version: 66.06
glider: 523
mission: 4
dive: 394
start: 6 5 113 18 27 10
data:
$ID,523
$MISSION,4
$DIVE,394
$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,-43742.746
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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
$GPS1,182100,2107.647,-15751.987,16,1.2,16,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.8
$GPS2,182654,2107.612,-15751.961,22,1.0,22,9.8
$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,92.2,15976,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-69.03,0.000,2,0.000,0.000,42,1984,3394,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.6,-5.9,11,107,9.48,2.30,0.00,0.000,4,0.226,0.049,2392,545,3395,0,0,0,0,0,0
$GC,153,-0.74,-146.0,21.2,-22.1,21,160,0.00,2.22,0.00,0.000,6,0.000,0.037,2383,1963,3397,0,0,0,0,0,0
$GC,324,-0.74,-146.0,52.3,-17.3,52,331,0.00,2.33,0.00,0.000,4,0.000,0.056,2383,542,3397,0,0,0,0,0,0
$GC,399,-0.74,-146.0,66.0,-17.4,65,404,0.00,2.17,0.00,0.000,6,0.000,0.038,2374,1965,3397,0,0,0,0,0,0
$GC,727,-0.74,-146.0,106.6,-10.7,105,731,0.00,2.28,0.00,0.000,4,0.000,0.054,2374,544,3399,0,0,0,0,0,0
$GC,899,-0.74,-146.0,129.3,-14.4,120,906,0.15,2.15,0.00,0.000,6,0.163,0.035,2404,1970,3399,0,0,0,0,0,0
$GC,1234,-0.74,-146.0,163.7,-8.7,151,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1970,3401,0,0,0,0,0,0
$GC,1552,-0.74,-146.0,192.2,-8.1,181,1556,0.00,2.28,0.00,0.000,4,0.000,0.051,2404,546,3401,0,0,0,0,0,0
$GC,1686,-0.74,-146.0,204.9,-9.4,190,1691,0.00,2.12,0.00,0.000,6,0.000,0.034,2397,1956,3402,0,0,0,0,0,0
$GC,2012,-0.74,-146.0,237.0,-9.4,206,2016,0.00,2.22,0.00,0.000,4,0.000,0.056,2386,3361,3402,0,0,0,0,0,0
$GC,2068,-0.74,-146.0,242.5,-9.3,208,2073,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1945,3402,0,0,0,0,0,0
$GC,2386,-0.74,-146.0,268.7,-7.9,224,2390,0.00,2.20,0.00,0.000,4,0.000,0.054,2385,547,3402,0,0,0,0,0,0
$GC,2426,-0.74,-146.0,272.3,-8.6,226,2430,0.00,2.12,0.00,0.000,6,0.000,0.035,2376,1958,3402,0,0,0,0,0,0
$GC,2755,-0.74,-146.0,297.5,-8.1,242,2759,0.00,2.25,0.00,0.000,4,0.000,0.054,2377,547,3402,0,0,0,0,0,0
$GC,2939,-0.74,-146.0,314.0,-9.5,247,2944,0.12,2.12,0.00,0.000,6,0.166,0.036,2399,1959,3402,0,0,0,0,0,0
$GC,3255,-0.74,-146.0,341.0,-8.9,255,3259,0.00,2.28,0.00,0.000,4,0.000,0.057,2400,548,3402,0,0,0,0,0,0
$GC,3321,-0.74,-146.0,347.2,-8.5,256,3326,0.00,2.15,0.00,0.000,6,0.000,0.038,2392,1953,3401,0,0,0,0,0,0
$GC,3665,-0.74,-146.0,374.6,-7.6,265,3670,0.00,2.30,0.00,0.000,4,0.000,0.058,2392,548,3400,0,0,0,0,0,0
$GC,3715,-0.74,-146.0,378.6,-7.7,266,3719,0.00,2.17,0.00,0.000,6,0.000,0.039,2382,1956,3399,0,0,0,0,0,0
$GC,4034,-0.74,-146.0,397.5,-5.9,274,4038,0.00,2.30,0.00,0.000,4,0.000,0.058,2382,537,3398,0,0,0,0,0,0
$GC,4292,-0.74,-146.0,416.3,-8.5,279,4296,0.00,2.20,0.00,0.000,6,0.000,0.040,2373,1965,3396,0,0,0,0,0,0
$GC,4630,-0.74,-146.0,441.4,-7.0,288,4634,0.00,2.28,0.00,0.000,4,0.000,0.059,2373,547,3394,0,0,0,0,0,0
$GC,4725,-0.74,-146.0,448.7,-7.0,290,4730,0.15,2.17,0.00,0.000,6,0.160,0.042,2403,1962,3393,0,0,0,0,0,0
$STATE,4751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4751,begin apogee
