version: 66.06
glider: 523
mission: 4
dive: 345
start: 5 31 113 11 21 34
data:
$ID,523
$MISSION,4
$DIVE,345
$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,285
$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,-42673.168
$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,2660
$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,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,2900
$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
$GPS1,111533,2109.632,-15756.189,25,1.2,27,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-76.0
$GPS2,112117,2109.648,-15756.178,16,1.0,16,9.8
$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,97.4,23986,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,89,0.00,0.00,-69.10,0.000,2,0.000,0.000,50,1974,3374,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.4,-5.4,11,114,9.65,2.35,-2.60,0.000,4,0.232,0.072,2413,547,3498,0,0,0,0,0,0
$GC,133,-0.74,-146.0,16.7,-31.9,17,141,0.00,2.20,0.00,0.000,6,0.000,0.037,2405,1961,3498,0,0,0,0,0,0
$GC,302,-0.74,-146.0,48.1,-17.9,48,309,0.00,2.25,0.00,0.000,4,0.000,0.057,2394,3355,3499,0,0,0,0,0,0
$GC,370,-0.74,-146.0,59.9,-14.9,60,377,0.08,2.25,0.00,0.000,6,0.135,0.047,2420,1961,3500,0,0,0,0,0,0
$GC,707,-0.74,-146.0,100.1,-10.5,105,711,0.00,2.25,0.00,0.000,4,0.000,0.057,2420,542,3501,0,0,0,0,0,0
$GC,846,-0.74,-146.0,117.3,-12.7,117,850,0.00,2.12,0.00,0.000,6,0.000,0.033,2412,1962,3501,0,0,0,0,0,0
$GC,1173,-0.74,-146.0,153.6,-10.4,147,1177,0.00,2.28,0.00,0.000,4,0.000,0.051,2411,533,3502,0,0,0,0,0,0
$GC,1314,-0.74,-146.0,169.8,-10.8,159,1325,0.00,2.17,0.00,0.000,6,0.000,0.035,2402,1954,3502,0,0,0,0,0,0
$GC,1642,-0.74,-146.0,199.6,-8.6,190,1647,0.00,2.25,0.00,0.000,4,0.000,0.051,2402,531,3503,0,0,0,0,0,0
$GC,1803,-0.74,-146.0,213.7,-8.5,198,1807,0.00,2.17,0.00,0.000,6,0.000,0.035,2392,1970,3503,0,0,0,0,0,0
$GC,2124,-0.74,-146.0,244.1,-10.8,214,2129,0.10,2.17,0.00,0.000,4,0.176,0.054,2409,3356,3503,0,0,0,0,0,0
$GC,2203,-0.74,-146.0,251.3,-8.6,217,2208,0.00,2.20,0.00,0.000,6,0.000,0.043,2409,1947,3503,0,0,0,0,0,0
$GC,2522,-0.74,-146.0,279.1,-8.4,233,2526,0.00,2.20,0.00,0.000,4,0.000,0.054,2409,551,3503,0,0,0,0,0,0
$GC,2782,-0.74,-146.0,301.4,-8.2,244,2787,0.00,2.15,0.00,0.000,6,0.000,0.036,2400,1962,3502,0,0,0,0,0,0
$GC,3115,-0.74,-146.0,328.1,-8.5,253,3120,0.00,2.25,0.00,0.000,4,0.000,0.055,2400,550,3503,0,0,0,0,0,0
$GC,3267,-0.74,-146.0,341.0,-7.7,256,3272,0.12,2.15,0.00,0.000,6,0.156,0.038,2426,1968,3502,0,0,0,0,0,0
$GC,3612,-0.74,-146.0,362.5,-5.7,265,3616,0.00,2.28,0.00,0.000,4,0.000,0.058,2426,553,3500,0,0,0,0,0,0
$GC,3737,-0.74,-146.0,370.9,-5.2,267,3741,0.00,2.15,0.00,0.000,6,0.000,0.038,2419,1965,3499,0,0,0,0,0,0
$GC,4069,-0.74,-146.0,391.5,-6.7,275,4073,0.00,2.30,0.00,0.000,4,0.000,0.060,2419,552,3497,0,0,0,0,0,0
$GC,4125,-0.74,-146.0,395.8,-7.5,276,4129,0.00,2.17,0.00,0.000,6,0.000,0.041,2410,1964,3497,0,0,0,0,0,0
$GC,4439,-0.74,-146.0,418.9,-7.7,284,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1965,3495,0,0,0,0,0,0
$GC,4764,-0.74,-146.0,445.7,-8.2,292,4769,0.00,2.30,0.00,0.000,4,0.000,0.063,2410,549,3492,0,0,0,0,0,0
