version: 66.06
glider: 523
mission: 4
dive: 406
start: 6 7 113 2 39 38
data:
$ID,523
$MISSION,4
$DIVE,406
$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,-44004.969
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,022558,2105.388,-15745.371,31,0.9,31,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.1
$GPS2,023920,2105.360,-15745.458,20,0.9,20,9.8
$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,69.3,4468,-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,-75.50,0.000,6,0.000,0.000,26,1990,3396,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.9,-7.3,12,112,9.60,2.35,0.00,0.000,4,0.228,0.049,2394,547,3397,0,0,0,0,0,0
$GC,321,-0.74,-146.0,50.5,-17.8,53,327,0.00,2.17,0.00,0.000,6,0.000,0.035,2386,1959,3398,0,0,0,0,0,0
$GC,650,-0.74,-146.0,92.9,-11.5,104,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1960,3400,0,0,0,0,0,0
$GC,968,-0.74,-146.0,124.3,-11.9,134,975,0.00,2.25,0.00,0.000,4,0.000,0.050,2386,547,3400,0,0,0,0,0,0
$GC,1222,-0.74,-146.0,153.7,-10.3,157,1226,0.00,2.15,0.00,0.000,6,0.000,0.034,2376,1964,3401,0,0,0,0,0,0
$GC,1550,-0.74,-146.0,185.6,-8.9,187,1554,0.00,2.25,0.00,0.000,4,0.000,0.049,2377,542,3401,0,0,0,0,0,0
$GC,1701,-0.74,-146.0,202.9,-11.0,200,1706,0.12,2.15,0.00,0.000,6,0.165,0.034,2399,1964,3401,0,0,0,0,0,0
$GC,2028,-0.74,-146.0,229.8,-7.8,216,2035,0.00,2.28,0.00,0.000,4,0.000,0.050,2399,539,3401,0,0,0,0,0,0
$GC,2143,-0.74,-146.0,238.7,-7.9,221,2147,0.00,2.15,0.00,0.000,6,0.000,0.034,2391,1968,3401,0,0,0,0,0,0
$GC,2470,-0.74,-146.0,263.4,-7.4,237,2474,0.00,2.25,0.00,0.000,4,0.000,0.051,2391,546,3401,0,0,0,0,0,0
$GC,2728,-0.74,-146.0,285.4,-8.5,248,2734,0.00,2.15,0.00,0.000,6,0.000,0.035,2381,1964,3401,0,0,0,0,0,0
$GC,3043,-0.74,-146.0,309.1,-7.4,261,3046,0.00,2.22,0.00,0.000,4,0.000,0.057,2371,3365,3400,0,0,0,0,0,0
$GC,3093,-0.74,-146.0,312.8,-6.9,262,3098,0.12,2.20,0.00,0.000,6,0.148,0.043,2404,1954,3400,0,0,0,0,0,0
$GC,3409,-0.74,-146.0,332.4,-6.3,270,3413,0.00,2.25,0.00,0.000,4,0.000,0.057,2404,544,3399,0,0,0,0,0,0
$GC,3667,-0.74,-146.0,349.1,-6.3,275,3672,0.00,2.15,0.00,0.000,6,0.000,0.038,2397,1959,3398,0,0,0,0,0,0
$GC,4000,-0.74,-146.0,367.9,-5.8,284,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1959,3396,0,0,0,0,0,0
$GC,4324,-0.74,-146.0,391.8,-7.8,292,4328,0.00,2.30,0.00,0.000,4,0.000,0.057,2396,544,3393,0,0,0,0,0,0
$GC,4582,-0.74,-146.0,414.6,-8.3,297,4590,0.00,2.17,0.00,0.000,6,0.000,0.040,2386,1960,3391,0,0,0,0,0,0
$GC,4914,-0.74,-146.0,439.4,-7.2,306,4918,0.00,2.30,0.00,0.000,4,0.000,0.058,2386,548,3389,0,0,0,0,0,0
$GC,4970,-0.74,-146.0,443.8,-7.5,307,4973,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1962,3388,0,0,0,0,0,0
$STATE,5072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5072,begin apogee
$GC,5078,-0.17,0.0,451.1,7.0,310,5201,0.65,0.00,119.65,0.769,6,0.122,0.000,2583,1962,2800,0,0,0,0,0,0
