version: 66.06
glider: 523
mission: 4
dive: 441
start: 6 11 113 1 39 15
data:
$ID,523
$MISSION,4
$DIVE,441
$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,-44735.938
$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,27
$R_STBD_OVSHOOT,31
$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
$GPS1,013258,2108.036,-15755.565,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.2
$GPS2,013859,2107.970,-15755.619,19,0.8,19,9.8
$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,90.5,22306,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-77.07,0.000,6,0.000,0.000,29,1986,3392,0,0,0,0,0,0
$GC,105,-0.74,-146.0,4.0,-6.4,13,120,9.57,2.33,0.00,0.000,4,0.225,0.048,2393,551,3393,0,0,0,0,0,0
$GC,135,-0.74,-146.0,14.9,-32.5,17,143,0.00,2.22,0.00,0.000,6,0.000,0.038,2385,1960,3394,0,0,0,0,0,0
$GC,303,-0.74,-146.0,44.5,-15.5,48,310,0.00,2.35,0.00,0.000,4,0.000,0.057,2385,554,3395,0,0,0,0,0,0
$GC,368,-0.74,-146.0,54.3,-14.9,59,374,0.00,2.17,0.00,0.000,6,0.000,0.037,2376,1964,3395,0,0,0,0,0,0
$GC,698,-0.74,-146.0,104.4,-13.6,105,702,0.00,2.30,0.00,0.000,4,0.000,0.054,2376,546,3396,0,0,0,0,0,0
$GC,853,-0.74,-146.0,124.1,-10.8,119,861,0.10,2.17,0.00,0.000,6,0.142,0.035,2398,1957,3397,0,0,0,0,0,0
$GC,1181,-0.74,-146.0,150.6,-7.5,150,1185,0.00,2.30,0.00,0.000,4,0.000,0.055,2398,543,3398,0,0,0,0,0,0
$GC,1320,-0.74,-146.0,163.3,-10.2,162,1324,0.00,2.17,0.00,0.000,6,0.000,0.035,2390,1968,3398,0,0,0,0,0,0
$GC,1648,-0.74,-146.0,195.1,-9.7,192,1652,0.00,2.28,0.00,0.000,4,0.000,0.054,2390,550,3399,0,0,0,0,0,0
$GC,1816,-0.74,-146.0,214.1,-11.7,201,1822,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1960,3399,0,0,0,0,0,0
$GC,2132,-0.74,-146.0,248.8,-11.6,217,2136,0.00,2.28,0.00,0.000,4,0.000,0.054,2380,543,3399,0,0,0,0,0,0
$GC,2154,-0.74,-146.0,251.3,-11.3,218,2159,0.12,2.17,0.00,0.000,6,0.164,0.038,2403,1961,3399,0,0,0,0,0,0
$GC,2475,-0.74,-146.0,273.3,-5.0,234,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1962,3399,0,0,0,0,0,0
$GC,2786,-0.74,-146.0,296.3,-7.8,249,2790,0.00,2.30,0.00,0.000,4,0.000,0.054,2404,548,3399,0,0,0,0,0,0
$GC,3044,-0.74,-146.0,314.9,-8.1,256,3053,0.00,2.15,0.00,0.000,6,0.000,0.038,2396,1958,3399,0,0,0,0,0,0
$GC,3377,-0.74,-146.0,337.5,-6.7,265,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1958,3399,0,0,0,0,0,0
$GC,3702,-0.74,-146.0,362.3,-8.3,273,3706,0.00,2.33,0.00,0.000,4,0.000,0.060,2396,552,3397,0,0,0,0,0,0
$GC,3834,-0.74,-146.0,375.1,-9.3,276,3838,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1964,3396,0,0,0,0,0,0
$GC,4160,-0.74,-146.0,398.9,-6.8,284,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1964,3394,0,0,0,0,0,0
$GC,4483,-0.74,-146.0,419.7,-6.2,292,4488,0.00,2.33,0.00,0.000,4,0.000,0.063,2386,550,3392,0,0,0,0,0,0
$GC,4735,-0.74,-146.0,437.8,-7.0,297,4739,0.00,2.22,0.00,0.000,6,0.000,0.046,2377,1960,3390,0,0,0,0,0,0
$STATE,4907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4907,begin apogee
$GC,4913,-0.17,0.0,450.7,7.5,302,5037,0.65,0.00,120.50,0.763,6,0.123,0.000,2581,1961,2800,0,0,0,0,0,0
