version: 66.06
glider: 523
mission: 4
dive: 401
start: 6 6 113 13 6 6
data:
$ID,523
$MISSION,4
$DIVE,401
$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,-43901.703
$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,28
$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
$GPS1,125922,2105.427,-15748.814,20,0.9,20,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.3
$GPS2,130547,2105.437,-15748.885,17,0.9,17,9.8
$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,76.3,10333,-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,-75.95,0.000,2,0.000,0.000,26,1977,3377,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.1,-4.7,12,113,9.55,2.33,-0.40,0.000,4,0.226,0.059,2390,538,3397,0,0,0,0,0,0
$GC,189,-0.74,-146.0,24.0,-16.8,28,196,0.00,2.22,0.00,0.000,6,0.000,0.038,2381,1956,3399,0,0,0,0,0,0
$GC,361,-0.74,-146.0,55.0,-17.4,59,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1956,3399,0,0,0,0,0,0
$GC,696,-0.74,-146.0,103.4,-12.4,105,700,0.00,2.22,0.00,0.000,4,0.000,0.054,2371,3375,3400,0,0,0,0,0,0
$GC,855,-0.74,-146.0,124.3,-13.3,119,860,0.12,2.25,0.00,0.000,6,0.151,0.042,2404,1953,3401,0,0,0,0,0,0
$GC,1189,-0.74,-146.0,155.8,-8.9,150,1193,0.00,2.25,0.00,0.000,4,0.000,0.054,2404,541,3401,0,0,0,0,0,0
$GC,1351,-0.74,-146.0,171.8,-10.2,164,1355,0.00,2.15,0.00,0.000,6,0.000,0.034,2396,1977,3401,0,0,0,0,0,0
$GC,1686,-0.74,-146.0,204.4,-9.0,193,1690,0.00,2.17,0.00,0.000,4,0.000,0.054,2385,3361,3402,0,0,0,0,0,0
$GC,1854,-0.74,-146.0,219.1,-8.6,200,1859,0.00,2.22,0.00,0.000,6,0.000,0.044,2386,1946,3401,0,0,0,0,0,0
$GC,2171,-0.74,-146.0,247.3,-8.8,216,2175,0.00,2.20,0.00,0.000,4,0.000,0.054,2385,536,3402,0,0,0,0,0,0
$GC,2362,-0.74,-146.0,267.6,-9.4,224,2367,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1954,3402,0,0,0,0,0,0
$GC,2680,-0.74,-146.0,289.6,-6.6,240,2684,0.00,2.22,0.00,0.000,4,0.000,0.056,2366,3365,3402,0,0,0,0,0,0
$GC,2780,-0.74,-146.0,295.9,-5.3,244,2785,0.12,2.20,0.00,0.000,6,0.145,0.042,2399,1947,3401,0,0,0,0,0,0
$GC,3116,-0.74,-146.0,316.7,-7.5,254,3120,0.00,2.22,0.00,0.000,4,0.000,0.058,2399,545,3401,0,0,0,0,0,0
$GC,3216,-0.74,-146.0,325.6,-8.0,256,3221,0.00,2.17,0.00,0.000,6,0.000,0.038,2391,1963,3401,0,0,0,0,0,0
$GC,3568,-0.74,-146.0,352.9,-7.3,265,3572,0.00,2.28,0.00,0.000,4,0.000,0.057,2392,548,3400,0,0,0,0,0,0
$GC,3635,-0.74,-146.0,357.9,-6.7,266,3638,0.00,2.15,0.00,0.000,6,0.000,0.038,2382,1957,3399,0,0,0,0,0,0
$GC,3972,-0.74,-146.0,379.0,-6.6,275,3976,0.00,2.28,0.00,0.000,4,0.000,0.058,2381,548,3397,0,0,0,0,0,0
$GC,4067,-0.74,-146.0,386.3,-7.5,277,4071,0.00,2.15,0.00,0.000,6,0.000,0.040,2372,1956,3396,0,0,0,0,0,0
$GC,4394,-0.74,-146.0,410.0,-7.4,285,4399,0.10,2.30,0.00,0.000,4,0.166,0.059,2398,551,3395,0,0,0,0,0,0
$GC,4456,-0.74,-146.0,415.2,-7.7,286,4461,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,1965,3394,0,0,0,0,0,0
$GC,4802,-0.74,-146.0,442.7,-8.2,295,4806,0.00,2.30,0.00,0.000,4,0.000,0.061,2390,551,3391,0,0,0,0,0,0
