version: 66.06
glider: 523
mission: 4
dive: 399
start: 6 6 113 7 46 6
data:
$ID,523
$MISSION,4
$DIVE,399
$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,-43840.566
$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,26
$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
$GPS1,073604,2106.513,-15748.692,27,1.0,27,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.5
$GPS2,074549,2106.454,-15748.681,16,1.3,16,9.8
$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,87.0,10027,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-78.78,0.000,6,0.000,0.000,37,1944,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.7,-5.2,13,118,9.90,2.20,0.00,0.000,4,0.241,0.049,2390,545,3396,0,0,0,0,0,0
$GC,225,-0.74,-146.0,35.9,-21.6,35,231,0.00,2.17,0.00,0.000,6,0.000,0.036,2382,1968,3397,0,0,0,0,0,0
$GC,560,-0.74,-146.0,87.6,-11.5,91,564,0.00,2.20,0.00,0.000,4,0.000,0.055,2371,3366,3398,0,0,0,0,0,0
$GC,613,-0.74,-146.0,94.7,-14.5,95,618,0.12,2.20,0.00,0.000,6,0.154,0.041,2404,1953,3398,0,0,0,0,0,0
$GC,946,-0.74,-146.0,138.9,-13.1,126,950,0.00,2.20,0.00,0.000,4,0.000,0.054,2404,543,3399,0,0,0,0,0,0
$GC,1165,-0.74,-146.0,164.7,-11.8,146,1172,0.00,2.15,0.00,0.000,6,0.000,0.032,2396,1965,3399,0,0,0,0,0,0
$GC,1499,-0.74,-146.0,199.0,-10.8,177,1503,0.00,2.25,0.00,0.000,4,0.000,0.051,2396,547,3400,0,0,0,0,0,0
$GC,1572,-0.74,-146.0,207.7,-11.4,180,1576,0.00,2.10,0.00,0.000,6,0.000,0.034,2386,1956,3400,0,0,0,0,0,0
$GC,1890,-0.74,-146.0,238.7,-8.9,195,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1957,3400,0,0,0,0,0,0
$GC,2199,-0.74,-146.0,267.8,-8.6,210,2203,0.00,2.25,0.00,0.000,4,0.000,0.051,2386,541,3400,0,0,0,0,0,0
$GC,2452,-0.74,-146.0,287.6,-7.4,221,2456,0.00,2.15,0.00,0.000,6,0.000,0.034,2377,1964,3400,0,0,0,0,0,0
$GC,2795,-0.74,-146.0,312.6,-7.5,234,2800,0.00,2.28,0.00,0.000,4,0.000,0.054,2377,550,3400,0,0,0,0,0,0
$GC,2891,-0.74,-146.0,321.7,-8.4,236,2896,0.12,2.12,0.00,0.000,6,0.163,0.035,2399,1957,3400,0,0,0,0,0,0
$GC,3208,-0.74,-146.0,346.5,-8.0,244,3212,0.00,2.25,0.00,0.000,4,0.000,0.055,2400,550,3399,0,0,0,0,0,0
$GC,3220,-0.74,-146.0,347.7,-7.9,244,3224,0.00,2.15,0.00,0.000,6,0.000,0.037,2392,1965,3399,0,0,0,0,0,0
$GC,3570,-0.74,-146.0,373.9,-7.4,253,3574,0.00,2.30,0.00,0.000,4,0.000,0.058,2392,545,3397,0,0,0,0,0,0
$GC,3784,-0.74,-146.0,390.3,-7.3,257,3789,0.00,2.17,0.00,0.000,6,0.000,0.038,2382,1958,3395,0,0,0,0,0,0
$GC,4116,-0.74,-146.0,412.2,-6.3,266,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1958,3393,0,0,0,0,0,0
$GC,4441,-0.74,-146.0,430.4,-5.5,274,4445,0.00,2.25,0.00,0.000,4,0.000,0.059,2372,3362,3391,0,0,0,0,0,0
$GC,4492,-0.74,-146.0,433.8,-6.9,275,4496,0.00,2.20,0.00,0.000,6,0.000,0.043,2372,1949,3391,0,0,0,0,0,0
$STATE,4723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4723,begin apogee
$GC,4730,-0.17,0.0,452.8,8.6,281,4853,0.65,0.00,119.97,0.765,6,0.122,0.000,2579,1949,2800,0,0,0,0,0,0