$STATE,4813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4813,begin apogee
$GC,4822,-0.17,0.0,450.4,8.5,293,4944,0.60,0.00,118.85,0.773,6,0.114,0.000,2599,1980,2900,0,0,0,0,0,0
$STATE,4945,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4948,0.74,146.0,453.2,0.0,296,5085,0.82,2.40,125.22,0.748,4,0.068,0.055,2892,3391,2303,0,0,0,0,0,0
$GC,5118,0.74,146.0,437.5,13.5,300,5123,0.00,2.30,0.00,0.000,6,0.000,0.047,2902,1983,2299,0,0,0,0,0,0
$GC,5437,0.74,146.0,396.8,12.3,308,5441,0.00,2.33,0.00,0.000,4,0.000,0.070,2912,572,2294,0,0,0,0,0,0
$GC,5493,0.74,146.0,390.0,12.5,309,5497,0.00,2.20,0.00,0.000,6,0.000,0.042,2912,1983,2293,0,0,0,0,0,0
$GC,5840,0.74,146.0,341.5,14.1,318,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1983,2292,0,0,0,0,0,0
$GC,6145,0.74,146.0,294.1,15.3,326,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1983,2291,0,0,0,0,0,0
$GC,6455,0.74,146.0,251.9,12.1,341,6459,0.00,2.33,0.00,0.000,4,0.000,0.064,2922,568,2289,0,0,0,0,0,0
$GC,6482,0.74,146.0,248.6,12.2,342,6486,0.00,2.17,0.00,0.000,6,0.000,0.041,2922,1983,2289,0,0,0,0,0,0
$GC,6803,0.74,146.0,208.1,12.9,358,6807,0.00,2.17,0.00,0.000,4,0.000,0.051,2922,3389,2288,0,0,0,0,0,0
$GC,6858,0.74,146.0,199.1,16.9,360,6865,0.12,2.17,0.00,0.000,6,0.164,0.038,2899,1973,2288,0,0,0,0,0,0
$GC,7186,0.74,146.0,162.5,10.1,391,7190,0.00,2.22,0.00,0.000,4,0.000,0.057,2907,576,2286,0,0,0,0,0,0
$GC,7216,0.74,146.0,159.0,11.4,393,7220,0.00,2.17,0.00,0.000,6,0.000,0.041,2907,1978,2286,0,0,0,0,0,0
$GC,7543,0.74,146.0,121.7,10.9,423,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1979,2286,0,0,0,0,0,0
$GC,7864,0.74,146.0,90.8,9.4,453,7867,0.00,2.20,0.00,0.000,4,0.000,0.052,2907,3393,2286,0,0,0,0,0,0
$GC,7958,0.74,146.0,81.6,10.0,461,7962,0.00,2.20,0.00,0.000,6,0.000,0.041,2916,1981,2286,0,0,0,0,0,0
$GC,8289,0.76,162.2,52.6,8.4,520,8308,0.00,2.28,12.18,0.465,4,0.000,0.052,2917,3383,2237,0,0,0,0,0,0
$GC,8355,0.76,162.2,45.9,11.0,531,8360,0.00,2.17,0.00,0.000,6,0.000,0.044,2926,1982,2237,0,0,0,0,0,0
$GC,8683,0.76,166.7,15.2,8.8,592,8691,0.00,0.00,5.40,0.372,6,0.000,0.000,2926,1981,2219,0,0,0,0,0,0
$STATE,8819,end climb,SURFACE_DEPTH_REACHED
$STATE,8822,begin surface coast
$FINISH,0.5,1.010480
$STATE,8855,end surface coast,CONTROL_FINISHED_OK
$STATE,8855,begin surface
$SM_CCo,8873,51.78,0.438,0,0,1737,285.03
$SM_GC,1.39,0.00,0.00,51.78,0.000,0.000,0.438,45,1976,1737,-8.17,0.57,285.03
$IRIDIUM_FIX,2101.76,-15753.03,250802,080846
$TT8_MAMPS,0.028379
$HUMID,64.17
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.6,28.248
$10V_AH,10.5,31.027
$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,18.800,80.225,261.650,51.775,0.000,23.023,35.318,156.110,19.250,0.000,17.136,1159.314,5201.784,366.330,2084.071,457.740,0.000,1092.066,0.000,2034.068,0.000,119.517,0.000
$DEVICE_MAMPS,231.634,72.098,773.136,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,424.526,352.291,1237.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,34991,624
$CAP_FILE_SIZE,97985,0
$CFSIZE,260165632,238784512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310513,135111,2109.693,-15755.072,12,2.0,12,9.8