version: 66.06
glider: 523
mission: 4
dive: 407
start: 6 7 113 5 28 53
data:
$ID,523
$MISSION,4
$DIVE,407
$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,-44030.195
$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,24
$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
$GPS1,051452,2105.948,-15744.474,35,0.9,35,9.8
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.4
$GPS2,052835,2105.976,-15744.499,24,0.9,24,9.8
$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,86.5,2748,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-76.20,0.000,2,0.000,0.000,26,1976,3391,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.3,-5.1,12,113,9.45,2.28,0.00,0.000,4,0.222,0.053,2390,547,3392,0,0,0,0,0,0
$GC,230,-0.74,-146.0,32.4,-17.8,36,237,0.00,2.20,0.00,0.000,6,0.000,0.036,2382,1955,3393,0,0,0,0,0,0
$GC,568,-0.74,-146.0,81.4,-11.9,97,572,0.00,2.17,0.00,0.000,4,0.000,0.054,2372,3363,3394,0,0,0,0,0,0
$GC,652,-0.74,-146.0,91.6,-12.2,104,657,0.12,2.22,0.00,0.000,6,0.152,0.042,2404,1954,3394,0,0,0,0,0,0
$GC,980,-0.74,-146.0,126.1,-9.9,134,984,0.00,2.22,0.00,0.000,4,0.000,0.054,2405,536,3395,0,0,0,0,0,0
$GC,1228,-0.74,-146.0,152.5,-9.8,156,1236,0.00,2.17,0.00,0.000,6,0.000,0.033,2397,1958,3395,0,0,0,0,0,0
$GC,1557,-0.74,-146.0,180.2,-8.4,187,1561,0.00,2.22,0.00,0.000,4,0.000,0.051,2397,545,3396,0,0,0,0,0,0
$GC,1809,-0.74,-146.0,202.4,-7.9,208,1814,0.00,2.12,0.00,0.000,6,0.000,0.035,2387,1959,3396,0,0,0,0,0,0
$GC,2127,-0.74,-146.0,228.6,-9.0,224,2131,0.00,2.25,0.00,0.000,4,0.000,0.052,2387,547,3395,0,0,0,0,0,0
$GC,2220,-0.74,-146.0,238.6,-10.9,228,2225,0.00,2.12,0.00,0.000,6,0.000,0.035,2378,1959,3395,0,0,0,0,0,0
$GC,2536,-0.74,-146.0,268.5,-9.5,243,2540,0.00,2.25,0.00,0.000,4,0.000,0.054,2378,543,3395,0,0,0,0,0,0
$GC,2667,-0.74,-146.0,280.6,-9.2,249,2672,0.12,2.15,0.00,0.000,6,0.165,0.036,2401,1965,3395,0,0,0,0,0,0
$GC,3014,-0.74,-146.0,303.4,-6.2,265,3018,0.00,2.17,0.00,0.000,4,0.000,0.055,2392,3364,3394,0,0,0,0,0,0
$GC,3047,-0.74,-146.0,305.7,-7.0,265,3052,0.00,2.22,0.00,0.000,6,0.000,0.043,2392,1947,3395,0,0,0,0,0,0
$GC,3379,-0.74,-146.0,327.9,-6.1,274,3383,0.00,2.25,0.00,0.000,4,0.000,0.059,2392,537,3392,0,0,0,0,0,0
$GC,3638,-0.74,-146.0,349.7,-8.2,279,3643,0.00,2.17,0.00,0.000,6,0.000,0.039,2382,1958,3391,0,0,0,0,0,0
$GC,3975,-0.74,-146.0,373.1,-6.6,288,3979,0.00,2.30,0.00,0.000,4,0.000,0.058,2382,545,3388,0,0,0,0,0,0
$GC,4165,-0.74,-146.0,389.0,-8.9,292,4170,0.00,2.20,0.00,0.000,6,0.000,0.041,2373,1963,3387,0,0,0,0,0,0
$GC,4517,-0.74,-146.0,417.1,-8.0,301,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1964,3384,0,0,0,0,0,0
$GC,4840,-0.74,-146.0,441.3,-7.8,309,4844,0.00,2.33,0.00,0.000,4,0.000,0.061,2373,548,3382,0,0,0,0,0,0
$STATE,4939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4939,begin apogee
$GC,4948,-0.17,0.0,450.5,9.2,311,5070,0.68,0.00,118.35,0.769,6,0.126,0.000,2579,1982,2800,0,0,0,0,0,0
$STATE,5071,end apogee,CONTROL_FINISHED_OK
$STATE,5071,begin climb
