version: 66.06
glider: 523
mission: 4
dive: 454
start: 6 12 113 12 56 31
data:
$ID,523
$MISSION,4
$DIVE,454
$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,-45014.402
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,124942,2107.371,-15744.058,20,2.0,20,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.6
$GPS2,125613,2107.394,-15744.036,17,1.8,18,9.8
$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,136.8,3506,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-76.03,0.000,6,0.000,0.000,42,1984,3397,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.6,-6.0,12,112,9.52,2.30,0.00,0.000,4,0.226,0.048,2391,545,3398,0,0,0,0,0,0
$GC,229,-0.74,-146.0,33.1,-17.5,36,236,0.00,2.22,0.00,0.000,6,0.000,0.039,2383,1955,3400,0,0,0,0,0,0
$GC,564,-0.74,-146.0,84.8,-15.4,94,571,0.00,2.30,0.00,0.000,4,0.000,0.054,2383,549,3401,0,0,0,0,0,0
$GC,760,-0.74,-146.0,110.7,-13.9,111,767,0.00,2.20,0.00,0.000,6,0.000,0.036,2374,1968,3402,0,0,0,0,0,0
$GC,1087,-0.74,-146.0,148.1,-9.8,142,1091,0.00,2.25,0.00,0.000,4,0.000,0.056,2363,3365,3403,0,0,0,0,0,0
$GC,1225,-0.74,-146.0,163.0,-11.0,154,1230,0.15,2.22,0.00,0.000,6,0.148,0.044,2403,1956,3403,0,0,0,0,0,0
$GC,1552,-0.74,-146.0,199.2,-9.5,184,1559,0.00,2.25,0.00,0.000,4,0.000,0.055,2404,541,3404,0,0,0,0,0,0
$GC,1680,-0.74,-146.0,212.1,-10.1,190,1684,0.00,2.17,0.00,0.000,6,0.000,0.035,2395,1967,3404,0,0,0,0,0,0
$GC,1998,-0.74,-146.0,239.0,-9.7,205,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1967,3404,0,0,0,0,0,0
$GC,2305,-0.74,-146.0,267.4,-9.1,220,2309,0.00,2.30,0.00,0.000,4,0.000,0.054,2395,541,3404,0,0,0,0,0,0
$GC,2546,-0.74,-146.0,286.3,-8.3,231,2550,0.00,2.15,0.00,0.000,6,0.000,0.036,2385,1962,3404,0,0,0,0,0,0
$GC,2875,-0.74,-146.0,316.1,-9.4,243,2879,0.00,2.20,0.00,0.000,4,0.000,0.055,2375,3360,3404,0,0,0,0,0,0
$GC,2891,-0.74,-146.0,318.2,-9.4,243,2895,0.00,2.20,0.00,0.000,6,0.000,0.042,2375,1955,3404,0,0,0,0,0,0
$GC,3234,-0.74,-146.0,343.5,-6.6,252,3238,0.00,2.22,0.00,0.000,4,0.000,0.058,2375,548,3404,0,0,0,0,0,0
$GC,3493,-0.74,-146.0,364.3,-9.0,257,3499,0.12,2.15,0.00,0.000,6,0.162,0.039,2397,1959,3402,0,0,0,0,0,0
$GC,3827,-0.74,-146.0,388.9,-7.1,266,3831,0.00,2.30,0.00,0.000,4,0.000,0.058,2398,543,3401,0,0,0,0,0,0
$GC,4007,-0.74,-146.0,401.9,-6.2,270,4011,0.00,2.17,0.00,0.000,6,0.000,0.040,2389,1953,3400,0,0,0,0,0,0
$GC,4332,-0.74,-146.0,421.6,-6.5,278,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1955,3398,0,0,0,0,0,0
$GC,4656,-0.74,-146.0,444.7,-7.3,286,4661,0.00,2.30,0.00,0.000,4,0.000,0.061,2390,542,3396,0,0,0,0,0,0
$STATE,4732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4732,begin apogee
$GC,4742,-0.17,0.0,450.4,6.5,287,4866,0.62,0.00,121.25,0.756,6,0.124,0.000,2580,1990,2800,0,0,0,0,0,0
$STATE,4867,end apogee,CONTROL_FINISHED_OK
$STATE,4867,begin climb
$GC,4870,0.74,146.0,451.1,0.0,290,5008,0.85,2.40,126.12,0.729,4,0.083,0.059,2870,3386,2202,0,0,0,0,0,0
