version: 66.06
glider: 523
mission: 4
dive: 405
start: 6 6 113 23 58 23
data:
$ID,523
$MISSION,4
$DIVE,405
$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,-43983.938
$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,32
$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
$GPS1,235105,2105.443,-15745.947,55,0.8,55,9.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.8
$GPS2,235805,2105.431,-15746.040,17,1.0,17,9.8
$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,72.7,5441,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-76.20,0.000,6,0.000,0.000,37,1929,3396,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.6,-5.6,12,111,9.55,2.17,0.00,0.000,4,0.228,0.047,2394,553,3397,0,0,0,0,0,0
$GC,178,-0.74,-146.0,25.7,-19.8,26,185,0.00,2.20,0.00,0.000,6,0.000,0.036,2386,1958,3399,0,0,0,0,0,0
$GC,351,-0.74,-146.0,55.9,-15.3,57,356,0.00,2.28,0.00,0.000,4,0.000,0.054,2386,549,3400,0,0,0,0,0,0
$GC,419,-0.74,-146.0,66.8,-14.5,69,424,0.00,2.17,0.00,0.000,6,0.000,0.036,2377,1962,3400,0,0,0,0,0,0
$GC,747,-0.74,-146.0,111.5,-12.7,108,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1962,3401,0,0,0,0,0,0
$GC,1065,-0.74,-146.0,147.4,-10.9,138,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1962,3402,0,0,0,0,0,0
$GC,1383,-0.74,-146.0,184.4,-11.9,168,1388,0.00,2.22,0.00,0.000,4,0.000,0.049,2377,550,3403,0,0,0,0,0,0
$GC,1510,-0.74,-146.0,199.8,-11.3,179,1521,0.10,2.17,0.00,0.000,6,0.140,0.034,2398,1964,3403,0,0,0,0,0,0
$GC,1825,-0.74,-146.0,228.9,-9.5,195,1829,0.00,2.30,0.00,0.000,4,0.000,0.051,2399,543,3403,0,0,0,0,0,0
$GC,1950,-0.74,-146.0,241.0,-9.8,200,1955,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1958,3403,0,0,0,0,0,0
$GC,2268,-0.74,-146.0,267.3,-7.4,216,2272,0.00,2.28,0.00,0.000,4,0.000,0.052,2391,554,3403,0,0,0,0,0,0
$GC,2510,-0.74,-146.0,287.9,-9.0,227,2514,0.00,2.12,0.00,0.000,6,0.000,0.035,2381,1965,3402,0,0,0,0,0,0
$GC,2838,-0.74,-146.0,312.6,-7.3,239,2842,0.00,2.30,0.00,0.000,4,0.000,0.054,2381,547,3403,0,0,0,0,0,0
$GC,2887,-0.74,-146.0,317.9,-10.4,240,2892,0.12,2.15,0.00,0.000,6,0.159,0.037,2405,1956,3402,0,0,0,0,0,0
$GC,3208,-0.74,-146.0,344.0,-8.1,248,3212,0.00,2.28,0.00,0.000,4,0.000,0.054,2405,550,3401,0,0,0,0,0,0
$GC,3281,-0.74,-146.0,351.0,-8.6,249,3285,0.00,2.15,0.00,0.000,6,0.000,0.038,2397,1961,3402,0,0,0,0,0,0
$GC,3613,-0.74,-146.0,374.5,-6.5,257,3617,0.00,2.30,0.00,0.000,4,0.000,0.055,2397,552,3400,0,0,0,0,0,0
$GC,3646,-0.74,-146.0,376.8,-6.6,257,3650,0.00,2.15,0.00,0.000,6,0.000,0.039,2387,1957,3399,0,0,0,0,0,0
$GC,3984,-0.74,-146.0,398.1,-6.6,266,3988,0.00,2.30,0.00,0.000,4,0.000,0.058,2387,555,3397,0,0,0,0,0,0
$GC,4086,-0.74,-146.0,405.1,-6.8,268,4090,0.00,2.17,0.00,0.000,6,0.000,0.040,2378,1959,3397,0,0,0,0,0,0
$GC,4435,-0.74,-146.0,427.2,-6.4,277,4439,0.00,2.30,0.00,0.000,4,0.000,0.058,2378,553,3395,0,0,0,0,0,0
$GC,4524,-0.74,-146.0,434.5,-8.2,279,4529,0.12,2.20,0.00,0.000,6,0.163,0.041,2401,1966,3394,0,0,0,0,0,0
$STATE,4759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4759,begin apogee
$GC,4766,-0.17,0.0,451.6,7.3,285,4889,0.55,0.00,119.93,0.764,6,0.117,0.000,2580,1967,2800,0,0,0,0,0,0
