version: 66.06
glider: 523
mission: 4
dive: 397
start: 6 6 113 2 20 48
data:
$ID,523
$MISSION,4
$DIVE,397
$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,-43800.996
$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,29
$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
$GPS1,021422,2106.644,-15750.215,62,0.9,62,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.6
$GPS2,022032,2106.649,-15750.277,22,1.0,22,9.8
$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,87.1,12809,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-76.38,0.000,6,0.000,0.000,52,1981,3396,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.6,-5.9,12,114,9.45,2.28,0.00,0.000,4,0.229,0.048,2390,544,3397,0,0,0,0,0,0
$GC,175,-0.74,-146.0,24.2,-20.8,25,183,0.00,2.22,0.00,0.000,6,0.000,0.037,2382,1963,3397,0,0,0,0,0,0
$GC,347,-0.74,-146.0,56.7,-18.7,56,354,0.00,2.22,0.00,0.000,4,0.000,0.055,2372,3358,3398,0,0,0,0,0,0
$GC,383,-0.74,-146.0,63.7,-18.5,62,389,0.08,2.25,0.00,0.000,6,0.141,0.045,2394,1962,3399,0,0,0,0,0,0
$GC,714,-0.74,-146.0,110.8,-11.9,101,718,0.00,2.28,0.00,0.000,4,0.000,0.057,2395,530,3400,0,0,0,0,0,0
$GC,940,-0.74,-146.0,139.5,-13.1,121,944,0.00,2.17,0.00,0.000,6,0.000,0.034,2387,1973,3401,0,0,0,0,0,0
$GC,1272,-0.74,-146.0,176.6,-9.6,152,1276,0.00,2.28,0.00,0.000,4,0.000,0.053,2387,534,3401,0,0,0,0,0,0
$GC,1334,-0.74,-146.0,182.8,-10.6,157,1338,0.00,2.15,0.00,0.000,6,0.000,0.035,2377,1962,3402,0,0,0,0,0,0
$GC,1666,-0.74,-146.0,208.7,-6.6,182,1670,0.00,2.28,0.00,0.000,4,0.000,0.052,2377,531,3403,0,0,0,0,0,0
$GC,1688,-0.74,-146.0,210.6,-8.0,183,1693,0.12,2.17,0.00,0.000,6,0.165,0.035,2401,1959,3402,0,0,0,0,0,0
$GC,2010,-0.74,-146.0,235.5,-8.5,199,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1959,3402,0,0,0,0,0,0
$GC,2319,-0.74,-146.0,257.5,-6.6,214,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1959,3402,0,0,0,0,0,0
$GC,2630,-0.74,-146.0,280.4,-6.4,229,2634,0.00,2.30,0.00,0.000,4,0.000,0.054,2400,539,3402,0,0,0,0,0,0
$GC,2743,-0.74,-146.0,287.9,-5.9,234,2747,0.00,2.15,0.00,0.000,6,0.000,0.036,2393,1955,3402,0,0,0,0,0,0
$GC,3084,-0.74,-146.0,309.1,-6.6,248,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1955,3402,0,0,0,0,0,0
$GC,3407,-0.74,-146.0,333.5,-7.7,256,3412,0.00,2.30,0.00,0.000,4,0.000,0.058,2393,531,3400,0,0,0,0,0,0
$GC,3584,-0.74,-146.0,349.5,-8.7,260,3589,0.00,2.17,0.00,0.000,6,0.000,0.039,2382,1955,3398,0,0,0,0,0,0
$GC,3912,-0.74,-146.0,371.9,-6.3,268,3916,0.00,2.30,0.00,0.000,4,0.000,0.059,2382,541,3396,0,0,0,0,0,0
$GC,4037,-0.74,-146.0,379.9,-6.5,270,4043,0.00,2.20,0.00,0.000,6,0.000,0.041,2373,1961,3395,0,0,0,0,0,0
$GC,4370,-0.74,-146.0,402.0,-6.7,279,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1961,3394,0,0,0,0,0,0
$GC,4696,-0.74,-146.0,425.8,-7.7,287,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1962,3391,0,0,0,0,0,0
$STATE,5016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5016,begin apogee
$GC,5023,-0.17,0.0,451.7,7.8,295,5146,0.68,0.00,119.97,0.771,6,0.124,0.000,2586,1961,2799,0,0,0,0,0,0