$GC,4758,-0.17,0.0,450.1,5.6,291,4881,0.55,0.00,120.10,0.760,6,0.117,0.000,2582,1963,2800,0,0,0,0,0,0
$STATE,4882,end apogee,CONTROL_FINISHED_OK
$STATE,4882,begin climb
$GC,4885,0.74,146.0,449.1,0.0,294,5018,0.85,0.00,126.35,0.733,6,0.081,0.000,2875,1962,2204,0,0,0,0,0,0
$GC,5332,0.74,146.0,385.5,14.5,305,5336,0.00,2.30,0.00,0.000,4,0.000,0.062,2875,3385,2196,0,0,0,0,0,0
$GC,5376,0.74,146.0,379.0,14.0,306,5380,0.00,2.25,0.00,0.000,6,0.000,0.049,2884,1983,2195,0,0,0,0,0,0
$GC,5694,0.74,146.0,337.2,12.5,314,5698,0.00,2.28,0.00,0.000,4,0.000,0.058,2895,562,2193,0,0,0,0,0,0
$GC,5768,0.74,146.0,328.2,11.8,315,5772,0.00,2.20,0.00,0.000,6,0.000,0.038,2895,1983,2193,0,0,0,0,0,0
$GC,6080,0.74,146.0,286.7,13.5,324,6084,0.00,2.20,0.00,0.000,4,0.000,0.053,2895,3396,2191,0,0,0,0,0,0
$GC,6153,0.74,146.0,276.0,14.9,327,6157,0.00,2.25,0.00,0.000,6,0.000,0.051,2904,1975,2190,0,0,0,0,0,0
$GC,6474,0.74,146.0,231.9,14.3,343,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1975,2190,0,0,0,0,0,0
$GC,6787,0.74,146.0,192.1,12.5,361,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1975,2189,0,0,0,0,0,0
$GC,7107,0.74,146.0,156.7,10.8,391,7111,0.00,2.25,0.00,0.000,4,0.000,0.060,2914,558,2188,0,0,0,0,0,0
$GC,7127,0.74,146.0,154.1,11.6,392,7131,0.12,2.22,0.00,0.000,6,0.140,0.041,2879,1991,2188,0,0,0,0,0,0
$GC,7454,0.74,146.0,122.3,10.4,422,7458,0.00,2.17,0.00,0.000,4,0.000,0.051,2879,3390,2188,0,0,0,0,0,0
$GC,7570,0.74,146.0,109.3,11.4,432,7574,0.00,2.17,0.00,0.000,6,0.000,0.039,2887,1969,2187,0,0,0,0,0,0
$GC,7897,0.74,146.0,76.1,9.4,465,7902,0.00,2.20,0.00,0.000,4,0.000,0.057,2897,570,2187,0,0,0,0,0,0
$GC,7922,0.74,146.0,73.9,9.3,469,7927,0.00,2.17,0.00,0.000,6,0.000,0.037,2897,1985,2187,0,0,0,0,0,0
$GC,8252,0.78,184.3,48.0,7.4,530,8287,0.00,2.35,30.73,0.483,4,0.000,0.061,2905,572,2047,0,0,0,0,0,0
$GC,8318,0.85,240.7,43.6,6.7,541,8376,0.00,2.20,47.72,0.477,6,0.000,0.039,2905,1984,1817,0,0,0,0,0,0
$GC,8698,0.88,260.8,10.5,8.2,611,8725,0.00,2.28,18.23,0.433,4,0.000,0.059,2905,3389,1735,0,0,0,0,0,0
$GC,8754,0.88,260.8,5.3,10.6,620,8762,0.00,2.25,0.00,0.000,6,0.000,0.045,2913,1990,1734,0,0,0,0,0,0
$STATE,8774,end climb,SURFACE_DEPTH_REACHED
$STATE,8774,begin surface coast
$FINISH,0.5,1.023324
$STATE,8796,end surface coast,CONTROL_FINISHED_OK
$STATE,8796,begin surface
$SM_CCo,8815,19.25,0.420,0,0,1576,300.24
$SM_GC,1.65,0.00,0.00,19.25,0.000,0.000,0.420,24,1954,1576,-8.18,-0.06,300.24
$IRIDIUM_FIX,2057.14,-15734.18,300802,151541
$TT8_MAMPS,0.028379
$HUMID,65.35
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.6,32.303
$10V_AH,10.5,35.521
$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,18.800,84.625,343.125,19.250,0.000,26.579,37.489,152.314,19.250,0.000,23.401,1142.049,5094.131,387.591,2095.382,467.014,0.000,1139.965,0.000,2039.894,0.000,117.276,0.000
$DEVICE_MAMPS,226.265,161.837,760.097,419.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,424.602,354.783,1242.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,35023,627
$CAP_FILE_SIZE,99514,0
$CFSIZE,260165632,236392448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050613,205535,2107.284,-15750.883,32,0.8,32,9.8