version: 66.06
glider: 523
mission: 4
dive: 433
start: 6 10 113 3 54 58
data:
$ID,523
$MISSION,4
$DIVE,433
$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,-44571.203
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,034317,2107.697,-15801.719,21,0.8,21,9.8
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.7
$GPS2,035442,2107.729,-15801.900,21,0.8,21,9.8
$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,86.4,32991,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.57,0.000,6,0.000,0.000,49,1977,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.4,13,118,9.50,2.35,0.00,0.000,4,0.226,0.049,2392,551,3395,0,0,0,0,0,0
$GC,225,-0.74,-146.0,31.1,-17.4,35,231,0.00,2.17,0.00,0.000,6,0.000,0.035,2384,1970,3397,0,0,0,0,0,0
$GC,556,-0.74,-146.0,76.7,-12.2,96,563,0.00,2.35,0.00,0.000,4,0.000,0.054,2384,556,3398,0,0,0,0,0,0
$GC,771,-0.74,-146.0,103.7,-10.8,118,779,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1962,3398,0,0,0,0,0,0
$GC,1099,-0.74,-146.0,140.6,-11.9,149,1103,0.00,2.28,0.00,0.000,4,0.000,0.051,2375,547,3399,0,0,0,0,0,0
$GC,1272,-0.74,-146.0,163.2,-12.6,164,1276,0.12,2.12,0.00,0.000,6,0.166,0.034,2397,1961,3399,0,0,0,0,0,0
$GC,1599,-0.74,-146.0,196.6,-9.7,194,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1962,3400,0,0,0,0,0,0
$GC,1909,-0.74,-146.0,223.4,-8.9,211,1913,0.00,2.28,0.00,0.000,4,0.000,0.052,2397,545,3400,0,0,0,0,0,0
$GC,2105,-0.74,-146.0,245.9,-11.1,219,2110,0.00,2.15,0.00,0.000,6,0.000,0.034,2389,1957,3400,0,0,0,0,0,0
$GC,2424,-0.74,-146.0,271.4,-7.0,235,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1957,3400,0,0,0,0,0,0
$GC,2730,-0.74,-146.0,289.9,-7.2,250,2735,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,3362,3400,0,0,0,0,0,0
$GC,2786,-0.74,-146.0,294.6,-8.2,252,2790,0.00,2.22,0.00,0.000,6,0.000,0.043,2378,1955,3400,0,0,0,0,0,0
$GC,3098,-0.74,-146.0,319.9,-8.0,261,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1955,3399,0,0,0,0,0,0
$GC,3424,-0.74,-146.0,346.4,-7.9,269,3428,0.00,2.25,0.00,0.000,4,0.000,0.056,2378,547,3398,0,0,0,0,0,0
$GC,3671,-0.74,-146.0,364.5,-7.6,274,3675,0.12,2.15,0.00,0.000,6,0.168,0.035,2401,1958,3396,0,0,0,0,0,0
$GC,4015,-0.74,-146.0,383.6,-5.3,283,4019,0.00,2.33,0.00,0.000,4,0.000,0.059,2402,540,3394,0,0,0,0,0,0
$GC,4274,-0.74,-146.0,402.1,-7.4,288,4279,0.00,2.17,0.00,0.000,6,0.000,0.038,2393,1956,3393,0,0,0,0,0,0
$GC,4608,-0.74,-146.0,426.1,-7.1,297,4612,0.00,2.33,0.00,0.000,4,0.000,0.061,2393,548,3390,0,0,0,0,0,0
$GC,4708,-0.74,-146.0,434.6,-9.3,299,4712,0.00,2.20,0.00,0.000,6,0.000,0.042,2384,1956,3389,0,0,0,0,0,0
$STATE,4932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4932,begin apogee
$GC,4938,-0.17,0.0,452.7,8.0,305,5061,0.62,0.00,119.80,0.767,6,0.120,0.000,2583,1957,2800,0,0,0,0,0,0
$STATE,5062,end apogee,CONTROL_FINISHED_OK
$STATE,5062,begin climb
$GC,5065,0.74,146.0,455.4,0.0,308,5203,0.85,2.42,126.10,0.742,4,0.077,0.053,2875,3386,2202,0,0,0,0,0,0
