version: 66.06
glider: 523
mission: 4
dive: 339
start: 5 30 113 20 24 34
data:
$ID,523
$MISSION,4
$DIVE,339
$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,275
$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,-42551.594
$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,2650
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,2950
$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
$GPS1,201834,2108.537,-15800.729,36,0.8,36,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.0
$GPS2,202417,2108.587,-15800.821,14,1.0,14,9.8
$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,89.6,31358,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,89,0.00,0.00,-69.90,0.000,2,0.000,0.000,50,1942,3522,0,0,0,0,0,0
$GC,93,-0.74,-146.0,4.0,-6.5,11,108,9.60,2.30,-0.40,0.000,4,0.232,0.067,2401,548,3546,0,0,0,0,0,0
$GC,147,-0.74,-146.0,23.3,-25.4,20,155,0.00,2.20,0.00,0.000,6,0.000,0.037,2393,1962,3547,0,0,0,0,0,0
$GC,320,-0.74,-146.0,53.7,-15.9,51,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1962,3548,0,0,0,0,0,0
$GC,654,-0.74,-146.0,102.5,-12.9,98,658,0.00,2.25,0.00,0.000,4,0.000,0.052,2393,550,3550,0,0,0,0,0,0
$GC,696,-0.74,-146.0,108.7,-14.9,101,700,0.00,2.15,0.00,0.000,6,0.000,0.036,2383,1971,3550,0,0,0,0,0,0
$GC,1023,-0.74,-146.0,153.0,-12.5,131,1027,0.00,2.17,0.00,0.000,4,0.000,0.054,2373,3359,3550,0,0,0,0,0,0
$GC,1044,-0.74,-146.0,155.3,-12.0,132,1049,0.12,2.20,0.00,0.000,6,0.146,0.044,2407,1956,3550,0,0,0,0,0,0
$GC,1372,-0.74,-146.0,196.6,-12.4,162,1376,0.00,2.20,0.00,0.000,4,0.000,0.050,2408,548,3551,0,0,0,0,0,0
$GC,1472,-0.74,-146.0,210.8,-13.9,167,1478,0.00,2.12,0.00,0.000,6,0.000,0.033,2399,1964,3550,0,0,0,0,0,0
$GC,1790,-0.74,-146.0,244.2,-8.7,183,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1963,3551,0,0,0,0,0,0
$GC,2098,-0.74,-146.0,270.9,-9.3,198,2102,0.00,2.30,0.00,0.000,4,0.000,0.051,2399,542,3551,0,0,0,0,0,0
$GC,2222,-0.74,-146.0,284.1,-11.4,203,2228,0.00,2.12,0.00,0.000,6,0.000,0.035,2390,1954,3551,0,0,0,0,0,0
$GC,2538,-0.74,-146.0,316.9,-10.0,215,2542,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,3360,3551,0,0,0,0,0,0
$GC,2577,-0.74,-146.0,321.7,-11.0,215,2583,0.12,2.20,0.00,0.000,6,0.143,0.041,2415,1955,3551,0,0,0,0,0,0
$GC,2909,-0.74,-146.0,347.8,-6.8,224,2913,0.00,2.25,0.00,0.000,4,0.000,0.055,2415,537,3550,0,0,0,0,0,0
$GC,3167,-0.74,-146.0,364.8,-6.3,229,3173,0.00,2.17,0.00,0.000,6,0.000,0.037,2407,1963,3550,0,0,0,0,0,0
$GC,3501,-0.74,-146.0,387.7,-7.3,238,3505,0.00,2.30,0.00,0.000,4,0.000,0.058,2407,543,3547,0,0,0,0,0,0
$GC,3615,-0.74,-146.0,396.0,-6.6,240,3619,0.00,2.17,0.00,0.000,6,0.000,0.038,2398,1961,3547,0,0,0,0,0,0
$GC,3952,-0.74,-146.0,420.3,-7.3,249,3956,0.00,2.22,0.00,0.000,4,0.000,0.057,2387,3366,3545,0,0,0,0,0,0
$GC,3997,-0.74,-146.0,424.2,-9.1,250,4001,0.00,2.20,0.00,0.000,6,0.000,0.041,2387,1946,3544,0,0,0,0,0,0
$STATE,4315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4316,begin apogee
$GC,4322,-0.17,0.0,453.6,9.4,258,4444,0.65,0.00,118.55,0.766,6,0.118,0.000,2596,1946,2949,0,0,0,0,0,0
