version: 66.06
glider: 523
mission: 4
dive: 356
start: 6 1 113 15 43 4
data:
$ID,523
$MISSION,4
$DIVE,356
$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,-42873.879
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,153605,2107.098,-15744.636,39,0.9,39,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.8
$GPS2,154248,2107.064,-15744.592,16,0.9,16,9.8
$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,118.9,3704,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-70.10,0.000,2,0.000,0.000,40,1965,3409,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.3,-4.7,11,113,9.68,2.33,-1.77,0.000,4,0.231,0.064,2415,546,3498,0,0,0,0,0,0
$GC,132,-0.74,-146.0,18.1,-35.5,17,139,0.00,2.22,0.00,0.000,6,0.000,0.038,2406,1961,3498,0,0,0,0,0,0
$GC,303,-0.74,-146.0,47.8,-17.8,48,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1961,3499,0,0,0,0,0,0
$GC,634,-0.74,-146.0,99.1,-13.8,97,641,0.00,2.28,0.00,0.000,4,0.000,0.052,2406,549,3500,0,0,0,0,0,0
$GC,695,-0.74,-146.0,109.1,-15.7,102,702,0.00,2.17,0.00,0.000,6,0.000,0.036,2397,1953,3501,0,0,0,0,0,0
$GC,1023,-0.74,-146.0,155.3,-13.3,133,1027,0.00,2.25,0.00,0.000,4,0.000,0.052,2397,546,3502,0,0,0,0,0,0
$GC,1062,-0.74,-146.0,160.8,-14.3,136,1069,0.08,2.17,0.00,0.000,6,0.144,0.035,2413,1957,3501,0,0,0,0,0,0
$GC,1390,-0.74,-146.0,195.6,-10.6,167,1394,0.00,2.25,0.00,0.000,4,0.000,0.051,2413,545,3502,0,0,0,0,0,0
$GC,1569,-0.74,-146.0,216.1,-10.7,177,1573,0.00,2.15,0.00,0.000,6,0.000,0.035,2405,1964,3503,0,0,0,0,0,0
$GC,1895,-0.74,-146.0,248.2,-10.3,193,1899,0.00,2.28,0.00,0.000,4,0.000,0.051,2406,538,3503,0,0,0,0,0,0
$GC,2102,-0.74,-146.0,268.3,-10.2,202,2106,0.00,2.15,0.00,0.000,6,0.000,0.035,2396,1957,3503,0,0,0,0,0,0
$GC,2422,-0.74,-146.0,296.2,-9.0,217,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1957,3503,0,0,0,0,0,0
$GC,2724,-0.74,-146.0,328.1,-11.0,226,2728,0.00,2.25,0.00,0.000,4,0.000,0.054,2396,544,3503,0,0,0,0,0,0
$GC,2919,-0.74,-146.0,349.3,-10.3,230,2924,0.12,2.17,0.00,0.000,6,0.162,0.038,2421,1966,3502,0,0,0,0,0,0
$GC,3264,-0.74,-146.0,376.8,-7.9,239,3268,0.00,2.30,0.00,0.000,4,0.000,0.056,2421,550,3502,0,0,0,0,0,0
$GC,3371,-0.74,-146.0,385.8,-8.0,241,3375,0.00,2.15,0.00,0.000,6,0.000,0.039,2413,1961,3500,0,0,0,0,0,0
$GC,3720,-0.74,-146.0,410.5,-7.0,250,3724,0.00,2.22,0.00,0.000,4,0.000,0.056,2403,3364,3499,0,0,0,0,0,0
$GC,3759,-0.74,-146.0,413.3,-7.0,251,3763,0.00,2.20,0.00,0.000,6,0.000,0.044,2403,1956,3499,0,0,0,0,0,0
$GC,4087,-0.74,-146.0,435.6,-6.6,259,4091,0.00,2.25,0.00,0.000,4,0.000,0.060,2403,547,3496,0,0,0,0,0,0
$GC,4172,-0.74,-146.0,442.1,-6.9,261,4177,0.00,2.17,0.00,0.000,6,0.000,0.041,2393,1953,3496,0,0,0,0,0,0
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4292,begin apogee
$GC,4298,-0.17,0.0,450.4,6.7,264,4420,0.65,0.00,118.97,0.762,6,0.118,0.000,2602,1954,2900,0,0,0,0,0,0
