version: 66.06
glider: 523
mission: 4
dive: 434
start: 6 10 113 6 34 57
data:
$ID,523
$MISSION,4
$DIVE,434
$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,-44592.277
$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,21
$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
$GPS1,062904,2108.138,-15801.062,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.1
$GPS2,063441,2108.161,-15801.135,20,0.9,20,9.8
$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,88.1,31774,-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,-76.35,0.000,2,0.000,0.000,25,1970,3372,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.6,12,113,9.50,2.28,-0.50,0.000,4,0.223,0.061,2389,545,3396,0,0,0,0,0,0
$GC,204,-0.74,-146.0,26.3,-17.2,31,211,0.00,2.22,0.00,0.000,6,0.000,0.037,2380,1964,3398,0,0,0,0,0,0
$GC,375,-0.74,-146.0,53.3,-16.8,62,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1964,3398,0,0,0,0,0,0
$GC,711,-0.74,-146.0,98.3,-12.2,110,715,0.00,2.25,0.00,0.000,4,0.000,0.053,2381,535,3399,0,0,0,0,0,0
$GC,962,-0.74,-146.0,130.9,-13.7,132,969,0.00,2.17,0.00,0.000,6,0.000,0.034,2372,1954,3400,0,0,0,0,0,0
$GC,1289,-0.74,-146.0,171.4,-11.9,163,1294,0.12,2.25,0.00,0.000,4,0.166,0.051,2404,540,3401,0,0,0,0,0,0
$GC,1388,-0.74,-146.0,182.0,-9.4,171,1396,0.00,2.17,0.00,0.000,6,0.000,0.034,2396,1954,3400,0,0,0,0,0,0
$GC,1720,-0.74,-146.0,212.6,-9.8,197,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1954,3401,0,0,0,0,0,0
$GC,2032,-0.74,-146.0,241.9,-8.5,212,2036,0.00,2.25,0.00,0.000,4,0.000,0.051,2396,541,3402,0,0,0,0,0,0
$GC,2077,-0.74,-146.0,246.5,-9.5,214,2081,0.00,2.17,0.00,0.000,6,0.000,0.035,2387,1964,3402,0,0,0,0,0,0
$GC,2407,-0.74,-146.0,272.4,-6.9,230,2411,0.00,2.20,0.00,0.000,4,0.000,0.056,2376,3359,3402,0,0,0,0,0,0
$GC,2452,-0.74,-146.0,276.0,-7.2,232,2456,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1951,3401,0,0,0,0,0,0
$GC,2776,-0.74,-146.0,301.9,-9.4,248,2780,0.00,2.22,0.00,0.000,4,0.000,0.054,2376,545,3402,0,0,0,0,0,0
$GC,2922,-0.74,-146.0,315.9,-8.5,251,2927,0.12,2.15,0.00,0.000,6,0.163,0.035,2399,1968,3401,0,0,0,0,0,0
$GC,3274,-0.74,-146.0,340.0,-6.9,260,3278,0.00,2.30,0.00,0.000,4,0.000,0.054,2400,544,3401,0,0,0,0,0,0
$GC,3381,-0.74,-146.0,348.1,-7.1,262,3385,0.00,2.15,0.00,0.000,6,0.000,0.036,2392,1956,3401,0,0,0,0,0,0
$GC,3726,-0.74,-146.0,370.4,-6.7,271,3730,0.00,2.33,0.00,0.000,4,0.000,0.055,2392,543,3400,0,0,0,0,0,0
$GC,3985,-0.74,-146.0,390.9,-8.4,276,3990,0.00,2.17,0.00,0.000,6,0.000,0.038,2382,1960,3398,0,0,0,0,0,0
$GC,4317,-0.74,-146.0,417.1,-7.8,285,4321,0.00,2.30,0.00,0.000,4,0.000,0.057,2382,545,3397,0,0,0,0,0,0
$GC,4576,-0.74,-146.0,436.2,-6.7,290,4580,0.00,2.17,0.00,0.000,6,0.000,0.041,2372,1956,3394,0,0,0,0,0,0
$STATE,4830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4830,begin apogee
$GC,4836,-0.17,0.0,450.5,5.5,297,4960,0.68,0.00,120.45,0.759,6,0.123,0.000,2585,1957,2800,0,0,0,0,0,0
$STATE,4961,end apogee,CONTROL_FINISHED_OK
$STATE,4961,begin climb