$GC,5064,0.74,146.0,424.6,15.4,295,5068,0.00,2.33,0.00,0.000,6,0.000,0.047,2880,1977,2200,0,0,0,0,0,0
$GC,5413,0.74,146.0,379.4,12.1,304,5417,0.00,2.33,0.00,0.000,4,0.000,0.061,2880,3389,2196,0,0,0,0,0,0
$GC,5434,0.74,146.0,376.4,12.7,304,5439,0.00,2.25,0.00,0.000,6,0.000,0.039,2889,1966,2195,0,0,0,0,0,0
$GC,5771,0.74,146.0,330.1,14.3,313,5775,0.00,2.25,0.00,0.000,4,0.000,0.056,2900,569,2193,0,0,0,0,0,0
$GC,5884,0.74,146.0,314.7,12.7,315,5888,0.00,2.20,0.00,0.000,6,0.000,0.035,2900,1997,2193,0,0,0,0,0,0
$GC,6203,0.74,146.0,274.9,12.0,328,6207,0.00,2.17,0.00,0.000,4,0.000,0.050,2900,3386,2191,0,0,0,0,0,0
$GC,6332,0.74,146.0,257.9,13.1,334,6337,0.12,2.20,0.00,0.000,6,0.153,0.038,2875,1979,2190,0,0,0,0,0,0
$GC,6658,0.74,146.0,222.5,10.7,350,6662,0.00,2.22,0.00,0.000,4,0.000,0.055,2884,570,2190,0,0,0,0,0,0
$GC,6714,0.74,146.0,216.5,11.0,352,6720,0.00,2.17,0.00,0.000,6,0.000,0.035,2884,1989,2189,0,0,0,0,0,0
$GC,7036,0.74,146.0,182.9,10.7,375,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1990,2189,0,0,0,0,0,0
$GC,7356,0.74,146.0,153.5,9.2,405,7360,0.00,2.25,0.00,0.000,4,0.000,0.053,2894,569,2188,0,0,0,0,0,0
$GC,7399,0.74,146.0,149.1,9.8,408,7406,0.00,2.17,0.00,0.000,6,0.000,0.034,2894,1980,2188,0,0,0,0,0,0
$GC,7726,0.74,146.0,113.5,11.7,439,7729,0.00,2.17,0.00,0.000,4,0.000,0.049,2894,3387,2188,0,0,0,0,0,0
$GC,7963,0.74,146.0,86.3,10.8,460,7967,0.00,2.20,0.00,0.000,6,0.000,0.036,2903,1970,2187,0,0,0,0,0,0
$GC,8293,0.74,150.1,54.5,8.9,514,8300,0.00,2.22,0.00,0.000,4,0.000,0.051,2913,583,2188,0,0,0,0,0,0
$GC,8358,0.78,177.1,49.4,7.9,525,8393,0.00,2.10,24.67,0.476,6,0.000,0.032,2913,1982,2077,0,0,0,0,0,0
$GC,8718,0.78,177.1,15.2,9.9,591,8726,0.00,2.28,0.00,0.000,4,0.000,0.050,2913,3380,2075,0,0,0,0,0,0
$GC,8802,0.78,177.1,6.1,10.9,606,8810,0.10,2.28,0.00,0.000,6,0.114,0.047,2886,1991,2074,0,0,0,0,0,0
$STATE,8836,end climb,SURFACE_DEPTH_REACHED
$STATE,8836,begin surface coast
$FINISH,0.6,1.023074
$STATE,8868,end surface coast,CONTROL_FINISHED_OK
$STATE,8869,begin surface
$SM_CCo,8887,57.12,0.434,0,0,1575,300.24
$SM_GC,1.32,0.00,0.00,57.12,0.000,0.000,0.434,25,1944,1575,-8.17,-0.34,300.24
$IRIDIUM_FIX,2101.76,-15738.45,060902,101028
$TT8_MAMPS,0.028379
$HUMID,63.58
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.5,37.458
$10V_AH,10.4,41.246
$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,18.800,80.475,272.050,57.125,0.000,29.060,39.917,186.101,19.250,0.000,18.878,1148.221,5161.167,389.905,2128.472,506.345,0.000,1141.505,0.000,2078.269,0.000,119.199,0.000
$DEVICE_MAMPS,226.265,162.604,756.262,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,419.731,348.194,1202.902,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,35018,618
$CAP_FILE_SIZE,98504,0
$CFSIZE,260165632,233439232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120613,152653,2106.640,-15744.061,38,0.8,38,9.8