version: 66.06
glider: 523
mission: 4
dive: 398
start: 6 6 113 5 4 45
data:
$ID,523
$MISSION,4
$DIVE,398
$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,-43823.398
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,045441,2106.577,-15749.520,35,1.1,35,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.1
$GPS2,050429,2106.537,-15749.569,21,0.9,21,9.8
$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,86.8,11570,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.18,0.000,2,0.000,0.000,48,1972,3371,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.8,12,112,9.68,0.00,-0.55,0.000,6,0.235,0.000,2393,1970,3399,0,0,0,0,0,0
$GC,267,-0.74,-146.0,41.5,-17.3,44,275,0.00,2.30,0.00,0.000,4,0.000,0.057,2394,550,3401,0,0,0,0,0,0
$GC,300,-0.74,-146.0,46.9,-17.9,49,305,0.00,2.15,0.00,0.000,6,0.000,0.038,2385,1958,3401,0,0,0,0,0,0
$GC,630,-0.74,-146.0,94.5,-12.5,100,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1959,3402,0,0,0,0,0,0
$GC,949,-0.74,-146.0,129.5,-10.1,130,953,0.00,2.25,0.00,0.000,4,0.000,0.054,2385,538,3403,0,0,0,0,0,0
$GC,1201,-0.74,-146.0,158.0,-12.6,153,1205,0.00,2.17,0.00,0.000,6,0.000,0.033,2376,1976,3403,0,0,0,0,0,0
$GC,1528,-0.74,-146.0,192.1,-10.7,183,1532,0.00,2.28,0.00,0.000,4,0.000,0.051,2376,542,3404,0,0,0,0,0,0
$GC,1658,-0.74,-146.0,206.6,-11.1,192,1663,0.12,2.15,0.00,0.000,6,0.164,0.034,2398,1959,3404,0,0,0,0,0,0
$GC,1980,-0.74,-146.0,235.2,-8.3,208,1984,0.00,2.17,0.00,0.000,4,0.000,0.055,2389,3358,3404,0,0,0,0,0,0
$GC,2038,-0.74,-146.0,240.4,-8.7,210,2044,0.00,2.17,0.00,0.000,6,0.000,0.041,2389,1953,3404,0,0,0,0,0,0
$GC,2355,-0.74,-146.0,269.7,-9.1,226,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1953,3404,0,0,0,0,0,0
$GC,2665,-0.74,-146.0,298.7,-7.7,241,2670,0.00,2.22,0.00,0.000,4,0.000,0.053,2389,541,3404,0,0,0,0,0,0
$GC,2766,-0.74,-146.0,305.4,-5.5,244,2771,0.00,2.12,0.00,0.000,6,0.000,0.035,2380,1954,3404,0,0,0,0,0,0
$GC,3115,-0.74,-146.0,325.0,-6.2,253,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1955,3404,0,0,0,0,0,0
$GC,3442,-0.74,-146.0,353.1,-9.2,261,3446,0.00,2.28,0.00,0.000,4,0.000,0.057,2380,551,3402,0,0,0,0,0,0
$GC,3701,-0.74,-146.0,380.2,-9.0,266,3707,0.12,2.15,0.00,0.000,6,0.164,0.037,2403,1957,3400,0,0,0,0,0,0
$GC,4034,-0.74,-146.0,398.7,-5.1,275,4038,0.00,2.30,0.00,0.000,4,0.000,0.058,2403,551,3398,0,0,0,0,0,0
$GC,4292,-0.74,-146.0,413.9,-6.4,280,4297,0.00,2.17,0.00,0.000,6,0.000,0.039,2396,1960,3396,0,0,0,0,0,0
$GC,4624,-0.74,-146.0,434.5,-6.4,289,4628,0.00,2.25,0.00,0.000,4,0.000,0.059,2396,551,3394,0,0,0,0,0,0
$GC,4769,-0.74,-146.0,445.6,-8.2,292,4773,0.00,2.17,0.00,0.000,6,0.000,0.040,2386,1955,3393,0,0,0,0,0,0
$STATE,4830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4830,begin apogee
$GC,4836,-0.17,0.0,450.3,7.5,294,4960,0.62,0.00,120.68,0.767,6,0.122,0.000,2585,1956,2800,0,0,0,0,0,0
$STATE,4961,end apogee,CONTROL_FINISHED_OK
