,-15758.18,160802,070707
$TT8_MAMPS,0.028379
$HUMID,61.97
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.7,21.281
$10V_AH,10.5,23.292
$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,18.875,88.225,253.650,63.050,0.000,44.847,71.268,205.885,19.000,0.000,15.483,1147.591,5136.477,376.977,2072.011,573.291,0.000,1107.546,0.000,2024.342,0.000,119.167,0.000
$DEVICE_MAMPS,232.401,69.797,779.272,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,414.654,354.487,1199.459,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34935,609
$CAP_FILE_SIZE,102326,0
$CFSIZE,260165632,242892800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220513,100047,2107.955,-15750.735,17,1.2,17,9.8