$GC,4963,0.74,146.0,450.3,0.0,300,5101,0.82,2.45,125.70,0.733,4,0.075,0.058,2872,3383,2203,0,0,0,0,0,0
$GC,5234,0.74,146.0,411.8,15.6,306,5238,0.00,2.30,0.00,0.000,6,0.000,0.046,2882,1981,2197,0,0,0,0,0,0
$GC,5547,0.74,146.0,364.0,14.3,314,5551,0.00,2.33,0.00,0.000,4,0.000,0.066,2892,570,2196,0,0,0,0,0,0
$GC,5597,0.74,146.0,356.7,14.5,315,5601,0.00,2.20,0.00,0.000,6,0.000,0.041,2892,1977,2195,0,0,0,0,0,0
$GC,5910,0.74,146.0,314.0,13.5,323,5914,0.00,2.22,0.00,0.000,4,0.000,0.058,2893,3389,2194,0,0,0,0,0,0
$GC,6080,0.74,146.0,292.0,13.8,327,6085,0.00,2.28,0.00,0.000,6,0.000,0.049,2902,1976,2192,0,0,0,0,0,0
$GC,6395,0.74,146.0,253.0,12.1,343,6399,0.00,2.28,0.00,0.000,4,0.000,0.060,2913,557,2191,0,0,0,0,0,0
$GC,6439,0.74,146.0,247.7,11.9,345,6444,0.12,2.22,0.00,0.000,6,0.143,0.041,2878,1998,2190,0,0,0,0,0,0
$GC,6760,0.74,146.0,213.1,11.0,361,6764,0.00,2.15,0.00,0.000,4,0.000,0.052,2878,3385,2189,0,0,0,0,0,0
$GC,6890,0.74,146.0,198.8,10.1,367,6894,0.00,2.20,0.00,0.000,6,0.000,0.041,2886,1967,2188,0,0,0,0,0,0
$GC,7217,0.74,146.0,166.2,9.4,397,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1967,2188,0,0,0,0,0,0
$GC,7537,0.74,146.0,134.4,9.9,427,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1967,2188,0,0,0,0,0,0
$GC,7868,0.74,146.0,102.4,9.4,458,7872,0.00,2.30,0.00,0.000,4,0.000,0.058,2886,3390,2189,0,0,0,0,0,0
$GC,7898,0.74,146.0,99.0,10.5,460,7902,0.00,2.25,0.00,0.000,6,0.000,0.050,2895,1986,2188,0,0,0,0,0,0
$GC,8229,0.74,146.0,66.7,11.0,501,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1986,2189,0,0,0,0,0,0
$GC,8560,0.82,216.5,36.1,6.1,562,8625,0.00,2.35,56.80,0.473,4,0.000,0.067,2906,572,1916,0,0,0,0,0,0
$GC,8740,0.82,216.5,23.3,9.2,594,8747,0.00,2.25,0.00,0.000,6,0.000,0.041,2906,1979,1915,0,0,0,0,0,0
$GC,8909,0.83,224.0,7.2,8.7,625,8924,0.00,2.25,8.07,0.393,4,0.000,0.057,2906,3396,1885,0,0,0,0,0,0
$GC,8949,0.83,224.0,3.6,9.4,631,8956,0.00,2.30,0.00,0.000,6,0.000,0.046,2915,1977,1884,0,0,0,0,0,0
$STATE,8962,end climb,SURFACE_DEPTH_REACHED
$STATE,8962,begin surface coast
$FINISH,0.5,1.022640
$STATE,8990,end surface coast,CONTROL_FINISHED_OK
$STATE,8991,begin surface
$SM_CCo,9008,35.97,0.426,0,0,1574,300.24
$SM_GC,1.37,0.00,0.00,35.97,0.000,0.000,0.426,40,1971,1574,-8.13,0.40,300.24
$IRIDIUM_FIX,2108.69,-15814.92,040902,040432
$TT8_MAMPS,0.027612
$HUMID,64.17
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.6,35.792
$10V_AH,10.4,39.337
$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,18.650,76.300,311.025,35.975,0.000,25.700,32.648,143.925,19.000,0.000,20.447,1180.466,5166.729,387.422,2189.520,455.330,0.000,1170.391,0.000,2134.086,0.000,121.572,0.000
$DEVICE_MAMPS,223.197,67.496,759.330,426.452,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,432.405,366.660,1258.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34978,638
$CAP_FILE_SIZE,98796,0
$CFSIZE,260165632,234426368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100613,090635,2108.254,-15800.034,13,1.7,13,9.8