$GC,5074,0.74,146.0,453.5,0.0,314,5212,0.85,2.42,126.35,0.742,4,0.079,0.060,2872,3389,2202,0,0,0,0,0,0
$GC,5246,0.74,146.0,437.1,12.9,318,5250,0.00,2.33,0.00,0.000,6,0.000,0.048,2881,1982,2200,0,0,0,0,0,0
$GC,5564,0.74,146.0,394.7,13.2,326,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1982,2196,0,0,0,0,0,0
$GC,5889,0.74,146.0,352.0,13.6,334,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1982,2193,0,0,0,0,0,0
$GC,6214,0.74,146.0,306.8,13.7,342,6218,0.00,2.30,0.00,0.000,4,0.000,0.064,2892,558,2191,0,0,0,0,0,0
$GC,6253,0.74,146.0,301.3,13.7,342,6258,0.00,2.20,0.00,0.000,6,0.000,0.039,2892,1984,2191,0,0,0,0,0,0
$GC,6568,0.74,146.0,261.5,12.9,357,6572,0.00,2.20,0.00,0.000,4,0.000,0.051,2892,3388,2190,0,0,0,0,0,0
$GC,6654,0.74,146.0,250.5,12.6,361,6658,0.00,2.22,0.00,0.000,6,0.000,0.042,2902,1976,2189,0,0,0,0,0,0
$GC,6981,0.74,146.0,208.2,13.3,377,6985,0.00,2.25,0.00,0.000,4,0.000,0.059,2912,572,2188,0,0,0,0,0,0
$GC,6998,0.74,146.0,205.9,12.9,378,7003,0.12,2.20,0.00,0.000,6,0.143,0.038,2878,1990,2188,0,0,0,0,0,0
$GC,7325,0.74,146.0,172.7,9.9,406,7329,0.00,2.20,0.00,0.000,4,0.000,0.052,2878,3395,2188,0,0,0,0,0,0
$GC,7431,0.74,146.0,160.7,11.4,415,7436,0.00,2.20,0.00,0.000,6,0.000,0.040,2885,1974,2187,0,0,0,0,0,0
$GC,7759,0.75,156.9,130.7,8.6,445,7771,0.00,2.22,7.55,0.498,4,0.000,0.056,2896,564,2160,0,0,0,0,0,0
$GC,7919,0.75,156.9,116.6,9.7,459,7927,0.00,2.20,0.00,0.000,6,0.000,0.037,2896,1974,2158,0,0,0,0,0,0
$GC,8247,0.77,173.8,87.0,8.3,490,8271,0.00,2.22,16.17,0.509,4,0.000,0.051,2896,3385,2090,0,0,0,0,0,0
$GC,8307,0.77,173.8,80.8,11.2,495,8311,0.00,2.20,0.00,0.000,6,0.000,0.041,2905,1979,2089,0,0,0,0,0,0
$GC,8642,0.80,196.8,47.5,8.1,555,8671,0.00,2.28,20.67,0.479,4,0.000,0.056,2915,569,1996,0,0,0,0,0,0
$GC,8691,0.83,218.8,43.6,8.1,563,8715,0.00,2.20,19.60,0.468,6,0.000,0.036,2915,1993,1907,0,0,0,0,0,0
$GC,9038,0.83,218.8,7.5,11.5,627,9045,0.00,2.22,0.00,0.000,4,0.000,0.053,2915,3377,1904,0,0,0,0,0,0
$STATE,9083,end climb,SURFACE_DEPTH_REACHED
$STATE,9083,begin surface coast
$FINISH,0.6,1.023175
$STATE,9110,end surface coast,CONTROL_FINISHED_OK
$STATE,9110,begin surface
$SM_CCo,9131,37.33,0.436,0,0,1576,300.24
$SM_GC,1.47,0.00,0.00,37.33,0.000,0.000,0.436,40,1946,1576,-8.13,-0.31,300.24
$IRIDIUM_FIX,2104.07,-15735.43,010902,050522
$TT8_MAMPS,0.028379
$HUMID,65.75
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,24.6,33.455
$10V_AH,10.4,36.752
$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,18.700,84.725,308.700,37.325,0.000,78.562,116.621,337.326,19.000,0.000,24.597,1188.401,5401.486,383.348,2198.654,818.933,0.000,1158.094,0.000,2143.307,0.000,119.651,0.000
$DEVICE_MAMPS,221.663,63.661,769.301,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,435.924,366.269,1278.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,34909,640
$CAP_FILE_SIZE,106867,0
$CFSIZE,260165632,235745280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070613,080258,2106.210,-15743.156,37,0.8,37,9.8