$STATE,4854,end apogee,CONTROL_FINISHED_OK
$STATE,4854,begin climb
$GC,4857,0.74,146.0,456.0,0.0,284,4994,0.85,2.47,125.93,0.742,4,0.079,0.055,2872,3379,2203,0,0,0,0,0,0
$GC,5146,0.74,146.0,423.9,13.6,290,5150,0.00,2.28,0.00,0.000,6,0.000,0.046,2881,1980,2198,0,0,0,0,0,0
$GC,5477,0.74,146.0,376.4,15.0,298,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1979,2195,0,0,0,0,0,0
$GC,5802,0.74,146.0,330.5,13.7,306,5806,0.00,2.28,0.00,0.000,4,0.000,0.067,2892,571,2193,0,0,0,0,0,0
$GC,5852,0.74,146.0,323.6,13.0,307,5856,0.00,2.22,0.00,0.000,6,0.000,0.042,2892,1988,2192,0,0,0,0,0,0
$GC,6179,0.74,146.0,283.2,11.6,318,6182,0.00,2.20,0.00,0.000,4,0.000,0.052,2892,3391,2191,0,0,0,0,0,0
$GC,6251,0.74,146.0,274.0,13.0,321,6255,0.00,2.20,0.00,0.000,6,0.000,0.042,2902,1978,2190,0,0,0,0,0,0
$GC,6572,0.74,146.0,231.7,13.0,337,6576,0.00,2.22,0.00,0.000,4,0.000,0.060,2912,566,2189,0,0,0,0,0,0
$GC,6680,0.74,146.0,217.6,12.6,342,6685,0.12,2.17,0.00,0.000,6,0.143,0.038,2878,1984,2189,0,0,0,0,0,0
$GC,7002,0.74,146.0,183.5,10.0,365,7006,0.00,2.17,0.00,0.000,4,0.000,0.051,2878,3386,2188,0,0,0,0,0,0
$GC,7207,0.74,146.0,160.6,10.9,383,7211,0.00,2.20,0.00,0.000,6,0.000,0.041,2886,1972,2187,0,0,0,0,0,0
$GC,7534,0.74,146.0,126.7,9.7,413,7538,0.00,2.25,0.00,0.000,4,0.000,0.059,2886,3390,2187,0,0,0,0,0,0
$GC,7607,0.74,146.0,119.1,10.3,419,7611,0.00,2.22,0.00,0.000,6,0.000,0.050,2894,1975,2187,0,0,0,0,0,0
$GC,7934,0.76,163.3,91.1,8.3,449,7953,0.00,0.00,13.15,0.493,6,0.000,0.000,2894,1975,2134,0,0,0,0,0,0
$GC,8279,0.80,200.8,63.6,7.5,499,8319,0.00,2.30,32.70,0.491,4,0.000,0.057,2894,3381,1980,0,0,0,0,0,0
$GC,8349,0.80,200.8,57.3,9.4,511,8355,0.00,2.22,0.00,0.000,6,0.000,0.047,2902,1969,1978,0,0,0,0,0,0
$GC,8682,0.80,200.8,26.1,11.0,572,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1969,1978,0,0,0,0,0,0
$GC,8851,0.97,334.5,12.1,3.5,603,8917,0.15,0.00,62.75,0.448,2,0.065,0.000,2991,1969,1679,0,0,0,0,0,0
$STATE,8918,end climb,SURFACE_DEPTH_REACHED
$STATE,8918,begin surface coast
$FINISH,0.5,1.014596
$STATE,8937,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8955,13.80,0.405,0,0,1575,300.24
$SM_GC,1.26,0.00,0.00,13.80,0.000,0.000,0.405,50,1964,1575,-8.10,0.20,300.24
$IRIDIUM_FIX,2059.45,-15759.05,310802,070755
$TT8_MAMPS,0.027612
$HUMID,63.54
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.6,32.732
$10V_AH,10.4,35.983
$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,19.550,71.025,354.500,13.800,0.000,59.050,74.064,254.071,19.000,0.000,16.538,1122.576,5338.168,377.860,2075.512,639.575,0.000,1138.994,0.000,2030.358,0.000,117.255,0.000
$DEVICE_MAMPS,240.838,67.496,765.466,404.976,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,417.400,350.249,1206.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34898,616
$CAP_FILE_SIZE,99812,0
$CFSIZE,260165632,236150784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060613,101637,2106.092,-15748.513,21,0.8,22,9.8