$STATE,4886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4886,begin apogee
$GC,4896,-0.17,0.0,450.1,8.0,297,5019,0.62,0.00,119.93,0.769,6,0.123,0.000,2579,1981,2799,0,0,0,0,0,0
$STATE,5019,end apogee,CONTROL_FINISHED_OK
$STATE,5020,begin climb
$GC,5022,0.74,146.0,453.0,0.0,300,5153,0.88,0.00,126.85,0.743,6,0.083,0.000,2872,1980,2204,0,0,0,0,0,0
$GC,5452,0.74,146.0,402.9,13.0,311,5456,0.00,2.28,0.00,0.000,4,0.000,0.062,2872,3386,2196,0,0,0,0,0,0
$GC,5496,0.74,146.0,396.4,15.0,312,5500,0.00,2.28,0.00,0.000,6,0.000,0.049,2881,1984,2195,0,0,0,0,0,0
$GC,5814,0.74,146.0,347.7,16.0,320,5818,0.00,2.28,0.00,0.000,4,0.000,0.061,2892,561,2193,0,0,0,0,0,0
$GC,5864,0.74,146.0,340.2,14.2,321,5868,0.00,2.22,0.00,0.000,6,0.000,0.038,2892,1989,2193,0,0,0,0,0,0
$GC,6177,0.74,146.0,295.4,13.9,329,6181,0.00,2.20,0.00,0.000,4,0.000,0.053,2892,3389,2192,0,0,0,0,0,0
$GC,6289,0.74,146.0,278.5,14.0,334,6293,0.00,2.22,0.00,0.000,6,0.000,0.045,2902,1976,2190,0,0,0,0,0,0
$GC,6615,0.74,146.0,240.9,10.8,350,6619,0.00,2.22,0.00,0.000,4,0.000,0.051,2902,3386,2189,0,0,0,0,0,0
$GC,6721,0.74,146.0,227.1,12.5,354,6727,0.12,2.20,0.00,0.000,6,0.158,0.041,2878,1979,2188,0,0,0,0,0,0
$GC,7041,0.74,146.0,189.2,12.5,374,7045,0.00,2.22,0.00,0.000,4,0.000,0.058,2887,563,2188,0,0,0,0,0,0
$GC,7083,0.74,146.0,184.0,12.1,377,7087,0.00,2.20,0.00,0.000,6,0.000,0.038,2887,1990,2188,0,0,0,0,0,0
$GC,7410,0.76,165.8,149.3,8.2,407,7434,0.00,2.20,15.27,0.565,4,0.000,0.051,2887,3376,2123,0,0,0,0,0,0
$GC,7677,0.76,165.8,123.9,11.6,431,7681,0.00,2.20,0.00,0.000,6,0.000,0.040,2896,1969,2121,0,0,0,0,0,0
$GC,8004,0.79,192.2,90.9,7.9,461,8029,0.00,0.00,23.38,0.521,6,0.000,0.000,2896,1969,2015,0,0,0,0,0,0
$GC,8351,0.83,221.9,63.9,7.8,511,8379,0.00,0.00,26.05,0.492,6,0.000,0.000,2896,1969,1894,0,0,0,0,0,0
$GC,8706,0.83,221.9,36.0,10.3,576,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1969,1893,0,0,0,0,0,0
$GC,9031,0.83,221.9,3.4,10.9,637,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1969,1893,0,0,0,0,0,0
$STATE,9044,end climb,SURFACE_DEPTH_REACHED
$STATE,9044,begin surface coast
$FINISH,0.9,1.023140
$STATE,9072,end surface coast,CONTROL_FINISHED_OK
$STATE,9072,begin surface
$SM_CCo,9089,35.85,0.433,0,0,1575,300.24
$SM_GC,1.45,0.00,0.00,35.85,0.000,0.000,0.433,41,1963,1575,-8.12,0.17,300.24
$IRIDIUM_FIX,2059.45,-15745.74,310802,101057
$TT8_MAMPS,0.028379
$HUMID,64.80
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,24.6,32.905
$10V_AH,10.5,36.175
$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,18.725,75.650,311.475,35.850,0.000,29.193,36.319,186.506,19.250,0.000,18.198,1190.545,5242.643,420.882,2158.859,497.737,0.000,1151.816,0.000,2111.836,0.000,121.452,0.000
$DEVICE_MAMPS,226.265,62.127,769.301,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,438.528,364.461,1272.204,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34967,644
$CAP_FILE_SIZE,98939,0
$CFSIZE,260165632,236052480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060613,153929,2105.290,-15748.785,38,0.8,38,9.8