$STATE,5147,end apogee,CONTROL_FINISHED_OK
$STATE,5147,begin climb
$GC,5150,0.74,146.0,451.9,0.0,298,5287,0.82,2.45,126.12,0.740,4,0.078,0.061,2871,3381,2203,0,0,0,0,0,0
$GC,5378,0.74,146.0,423.4,14.7,303,5382,0.00,2.30,0.00,0.000,6,0.000,0.048,2880,1971,2198,0,0,0,0,0,0
$GC,5725,0.74,146.0,372.0,14.2,312,5729,0.00,2.30,0.00,0.000,4,0.000,0.061,2880,3384,2194,0,0,0,0,0,0
$GC,5752,0.74,146.0,367.8,14.7,312,5756,0.00,2.30,0.00,0.000,6,0.000,0.052,2890,1971,2194,0,0,0,0,0,0
$GC,6084,0.74,146.0,320.6,14.3,320,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1971,2193,0,0,0,0,0,0
$GC,6390,0.74,146.0,277.1,13.6,331,6394,0.00,2.25,0.00,0.000,4,0.000,0.054,2890,3388,2191,0,0,0,0,0,0
$GC,6462,0.74,146.0,267.3,13.1,334,6466,0.00,2.22,0.00,0.000,6,0.000,0.041,2900,1965,2191,0,0,0,0,0,0
$GC,6778,0.74,146.0,228.4,12.4,349,6782,0.00,2.25,0.00,0.000,4,0.000,0.051,2899,3388,2190,0,0,0,0,0,0
$GC,6799,0.74,146.0,225.3,13.6,350,6804,0.12,2.17,0.00,0.000,6,0.158,0.041,2876,1979,2190,0,0,0,0,0,0
$GC,7124,0.74,146.0,192.0,9.9,369,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1979,2189,0,0,0,0,0,0
$GC,7444,0.74,146.0,160.4,10.1,399,7448,0.00,2.22,0.00,0.000,4,0.000,0.051,2875,3392,2188,0,0,0,0,0,0
$GC,7549,0.74,146.0,149.2,10.7,408,7553,0.00,2.17,0.00,0.000,6,0.000,0.041,2884,1980,2188,0,0,0,0,0,0
$GC,7876,0.74,146.0,114.1,10.2,438,7880,0.00,2.22,0.00,0.000,4,0.000,0.054,2894,575,2188,0,0,0,0,0,0
$GC,7928,0.74,146.0,109.0,9.9,442,7932,0.00,2.15,0.00,0.000,6,0.000,0.035,2894,1984,2188,0,0,0,0,0,0
$GC,8255,0.74,146.0,78.3,9.4,473,8261,0.00,2.17,0.00,0.000,4,0.000,0.051,2894,3382,2188,0,0,0,0,0,0
$GC,8301,0.74,146.0,73.7,10.5,481,8307,0.00,2.20,0.00,0.000,6,0.000,0.041,2903,1972,2187,0,0,0,0,0,0
$GC,8634,0.77,169.5,43.4,8.1,542,8658,0.00,0.00,18.77,0.472,6,0.000,0.000,2904,1972,2106,0,0,0,0,0,0
$GC,8974,0.77,169.5,11.3,10.6,606,8982,0.00,2.28,0.00,0.000,4,0.000,0.053,2903,3378,2104,0,0,0,0,0,0
$GC,9029,0.77,169.5,5.5,10.7,615,9036,0.00,2.25,0.00,0.000,6,0.000,0.050,2912,1982,2104,0,0,0,0,0,0
$STATE,9052,end climb,SURFACE_DEPTH_REACHED
$STATE,9052,begin surface coast
$FINISH,0.5,1.023165
$STATE,9081,end surface coast,CONTROL_FINISHED_OK
$STATE,9082,begin surface
$SM_CCo,9099,59.03,0.440,0,0,1575,300.24
$SM_GC,1.30,0.00,0.00,59.03,0.000,0.000,0.440,49,1976,1575,-8.10,0.54,300.24
$IRIDIUM_FIX,2057.14,-15759.05,300802,232323
$TT8_MAMPS,0.028379
$HUMID,65.59
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,32.546
$10V_AH,10.5,35.798
$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,18.650,71.650,264.875,59.025,0.000,26.233,36.603,169.749,19.250,0.000,22.930,1130.151,5574.017,380.150,1971.458,470.338,0.000,1059.050,0.000,1919.514,0.000,121.877,0.000
$DEVICE_MAMPS,229.333,61.360,770.835,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,424.742,361.807,1195.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,34973,624
$CAP_FILE_SIZE,93766,0
$CFSIZE,260165632,236253184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060613,045441,2106.577,-15749.520,35,1.1,35,9.8