$STATE,4961,begin climb
$GC,4964,0.74,146.0,451.2,0.0,297,5102,0.82,2.40,126.45,0.740,4,0.077,0.053,2869,3386,2202,0,0,0,0,0,0
$GC,5176,0.74,146.0,426.5,14.4,302,5180,0.00,2.28,0.00,0.000,6,0.000,0.046,2877,1980,2198,0,0,0,0,0,0
$GC,5500,0.74,146.0,379.7,13.7,310,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1980,2195,0,0,0,0,0,0
$GC,5825,0.74,146.0,340.8,11.2,318,5829,0.00,2.25,0.00,0.000,4,0.000,0.059,2888,569,2193,0,0,0,0,0,0
$GC,5869,0.74,146.0,335.5,12.3,319,5873,0.00,2.22,0.00,0.000,6,0.000,0.041,2889,1990,2193,0,0,0,0,0,0
$GC,6188,0.74,146.0,293.1,13.8,328,6192,0.00,2.17,0.00,0.000,4,0.000,0.052,2889,3391,2192,0,0,0,0,0,0
$GC,6256,0.74,146.0,283.3,14.2,331,6260,0.00,2.22,0.00,0.000,6,0.000,0.042,2898,1967,2191,0,0,0,0,0,0
$GC,6582,0.74,146.0,240.4,12.8,347,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1967,2189,0,0,0,0,0,0
$GC,6892,0.74,146.0,206.5,11.1,362,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1966,2188,0,0,0,0,0,0
$GC,7211,0.74,146.0,165.7,13.0,389,7215,0.00,2.22,0.00,0.000,4,0.000,0.050,2898,3392,2188,0,0,0,0,0,0
$GC,7262,0.74,146.0,158.8,14.1,393,7266,0.00,2.20,0.00,0.000,6,0.000,0.041,2908,1975,2187,0,0,0,0,0,0
$GC,7590,0.74,150.0,123.7,8.9,423,7594,0.00,2.22,0.00,0.000,4,0.000,0.051,2908,3386,2187,0,0,0,0,0,0
$GC,7632,0.74,150.0,119.2,11.1,426,7637,0.15,2.17,0.00,0.000,6,0.142,0.041,2874,1980,2187,0,0,0,0,0,0
$GC,7959,0.74,150.0,91.0,9.4,456,7963,0.00,2.25,0.00,0.000,4,0.000,0.058,2883,573,2187,0,0,0,0,0,0
$GC,8010,0.74,150.0,85.9,9.9,460,8014,0.00,2.17,0.00,0.000,6,0.000,0.037,2883,1987,2187,0,0,0,0,0,0
$GC,8345,0.79,189.9,52.5,7.4,515,8391,0.00,2.38,35.33,0.491,4,0.000,0.061,2892,564,2024,0,0,0,0,0,0
$GC,8428,0.85,239.3,46.6,7.0,529,8476,0.00,2.20,42.42,0.479,6,0.000,0.039,2892,1985,1824,0,0,0,0,0,0
$GC,8801,0.94,310.7,19.1,6.1,597,8868,0.15,2.28,60.70,0.454,4,0.065,0.057,2984,3386,1533,0,0,0,0,0,0
$STATE,8917,end climb,SURFACE_DEPTH_REACHED
$STATE,8917,begin surface coast
$FINISH,0.6,1.023227
$STATE,8935,end surface coast,CONTROL_FINISHED_OK
$STATE,8935,begin surface
$SM_CCo,9016,0.00,0.000,0,0,1526,312.51
$SM_GC,1.21,7.62,0.00,0.00,0.025,0.000,0.000,37,1948,1526,-8.01,-0.25,312.51
$IRIDIUM_FIX,2101.76,-15753.03,310802,050532
$TT8_MAMPS,0.027612
$HUMID,64.45
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.6,32.640
$10V_AH,10.4,35.890
$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,19.300,71.275,385.575,0.000,0.000,59.249,69.487,255.213,19.000,0.000,21.773,1119.821,5399.222,379.986,2068.481,631.605,0.000,1143.340,0.000,2014.197,0.000,119.243,0.000
$DEVICE_MAMPS,235.469,61.360,767.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,419.396,347.877,1193.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34963,619
$CAP_FILE_SIZE,99302,0
$CFSIZE,260165632,236199936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060613,073604,2106.513,-15748.692,27,1.0,27,9.8