$STATE,5202,end apogee,CONTROL_FINISHED_OK
$STATE,5202,begin climb
$GC,5205,0.74,146.0,452.2,0.0,313,5341,0.88,2.38,126.43,0.739,4,0.077,0.058,2880,3383,2203,0,0,0,0,0,0
$GC,5414,0.74,146.0,427.7,15.0,318,5418,0.00,2.33,0.00,0.000,6,0.000,0.048,2889,1977,2198,0,0,0,0,0,0
$GC,5761,0.74,146.0,378.8,13.8,327,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1977,2195,0,0,0,0,0,0
$GC,6087,0.74,146.0,330.8,14.6,335,6091,0.00,2.25,0.00,0.000,4,0.000,0.051,2889,3389,2193,0,0,0,0,0,0
$GC,6177,0.74,146.0,317.2,15.3,337,6182,0.00,2.28,0.00,0.000,6,0.000,0.049,2898,1970,2192,0,0,0,0,0,0
$GC,6504,0.74,146.0,269.1,15.3,349,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1970,2191,0,0,0,0,0,0
$GC,6813,0.74,146.0,225.5,13.0,364,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1970,2190,0,0,0,0,0,0
$GC,7128,0.74,146.0,188.5,10.6,384,7132,0.00,2.20,0.00,0.000,4,0.000,0.060,2909,573,2189,0,0,0,0,0,0
$GC,7181,0.74,146.0,182.5,11.7,388,7185,0.12,2.17,0.00,0.000,6,0.138,0.042,2874,1980,2188,0,0,0,0,0,0
$GC,7507,0.74,146.0,153.4,9.1,418,7511,0.00,2.17,0.00,0.000,4,0.000,0.052,2874,3389,2187,0,0,0,0,0,0
$GC,7646,0.74,146.0,139.9,10.5,430,7650,0.00,2.17,0.00,0.000,6,0.000,0.039,2882,1976,2187,0,0,0,0,0,0
$GC,7973,0.76,163.2,109.9,8.3,460,7991,0.00,2.20,12.75,0.522,4,0.000,0.055,2892,572,2135,0,0,0,0,0,0
$GC,8095,0.76,163.2,97.7,9.6,470,8102,0.00,2.20,0.00,0.000,6,0.000,0.036,2893,1982,2133,0,0,0,0,0,0
$GC,8423,0.77,176.2,68.7,8.5,512,8441,0.00,2.17,12.98,0.481,4,0.000,0.049,2893,3391,2080,0,0,0,0,0,0
$GC,8565,0.77,176.2,54.5,10.8,537,8571,0.00,2.17,0.00,0.000,6,0.000,0.040,2902,1980,2079,0,0,0,0,0,0
$GC,8897,0.83,219.4,28.3,7.2,598,8944,0.00,2.30,37.08,0.469,4,0.000,0.057,2902,3378,1903,0,0,0,0,0,0
$GC,8989,0.83,219.4,19.7,9.9,613,8997,0.00,2.25,0.00,0.000,6,0.000,0.045,2906,1982,1902,0,0,0,0,0,0
$STATE,9156,end climb,SURFACE_DEPTH_REACHED
$STATE,9157,begin surface coast
$FINISH,0.6,1.023121
$STATE,9184,end surface coast,CONTROL_FINISHED_OK
$STATE,9184,begin surface
$SM_CCo,9202,37.12,0.436,0,0,1575,300.24
$SM_GC,1.33,0.00,0.00,37.12,0.000,0.000,0.436,26,1976,1575,-8.17,0.54,300.24
$IRIDIUM_FIX,2059.45,-15743.60,010902,020235
$TT8_MAMPS,0.028379
$HUMID,65.79
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,33.358
$10V_AH,10.4,36.652
$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,18.775,71.200,308.875,37.125,0.000,83.036,115.645,325.250,19.250,0.000,20.403,1182.837,5465.901,388.139,2213.855,790.706,0.000,1153.042,0.000,2160.939,0.000,117.259,0.000
$DEVICE_MAMPS,227.799,59.826,768.534,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,441.578,368.449,1287.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34953,649
$CAP_FILE_SIZE,104892,0
$CFSIZE,260165632,235802624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070613,051452,2105.948,-15744.474,35,0.9,35,9.8