$STATE,4444,end apogee,CONTROL_FINISHED_OK
$STATE,4444,begin climb
$GC,4447,0.74,146.0,457.8,0.0,261,4578,0.80,0.00,123.97,0.742,6,0.064,0.000,2885,1945,2353,0,0,0,0,0,0
$GC,4894,0.74,146.0,404.1,13.7,272,4898,0.00,2.30,0.00,0.000,4,0.000,0.055,2885,3380,2344,0,0,0,0,0,0
$GC,4973,0.74,146.0,393.0,13.6,273,4979,0.00,2.25,0.00,0.000,6,0.000,0.049,2895,1978,2343,0,0,0,0,0,0
$GC,5304,0.74,146.0,347.3,13.8,282,5308,0.00,2.28,0.00,0.000,4,0.000,0.060,2906,565,2341,0,0,0,0,0,0
$GC,5399,0.74,146.0,334.0,13.9,284,5403,0.00,2.20,0.00,0.000,6,0.000,0.041,2906,1971,2340,0,0,0,0,0,0
$GC,5721,0.74,146.0,290.8,13.7,293,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1972,2339,0,0,0,0,0,0
$GC,6028,0.74,146.0,250.5,12.7,308,6032,0.00,2.22,0.00,0.000,4,0.000,0.053,2906,3397,2338,0,0,0,0,0,0
$GC,6167,0.74,146.0,233.1,14.7,314,6171,0.00,2.30,0.00,0.000,6,0.000,0.051,2916,1972,2337,0,0,0,0,0,0
$GC,6487,0.74,146.0,194.9,12.7,330,6491,0.00,2.25,0.00,0.000,4,0.000,0.059,2926,562,2336,0,0,0,0,0,0
$GC,6529,0.74,146.0,189.4,12.7,333,6534,0.15,2.22,0.00,0.000,6,0.143,0.042,2884,1993,2335,0,0,0,0,0,0
$GC,6856,0.74,146.0,155.3,9.8,363,6860,0.00,2.17,0.00,0.000,4,0.000,0.053,2884,3385,2335,0,0,0,0,0,0
$GC,6929,0.74,146.0,147.9,10.7,369,6933,0.00,2.22,0.00,0.000,6,0.000,0.047,2892,1976,2335,0,0,0,0,0,0
$GC,7256,0.75,153.6,119.3,8.7,399,7269,0.00,2.28,4.65,0.414,4,0.000,0.054,2892,3377,2323,0,0,0,0,0,0
$GC,7326,0.75,153.6,112.2,9.8,405,7330,0.00,2.17,0.00,0.000,6,0.000,0.044,2901,1979,2323,0,0,0,0,0,0
$GC,7655,0.75,153.6,80.4,10.5,435,7659,0.00,2.20,0.00,0.000,4,0.000,0.056,2912,569,2322,0,0,0,0,0,0
$GC,7709,0.75,153.6,74.0,12.0,444,7717,0.00,2.20,0.00,0.000,6,0.000,0.038,2912,1980,2322,0,0,0,0,0,0
$GC,8043,0.75,153.6,40.4,9.1,505,8048,0.00,2.17,0.00,0.000,4,0.000,0.051,2912,3396,2323,0,0,0,0,0,0
$GC,8089,0.75,154.5,36.4,9.0,513,8095,0.00,2.22,0.00,0.000,6,0.000,0.041,2922,1973,2323,0,0,0,0,0,0
$GC,8416,0.79,192.9,11.1,7.4,574,8456,0.00,2.28,34.55,0.448,4,0.000,0.050,2922,3396,2162,0,0,0,0,0,0
$STATE,8509,end climb,SURFACE_DEPTH_REACHED
$STATE,8509,begin surface coast
$FINISH,0.7,1.022962
$STATE,8538,end surface coast,CONTROL_FINISHED_OK
$STATE,8538,begin surface
$SM_CCo,8559,36.90,0.429,0,0,1826,275.22
$SM_GC,1.46,0.00,0.00,36.90,0.000,0.000,0.429,46,1945,1826,-8.14,-0.34,275.22
$IRIDIUM_FIX,2059.45,-15808.48,240802,181804
$TT8_MAMPS,0.027612
$HUMID,63.54
$INTERNAL_PRESSURE,9.42144
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.7,27.776
$10V_AH,10.5,30.489
$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,18.775,80.000,281.725,36.900,0.000,32.035,34.803,149.759,19.000,0.000,14.928,1100.058,5068.735,369.028,1951.857,449.138,0.000,1054.921,0.000,1905.710,0.000,119.333,0.000
$DEVICE_MAMPS,231.634,67.496,766.233,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.790,340.220,1176.376,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,31750,595
$CAP_FILE_SIZE,93390,0
$CFSIZE,260165632,239075328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300513,224857,2108.720,-15759.990,28,1.1,28,9.8