version: 66.06
glider: 523
mission: 4
dive: 448
start: 6 11 113 20 39 9
data:
$ID,523
$MISSION,4
$DIVE,448
$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,-44884.82
$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,23
$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
$GPS1,202812,2107.367,-15750.715,29,0.8,29,9.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.9
$GPS2,203853,2107.362,-15750.720,29,0.8,29,9.8
$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,92.2,13781,-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,-76.07,0.000,2,0.000,0.000,30,1967,3377,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.2,12,113,9.60,2.28,-0.40,0.000,4,0.227,0.059,2391,535,3397,0,0,0,0,0,0
$GC,354,-0.74,-146.0,53.4,-17.6,59,360,0.00,2.17,0.00,0.000,6,0.000,0.038,2382,1955,3399,0,0,0,0,0,0
$GC,690,-0.74,-146.0,100.0,-11.0,107,694,0.00,2.28,0.00,0.000,4,0.000,0.052,2382,533,3399,0,0,0,0,0,0
$GC,732,-0.74,-146.0,104.4,-10.0,110,737,0.00,2.17,0.00,0.000,6,0.000,0.035,2373,1965,3399,0,0,0,0,0,0
$GC,1065,-0.74,-146.0,142.0,-11.0,141,1069,0.00,2.30,0.00,0.000,4,0.000,0.052,2373,544,3400,0,0,0,0,0,0
$GC,1206,-0.74,-146.0,158.5,-12.6,153,1211,0.15,2.17,0.00,0.000,6,0.158,0.035,2402,1968,3400,0,0,0,0,0,0
$GC,1533,-0.74,-146.0,189.7,-9.7,183,1538,0.00,2.28,0.00,0.000,4,0.000,0.051,2403,545,3401,0,0,0,0,0,0
$GC,1780,-0.74,-146.0,213.9,-9.3,199,1784,0.00,2.15,0.00,0.000,6,0.000,0.036,2395,1962,3401,0,0,0,0,0,0
$GC,2105,-0.74,-146.0,241.4,-8.7,215,2109,0.00,2.22,0.00,0.000,4,0.000,0.057,2384,3360,3401,0,0,0,0,0,0
$GC,2127,-0.74,-146.0,244.0,-9.9,216,2131,0.00,2.25,0.00,0.000,6,0.000,0.045,2384,1947,3401,0,0,0,0,0,0
$GC,2448,-0.74,-146.0,273.5,-7.9,232,2452,0.00,2.22,0.00,0.000,4,0.000,0.057,2384,538,3401,0,0,0,0,0,0
$GC,2678,-0.74,-146.0,291.3,-7.8,242,2682,0.00,2.15,0.00,0.000,6,0.000,0.035,2375,1961,3401,0,0,0,0,0,0
$GC,3014,-0.74,-146.0,316.5,-7.7,253,3018,0.00,2.28,0.00,0.000,4,0.000,0.055,2375,544,3401,0,0,0,0,0,0
$GC,3165,-0.74,-146.0,327.8,-7.3,256,3170,0.12,2.15,0.00,0.000,6,0.161,0.038,2398,1959,3401,0,0,0,0,0,0
$GC,3509,-0.74,-146.0,347.2,-5.6,265,3513,0.00,2.22,0.00,0.000,4,0.000,0.060,2389,3362,3399,0,0,0,0,0,0
$GC,3629,-0.74,-146.0,356.5,-8.5,267,3633,0.00,2.22,0.00,0.000,6,0.000,0.045,2389,1957,3399,0,0,0,0,0,0
$GC,3966,-0.74,-146.0,382.9,-7.3,276,3970,0.00,2.30,0.00,0.000,4,0.000,0.062,2389,544,3397,0,0,0,0,0,0
$GC,4224,-0.74,-146.0,404.0,-8.4,281,4230,0.00,2.17,0.00,0.000,6,0.000,0.041,2379,1952,3395,0,0,0,0,0,0
$GC,4557,-0.74,-146.0,430.2,-7.9,290,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1952,3392,0,0,0,0,0,0
$STATE,4839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4839,begin apogee
$GC,4846,-0.17,0.0,452.6,8.0,297,4969,0.65,0.00,120.30,0.762,6,0.121,0.000,2585,1952,2800,0,0,0,0,0,0
$STATE,4970,end apogee,CONTROL_FINISHED_OK
$STATE,4970,begin climb
$GC,4973,0.74,146.0,454.0,0.0,300,5110,0.82,2.45,125.75,0.736,4,0.076,0.054,2872,3389,2203,0,0,0,0,0,0