$STATE,4421,end apogee,CONTROL_FINISHED_OK
$STATE,4421,begin climb
$GC,4424,0.74,146.0,450.6,0.0,267,4556,0.82,0.00,124.93,0.734,6,0.069,0.000,2898,1953,2303,0,0,0,0,0,0
$GC,4871,0.74,146.0,388.5,14.3,278,4875,0.00,2.25,0.00,0.000,4,0.000,0.054,2898,3386,2296,0,0,0,0,0,0
$GC,4955,0.74,146.0,375.9,14.5,280,4960,0.00,2.28,0.00,0.000,6,0.000,0.048,2907,1983,2295,0,0,0,0,0,0
$GC,5280,0.74,146.0,329.5,14.1,288,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1983,2292,0,0,0,0,0,0
$GC,5585,0.74,146.0,286.0,14.8,297,5589,0.00,2.25,0.00,0.000,4,0.000,0.060,2918,565,2291,0,0,0,0,0,0
$GC,5696,0.74,146.0,269.3,13.6,302,5700,0.00,2.20,0.00,0.000,6,0.000,0.041,2918,1980,2291,0,0,0,0,0,0
$GC,6018,0.74,146.0,226.9,12.2,318,6022,0.00,2.28,0.00,0.000,4,0.000,0.063,2928,568,2290,0,0,0,0,0,0
$GC,6062,0.74,146.0,221.1,12.6,320,6067,0.12,2.17,0.00,0.000,6,0.147,0.041,2894,1978,2289,0,0,0,0,0,0
$GC,6389,0.74,146.0,189.2,10.7,340,6393,0.00,2.20,0.00,0.000,4,0.000,0.052,2894,3389,2288,0,0,0,0,0,0
$GC,6494,0.74,146.0,178.3,10.1,349,6499,0.00,2.22,0.00,0.000,6,0.000,0.040,2902,1966,2288,0,0,0,0,0,0
$GC,6823,0.74,146.0,144.1,11.0,379,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1966,2288,0,0,0,0,0,0
$GC,7152,0.74,146.0,108.4,10.2,410,7156,0.00,2.17,0.00,0.000,4,0.000,0.054,2913,573,2288,0,0,0,0,0,0
$GC,7226,0.74,146.0,100.9,9.6,416,7231,0.00,2.17,0.00,0.000,6,0.000,0.036,2913,1995,2287,0,0,0,0,0,0
$GC,7557,0.75,157.2,73.3,8.6,453,7569,0.00,0.00,7.93,0.446,6,0.000,0.000,2913,1995,2258,0,0,0,0,0,0
$GC,7899,0.77,171.6,44.4,8.4,515,7915,0.00,0.00,13.95,0.456,6,0.000,0.000,2913,1995,2200,0,0,0,0,0,0
$GC,8236,0.77,171.6,16.7,9.2,578,8244,0.00,2.22,0.00,0.000,4,0.000,0.057,2913,3382,2198,0,0,0,0,0,0
$STATE,8363,end climb,SURFACE_DEPTH_REACHED
$STATE,8363,begin surface coast
$FINISH,1.0,1.023047
$STATE,8393,end surface coast,CONTROL_FINISHED_OK
$STATE,8393,begin surface
$SM_CCo,8413,49.70,0.435,0,0,1737,285.03
$SM_GC,1.56,0.00,0.00,49.70,0.000,0.000,0.435,48,1947,1737,-8.16,-0.28,285.03
$IRIDIUM_FIX,2101.76,-15743.60,260802,131326
$TT8_MAMPS,0.027612
$HUMID,62.32
$INTERNAL_PRESSURE,9.42144
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.7,29.154
$10V_AH,10.5,32.023
$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,18.675,66.675,265.775,49.700,0.000,27.954,35.416,206.812,19.000,0.000,18.709,1106.804,4865.097,369.371,2012.766,511.142,0.000,1063.438,0.000,1968.594,0.000,123.410,0.000
$DEVICE_MAMPS,230.867,64.428,761.631,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.484,341.441,1195.074,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34901,606
$CAP_FILE_SIZE,92806,0
$CFSIZE,260165632,238260224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010613,180521,2106.619,-15743.712,20,1.2,34,9.8