$STATE,4889,end apogee,CONTROL_FINISHED_OK
$STATE,4890,begin climb
$GC,4893,0.74,146.0,454.4,0.0,288,5030,0.88,2.40,126.75,0.738,4,0.086,0.054,2876,3388,2203,0,0,0,0,0,0
$GC,5059,0.74,146.0,439.4,13.4,292,5063,0.00,2.33,0.00,0.000,6,0.000,0.044,2884,1981,2200,0,0,0,0,0,0
$GC,5383,0.74,146.0,396.5,13.2,300,5387,0.00,2.28,0.00,0.000,4,0.000,0.061,2894,569,2196,0,0,0,0,0,0
$GC,5427,0.74,146.0,390.6,13.8,301,5431,0.00,2.22,0.00,0.000,6,0.000,0.042,2894,1976,2195,0,0,0,0,0,0
$GC,5745,0.74,146.0,347.4,13.5,309,5749,0.00,2.20,0.00,0.000,4,0.000,0.052,2895,3391,2193,0,0,0,0,0,0
$GC,5772,0.74,146.0,343.6,13.5,309,5776,0.00,2.25,0.00,0.000,6,0.000,0.050,2904,1980,2193,0,0,0,0,0,0
$GC,6083,0.74,146.0,293.5,15.8,317,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1980,2192,0,0,0,0,0,0
$GC,6393,0.74,146.0,251.0,13.4,332,6397,0.00,2.28,0.00,0.000,4,0.000,0.059,2914,560,2191,0,0,0,0,0,0
$GC,6444,0.74,146.0,243.9,14.1,334,6449,0.12,2.22,0.00,0.000,6,0.141,0.044,2879,1985,2190,0,0,0,0,0,0
$GC,6765,0.74,146.0,210.0,9.3,350,6769,0.00,2.20,0.00,0.000,4,0.000,0.051,2879,3393,2189,0,0,0,0,0,0
$GC,6837,0.74,146.0,202.3,11.3,353,6841,0.00,2.20,0.00,0.000,6,0.000,0.041,2887,1977,2188,0,0,0,0,0,0
$GC,7163,0.74,146.0,163.4,12.4,382,7167,0.00,2.25,0.00,0.000,4,0.000,0.058,2897,562,2188,0,0,0,0,0,0
$GC,7196,0.74,146.0,159.1,12.7,384,7204,0.00,2.22,0.00,0.000,6,0.000,0.038,2897,1986,2187,0,0,0,0,0,0
$GC,7523,0.74,146.0,119.4,10.9,415,7527,0.00,2.17,0.00,0.000,4,0.000,0.052,2898,3395,2188,0,0,0,0,0,0
$GC,7638,0.74,146.0,106.2,11.9,425,7642,0.00,2.22,0.00,0.000,6,0.000,0.042,2907,1971,2187,0,0,0,0,0,0
$GC,7966,0.78,178.6,73.3,7.7,462,7996,0.00,2.22,25.17,0.509,4,0.000,0.055,2916,561,2075,0,0,0,0,0,0
$GC,8035,0.80,197.6,68.0,8.2,474,8059,0.00,2.22,18.17,0.488,6,0.000,0.037,2916,1980,1993,0,0,0,0,0,0
$GC,8389,0.80,197.6,34.6,9.8,538,8396,0.00,2.35,0.00,0.000,4,0.000,0.063,2925,576,1991,0,0,0,0,0,0
$GC,8422,0.80,199.0,31.6,9.0,543,8428,0.00,2.20,0.00,0.000,6,0.000,0.039,2925,1988,1991,0,0,0,0,0,0
$STATE,8697,end climb,SURFACE_DEPTH_REACHED
$STATE,8697,begin surface coast
$FINISH,0.5,1.023096
$STATE,8719,end surface coast,CONTROL_FINISHED_OK
$STATE,8719,begin surface
$SM_CCo,8737,47.33,0.440,0,0,1576,300.24
$SM_GC,1.33,0.00,0.00,47.33,0.000,0.000,0.440,26,1987,1576,-8.17,0.85,300.24
$IRIDIUM_FIX,2054.83,-15749.62,310802,212138
$TT8_MAMPS,0.027612
$HUMID,66.26
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,24.6,33.262
$10V_AH,10.5,36.552
$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,18.825,84.825,290.025,47.325,0.000,26.633,35.663,218.656,19.000,0.000,20.226,1095.705,5225.750,397.704,1955.345,529.563,0.000,1088.674,0.000,1905.308,0.000,117.260,0.000
$DEVICE_MAMPS,227.799,62.894,763.932,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.482,333.078,1145.689,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,31837,599
$CAP_FILE_SIZE,96382,0
$CFSIZE,260165632,235864064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070613,022558,2105.388,-15745.371,31,0.9,31,9.8