version: 66.06
glider: 523
mission: 4
dive: 350
start: 6 1 113 0 3 4
data:
$ID,523
$MISSION,4
$DIVE,350
$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,-42761.312
$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,24
$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,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
$GPS1,235658,2109.404,-15751.376,62,0.7,62,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.7
$GPS2,000247,2109.373,-15751.332,15,0.9,15,9.8
$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,104.6,15962,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-63.35,0.000,2,0.000,0.000,23,1980,3231,0,0,0,0,0,0
$GC,85,-0.74,-146.0,3.2,-4.9,10,106,9.62,2.33,-5.90,0.000,4,0.228,0.071,2415,547,3494,0,0,0,0,0,0
$GC,229,-0.74,-146.0,33.8,-19.3,36,237,0.00,2.17,0.00,0.000,6,0.000,0.036,2407,1954,3495,0,0,0,0,0,0
$GC,565,-0.74,-146.0,91.1,-14.6,90,569,0.00,2.17,0.00,0.000,4,0.000,0.054,2396,3358,3496,0,0,0,0,0,0
$GC,617,-0.74,-146.0,98.4,-14.1,94,621,0.00,2.25,0.00,0.000,6,0.000,0.046,2396,1952,3496,0,0,0,0,0,0
$GC,944,-0.74,-146.0,140.0,-10.8,124,951,0.00,2.22,0.00,0.000,4,0.000,0.055,2396,540,3497,0,0,0,0,0,0
$GC,1013,-0.74,-146.0,148.4,-11.8,130,1018,0.12,2.15,0.00,0.000,6,0.166,0.035,2419,1971,3498,0,0,0,0,0,0
$GC,1340,-0.74,-146.0,181.9,-10.8,160,1344,0.00,2.28,0.00,0.000,4,0.000,0.051,2420,540,3499,0,0,0,0,0,0
$GC,1436,-0.74,-146.0,192.5,-10.9,168,1440,0.00,2.15,0.00,0.000,6,0.000,0.035,2411,1958,3499,0,0,0,0,0,0
$GC,1764,-0.74,-146.0,224.1,-9.7,187,1768,0.00,2.28,0.00,0.000,4,0.000,0.052,2412,534,3499,0,0,0,0,0,0
$GC,1967,-0.74,-146.0,244.5,-8.8,196,1971,0.00,2.17,0.00,0.000,6,0.000,0.035,2402,1964,3499,0,0,0,0,0,0
$GC,2295,-0.74,-146.0,272.4,-9.0,212,2299,0.00,2.28,0.00,0.000,4,0.000,0.054,2402,538,3499,0,0,0,0,0,0
$GC,2507,-0.74,-146.0,291.8,-9.9,221,2513,0.00,2.17,0.00,0.000,6,0.000,0.037,2392,1961,3499,0,0,0,0,0,0
$GC,2820,-0.74,-146.0,319.4,-8.8,232,2826,0.10,2.33,0.00,0.000,4,0.176,0.057,2419,536,3499,0,0,0,0,0,0
$GC,2848,-0.74,-146.0,321.9,-8.2,232,2853,0.00,2.17,0.00,0.000,6,0.000,0.038,2410,1962,3499,0,0,0,0,0,0
$GC,3186,-0.74,-146.0,348.9,-8.4,241,3190,0.00,2.30,0.00,0.000,4,0.000,0.059,2411,541,3499,0,0,0,0,0,0
$GC,3331,-0.74,-146.0,361.3,-8.6,244,3335,0.00,2.17,0.00,0.000,6,0.000,0.039,2401,1958,3498,0,0,0,0,0,0
$GC,3680,-0.74,-146.0,387.7,-7.5,253,3684,0.00,2.28,0.00,0.000,4,0.000,0.061,2401,547,3496,0,0,0,0,0,0
$GC,3743,-0.74,-146.0,392.6,-7.4,254,3748,0.12,2.17,0.00,0.000,6,0.158,0.041,2426,1963,3495,0,0,0,0,0,0
$GC,4090,-0.74,-146.0,415.1,-6.8,263,4094,0.00,2.30,0.00,0.000,4,0.000,0.063,2427,538,3492,0,0,0,0,0,0
$GC,4235,-0.74,-146.0,426.5,-7.8,266,4240,0.00,2.17,0.00,0.000,6,0.000,0.042,2419,1955,3491,0,0,0,0,0,0
$GC,4586,-0.74,-146.0,446.7,-5.4,275,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1955,3488,0,0,0,0,0,0
$STATE,4663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4663,begin apogee
$GC,4669,-0.17,0.0,450.8,5.2,277,4790,0.57,0.00,118.05,0.774,6,0.114,0.000,2606,1955,2900,0,0,0,0,0,0