$STATE,5037,end apogee,CONTROL_FINISHED_OK
$STATE,5038,begin climb
$GC,5041,0.74,146.0,451.6,0.0,305,5178,0.85,2.38,126.62,0.739,4,0.077,0.054,2875,3388,2203,0,0,0,0,0,0
$GC,5240,0.74,146.0,428.6,13.6,309,5244,0.00,2.33,0.00,0.000,6,0.000,0.051,2884,1985,2199,0,0,0,0,0,0
$GC,5577,0.74,146.0,384.2,13.3,318,5581,0.00,2.30,0.00,0.000,4,0.000,0.060,2895,563,2196,0,0,0,0,0,0
$GC,5593,0.74,146.0,381.7,13.9,318,5597,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1993,2196,0,0,0,0,0,0
$GC,5940,0.74,146.0,336.9,11.8,327,5944,0.00,2.20,0.00,0.000,4,0.000,0.054,2895,3386,2193,0,0,0,0,0,0
$GC,6094,0.74,146.0,317.0,13.1,330,6098,0.00,2.25,0.00,0.000,6,0.000,0.043,2905,1972,2192,0,0,0,0,0,0
$GC,6418,0.74,146.0,271.6,15.3,343,6422,0.00,2.22,0.00,0.000,4,0.000,0.056,2914,569,2191,0,0,0,0,0,0
$GC,6514,0.74,146.0,257.5,14.2,347,6518,0.12,2.15,0.00,0.000,6,0.142,0.037,2879,1981,2190,0,0,0,0,0,0
$GC,6829,0.74,146.0,223.1,9.7,362,6833,0.00,2.20,0.00,0.000,4,0.000,0.053,2880,3395,2190,0,0,0,0,0,0
$GC,6936,0.74,146.0,212.8,9.4,367,6940,0.00,2.22,0.00,0.000,6,0.000,0.041,2888,1977,2189,0,0,0,0,0,0
$GC,7262,0.81,202.1,188.1,6.7,390,7310,0.00,0.00,46.35,0.607,6,0.000,0.000,2888,1978,1974,0,0,0,0,0,0
$GC,7629,0.81,202.1,154.8,10.4,425,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1978,1970,0,0,0,0,0,0
$GC,7949,0.81,202.1,119.6,12.3,455,7953,0.00,2.25,0.00,0.000,4,0.000,0.054,2898,572,1969,0,0,0,0,0,0
$GC,7968,0.81,202.1,116.9,12.4,456,7972,0.00,2.17,0.00,0.000,6,0.000,0.035,2898,1981,1969,0,0,0,0,0,0
$GC,8293,0.81,202.1,71.5,13.6,492,8300,0.00,2.22,0.00,0.000,4,0.000,0.052,2898,3382,1969,0,0,0,0,0,0
$GC,8401,0.81,202.1,56.8,12.7,511,8406,0.00,2.22,0.00,0.000,6,0.000,0.041,2908,1970,1969,0,0,0,0,0,0
$GC,8729,0.81,202.1,19.4,10.6,572,8736,0.00,2.25,0.00,0.000,4,0.000,0.055,2917,568,1969,0,0,0,0,0,0
$GC,8772,0.81,202.1,14.9,9.8,579,8779,0.00,2.20,0.00,0.000,6,0.000,0.035,2917,1985,1969,0,0,0,0,0,0
$STATE,8893,end climb,SURFACE_DEPTH_REACHED
$STATE,8893,begin surface coast
$FINISH,0.5,1.010392
$STATE,8928,end surface coast,CONTROL_FINISHED_OK
$STATE,8928,begin surface
$SM_CCo,8946,44.40,0.443,0,0,1574,300.24
$SM_GC,1.28,0.00,0.00,44.40,0.000,0.000,0.443,52,1988,1574,-8.09,0.88,300.24
$IRIDIUM_FIX,2057.14,-15801.19,040902,232332
$TT8_MAMPS,0.028379
$HUMID,66.89
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,24.5,36.362
$10V_AH,10.4,39.999
$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,18.775,76.225,293.475,44.400,0.000,24.699,35.612,166.517,19.000,0.000,20.088,1117.947,5298.635,390.590,2065.516,476.449,0.000,1123.740,0.000,2015.459,0.000,123.791,0.000
$DEVICE_MAMPS,225.498,62.894,763.165,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,413.738,351.434,1199.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,34883,608
$CAP_FILE_SIZE,95871,0
$CFSIZE,260165632,234086400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110613,041006,2107.727,-15754.889,21,0.8,21,9.8