$GC,5172,0.74,146.0,432.0,13.4,304,5176,0.00,2.35,0.00,0.000,6,0.000,0.051,2881,1979,2199,0,0,0,0,0,0
$GC,5509,0.74,146.0,389.6,11.7,313,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1978,2196,0,0,0,0,0,0
$GC,5833,0.74,146.0,353.0,11.7,321,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1979,2194,0,0,0,0,0,0
$GC,6158,0.74,146.0,310.6,13.1,329,6162,0.00,2.28,0.00,0.000,4,0.000,0.061,2881,3392,2192,0,0,0,0,0,0
$GC,6333,0.74,146.0,286.4,13.2,335,6337,0.00,2.30,0.00,0.000,6,0.000,0.051,2891,1967,2191,0,0,0,0,0,0
$GC,6659,0.74,146.0,247.5,11.4,351,6663,0.00,2.25,0.00,0.000,4,0.000,0.060,2900,565,2190,0,0,0,0,0,0
$GC,6721,0.74,146.0,240.3,11.3,354,6725,0.00,2.20,0.00,0.000,6,0.000,0.038,2900,1992,2189,0,0,0,0,0,0
$GC,7053,0.74,146.0,200.4,12.3,370,7057,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3383,2189,0,0,0,0,0,0
$GC,7154,0.74,146.0,187.6,13.2,378,7158,0.12,2.20,0.00,0.000,6,0.153,0.040,2876,1974,2188,0,0,0,0,0,0
$GC,7480,0.74,146.0,149.9,11.9,408,7484,0.00,2.28,0.00,0.000,4,0.000,0.058,2885,570,2188,0,0,0,0,0,0
$GC,7620,0.74,146.0,134.0,11.1,420,7624,0.00,2.17,0.00,0.000,6,0.000,0.037,2885,1993,2187,0,0,0,0,0,0
$GC,7948,0.79,185.7,106.0,7.4,450,7987,0.00,0.00,32.28,0.538,6,0.000,0.000,2885,1993,2040,0,0,0,0,0,0
$GC,8307,0.82,211.6,75.5,8.0,489,8336,0.00,2.22,22.48,0.499,4,0.000,0.051,2884,3388,1936,0,0,0,0,0,0
$GC,8377,0.82,211.6,69.0,10.0,501,8383,0.00,2.25,0.00,0.000,6,0.000,0.038,2893,1969,1935,0,0,0,0,0,0
$GC,8705,0.82,211.6,36.1,10.5,562,8713,0.00,2.33,0.00,0.000,4,0.000,0.056,2893,3383,1933,0,0,0,0,0,0
$GC,8800,0.82,211.6,27.0,9.3,579,8808,0.00,2.22,0.00,0.000,6,0.000,0.039,2896,1988,1934,0,0,0,0,0,0
$GC,8972,0.84,233.2,12.5,8.1,610,8999,0.00,2.28,19.50,0.440,4,0.000,0.054,2907,576,1848,0,0,0,0,0,0
$GC,9034,0.84,233.2,6.9,10.0,620,9042,0.00,2.20,0.00,0.000,6,0.000,0.035,2906,1983,1848,0,0,0,0,0,0
$STATE,9073,end climb,SURFACE_DEPTH_REACHED
$STATE,9073,begin surface coast
$FINISH,0.6,1.008282
$STATE,9112,end surface coast,CONTROL_FINISHED_OK
$STATE,9112,begin surface
$SM_CCo,9131,31.85,0.430,0,0,1575,300.24
$SM_GC,1.40,0.00,0.00,31.85,0.000,0.000,0.430,53,1988,1575,-8.09,0.88,300.24
$IRIDIUM_FIX,2054.83,-15746.61,050902,202015
$TT8_MAMPS,0.028379
$HUMID,65.43
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,36.963
$10V_AH,10.4,40.674
$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,18.850,76.150,320.300,31.850,0.000,70.481,66.851,284.731,19.250,0.000,30.252,1164.574,5416.719,384.712,2156.437,678.113,0.000,1146.024,0.000,2092.362,0.000,117.270,0.000
$DEVICE_MAMPS,227.032,62.127,761.631,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,430.745,364.382,1249.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34889,634
$CAP_FILE_SIZE,101533,0
$CFSIZE,260165632,233734144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110613,231304,2107.605,-15749.199,33,0.8,33,9.8