$STATE,4791,end apogee,CONTROL_FINISHED_OK
$STATE,4791,begin climb
$GC,4794,0.74,146.0,451.0,0.0,280,4931,0.85,2.42,125.30,0.747,4,0.066,0.054,2905,3389,2302,0,0,0,0,0,0
$GC,4970,0.74,146.0,430.6,15.9,284,4974,0.00,2.33,0.00,0.000,6,0.000,0.044,2914,1971,2299,0,0,0,0,0,0
$GC,5312,0.74,146.0,378.8,15.0,293,5316,0.00,2.28,0.00,0.000,4,0.000,0.060,2925,561,2294,0,0,0,0,0,0
$GC,5351,0.74,146.0,373.1,15.4,294,5356,0.00,2.25,0.00,0.000,6,0.000,0.042,2925,1989,2294,0,0,0,0,0,0
$GC,5676,0.74,146.0,325.2,14.8,302,5680,0.00,2.17,0.00,0.000,4,0.000,0.054,2925,3389,2293,0,0,0,0,0,0
$GC,5731,0.74,146.0,315.7,16.7,303,5736,0.15,2.22,0.00,0.000,6,0.164,0.041,2895,1969,2292,0,0,0,0,0,0
$GC,6062,0.74,146.0,269.2,13.8,316,6066,0.00,2.22,0.00,0.000,4,0.000,0.059,2903,573,2290,0,0,0,0,0,0
$GC,6134,0.74,146.0,259.7,12.9,319,6138,0.00,2.20,0.00,0.000,6,0.000,0.044,2903,1991,2289,0,0,0,0,0,0
$GC,6449,0.74,146.0,221.3,11.3,334,6453,0.00,2.17,0.00,0.000,4,0.000,0.052,2903,3389,2288,0,0,0,0,0,0
$GC,6516,0.74,146.0,213.6,12.9,337,6520,0.00,2.20,0.00,0.000,6,0.000,0.041,2913,1973,2288,0,0,0,0,0,0
$GC,6843,0.74,146.0,174.6,11.9,362,6847,0.00,2.25,0.00,0.000,4,0.000,0.057,2924,566,2287,0,0,0,0,0,0
$GC,6916,0.74,146.0,164.8,13.1,368,6920,0.00,2.17,0.00,0.000,6,0.000,0.038,2924,1994,2287,0,0,0,0,0,0
$GC,7243,0.74,146.0,125.2,11.0,398,7247,0.00,2.17,0.00,0.000,4,0.000,0.052,2924,3390,2287,0,0,0,0,0,0
$GC,7262,0.74,146.0,123.1,11.5,399,7266,0.12,2.20,0.00,0.000,6,0.167,0.040,2900,1979,2286,0,0,0,0,0,0
$GC,7588,0.74,146.0,92.0,10.3,429,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1979,2286,0,0,0,0,0,0
$GC,7910,0.76,168.6,60.3,8.1,478,7932,0.00,0.00,17.40,0.492,6,0.000,0.000,2901,1979,2210,0,0,0,0,0,0
$GC,8256,0.83,223.0,31.6,6.8,542,8306,0.00,0.00,46.03,0.477,6,0.000,0.000,2901,1979,1989,0,0,0,0,0,0
$GC,8467,0.83,223.0,15.3,10.6,580,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1979,1987,0,0,0,0,0,0
$STATE,8590,end climb,SURFACE_DEPTH_REACHED
$STATE,8590,begin surface coast
$FINISH,0.4,1.009043
$STATE,8620,end surface coast,CONTROL_FINISHED_OK
$STATE,8620,begin surface
$SM_CCo,8638,28.95,0.431,0,0,1737,285.03
$SM_GC,1.69,0.00,0.00,28.95,0.000,0.000,0.431,51,1973,1737,-8.16,0.45,285.03
$IRIDIUM_FIX,2057.14,-15756.04,250802,212114
$TT8_MAMPS,0.028379
$HUMID,64.56
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.6,28.638
$10V_AH,10.5,31.470
$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,19.000,75.800,306.775,28.950,0.000,28.794,35.067,156.707,19.250,0.000,15.506,1117.215,5043.207,370.875,2019.174,465.530,0.000,1080.649,0.000,1976.143,0.000,117.246,0.000
$DEVICE_MAMPS,227.799,71.331,773.903,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,413.472,343.218,1192.484,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,34966,608
$CAP_FILE_SIZE,95594,0
$CFSIZE,260165632,238551040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010613,022830,2109.121,-15749.871,19,0.8,19,9.8