$GC,5272,0.74,146.0,433.4,13.9,312,5277,0.00,2.33,0.00,0.000,6,0.000,0.045,2884,1978,2199,0,0,0,0,0,0
$GC,5603,0.74,146.0,389.4,13.5,321,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1978,2196,0,0,0,0,0,0
$GC,5928,0.74,146.0,338.8,15.7,329,5932,0.00,2.28,0.00,0.000,4,0.000,0.059,2895,570,2193,0,0,0,0,0,0
$GC,5978,0.74,146.0,331.3,14.4,330,5982,0.00,2.20,0.00,0.000,6,0.000,0.042,2894,1979,2193,0,0,0,0,0,0
$GC,6293,0.74,146.0,289.2,12.2,340,6296,0.00,2.22,0.00,0.000,4,0.000,0.052,2895,3387,2191,0,0,0,0,0,0
$GC,6422,0.74,146.0,272.8,12.4,345,6427,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,1976,2190,0,0,0,0,0,0
$GC,6737,0.74,146.0,234.5,10.9,361,6741,0.00,2.25,0.00,0.000,4,0.000,0.051,2905,3393,2190,0,0,0,0,0,0
$GC,6781,0.74,146.0,229.2,12.4,363,6786,0.12,2.22,0.00,0.000,6,0.150,0.042,2880,1972,2189,0,0,0,0,0,0
$GC,7102,0.74,147.4,199.2,9.0,379,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1972,2188,0,0,0,0,0,0
$GC,7425,0.74,148.4,168.8,9.0,409,7429,0.00,2.22,0.00,0.000,4,0.000,0.058,2889,570,2188,0,0,0,0,0,0
$GC,7487,0.74,148.4,162.8,9.6,414,7492,0.00,2.17,0.00,0.000,6,0.000,0.038,2889,1994,2188,0,0,0,0,0,0
$GC,7814,0.77,172.6,135.9,8.0,444,7842,0.00,2.20,21.17,0.546,4,0.000,0.051,2889,3379,2095,0,0,0,0,0,0
$GC,7941,0.77,172.6,122.0,11.7,455,7948,0.00,2.22,0.00,0.000,6,0.000,0.040,2898,1979,2093,0,0,0,0,0,0
$GC,8268,0.77,172.6,83.7,12.2,486,8272,0.00,2.22,0.00,0.000,4,0.000,0.051,2898,3386,2093,0,0,0,0,0,0
$GC,8352,0.77,172.6,72.5,14.5,497,8358,0.00,2.20,0.00,0.000,6,0.000,0.044,2907,1978,2093,0,0,0,0,0,0
$GC,8682,0.77,172.6,38.6,10.8,558,8689,0.00,2.25,0.00,0.000,4,0.000,0.057,2915,573,2093,0,0,0,0,0,0
$GC,8873,0.77,175.2,20.8,8.9,593,8881,0.00,2.20,0.00,0.000,6,0.000,0.041,2914,1969,2093,0,0,0,0,0,0
$GC,9043,0.85,234.6,6.1,6.6,624,9076,0.00,0.00,31.42,0.443,2,0.000,0.000,2914,1969,1946,0,0,0,0,0,0
$STATE,9077,end climb,SURFACE_DEPTH_REACHED
$STATE,9077,begin surface coast
$FINISH,0.6,1.009332
$STATE,9110,end surface coast,CONTROL_FINISHED_OK
$STATE,9111,begin surface
$SM_CCo,9129,41.12,0.430,0,0,1575,300.24
$SM_GC,1.49,0.00,0.00,41.12,0.000,0.000,0.430,25,1970,1575,-8.17,0.37,300.24
$IRIDIUM_FIX,2104.07,-15805.48,040902,030311
$TT8_MAMPS,0.027612
$HUMID,63.82
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.5,35.713
$10V_AH,10.4,39.242
$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,18.725,71.575,298.500,41.125,0.000,87.158,102.329,214.033,19.000,0.000,21.758,1159.981,5493.196,380.521,2146.084,672.152,0.000,1136.340,0.000,2093.281,0.000,117.255,0.000
$DEVICE_MAMPS,226.265,60.593,767.000,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,431.428,361.324,1245.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34957,635
$CAP_FILE_SIZE,99889,0
$CFSIZE,260165632,234475520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100613,062904,2108.138,-15801.062,36,0.9,36,9.8