version: 66.06
glider: 523
mission: 4
dive: 492
start: 6 17 113 0 4 47
data:
$ID,523
$MISSION,4
$DIVE,492
$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,-45814.965
$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,18
$R_STBD_OVSHOOT,24
$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
$GPS1,235818,2109.201,-15754.893,30,1.6,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.9
$GPS2,000431,2109.184,-15754.995,18,1.3,18,9.8
$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,96.9,21780,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-76.28,0.000,2,0.000,0.000,32,1944,3310,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-4.5,12,121,9.60,2.28,-1.98,0.000,4,0.224,0.069,2396,545,3398,0,0,0,0,0,0
$GC,146,-0.74,-146.0,14.0,-21.0,19,154,0.00,2.22,0.00,0.000,6,0.000,0.037,2387,1963,3398,0,0,0,0,0,0
$GC,315,-0.74,-146.0,42.0,-15.9,50,323,0.00,2.33,0.00,0.000,4,0.000,0.055,2388,545,3398,0,0,0,0,0,0
$GC,348,-0.74,-146.0,47.3,-16.8,55,354,0.00,2.17,0.00,0.000,6,0.000,0.038,2378,1962,3398,0,0,0,0,0,0
$GC,684,-0.74,-146.0,93.4,-13.4,108,688,0.00,2.30,0.00,0.000,4,0.000,0.053,2378,533,3400,0,0,0,0,0,0
$GC,933,-0.74,-146.0,123.3,-11.5,130,941,0.08,2.20,0.00,0.000,6,0.151,0.035,2392,1959,3401,0,0,0,0,0,0
$GC,1259,-0.74,-146.0,157.5,-10.1,161,1264,0.00,2.30,0.00,0.000,4,0.000,0.052,2393,530,3401,0,0,0,0,0,0
$GC,1401,-0.74,-146.0,171.5,-9.0,173,1409,0.00,2.20,0.00,0.000,6,0.000,0.035,2384,1952,3401,0,0,0,0,0,0
$GC,1729,-0.74,-146.0,196.7,-7.6,204,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1952,3402,0,0,0,0,0,0
$GC,2049,-0.74,-146.0,221.5,-7.6,222,2053,0.00,2.28,0.00,0.000,4,0.000,0.052,2384,541,3401,0,0,0,0,0,0
$GC,2307,-0.74,-146.0,245.9,-9.4,233,2312,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1962,3402,0,0,0,0,0,0
$GC,2627,-0.74,-146.0,270.7,-7.2,249,2631,0.00,2.30,0.00,0.000,4,0.000,0.053,2375,532,3402,0,0,0,0,0,0
$GC,2667,-0.74,-146.0,274.2,-8.2,251,2672,0.12,2.20,0.00,0.000,6,0.162,0.037,2397,1962,3402,0,0,0,0,0,0
$GC,2995,-0.74,-146.0,299.6,-7.8,267,3000,0.00,2.28,0.00,0.000,4,0.000,0.054,2398,542,3402,0,0,0,0,0,0
$GC,3247,-0.74,-146.0,319.7,-7.8,273,3252,0.00,2.17,0.00,0.000,6,0.000,0.038,2390,1955,3401,0,0,0,0,0,0
$GC,3590,-0.74,-146.0,345.0,-7.6,282,3597,0.00,2.25,0.00,0.000,4,0.000,0.061,2379,3368,3400,0,0,0,0,0,0
$GC,3682,-0.74,-146.0,352.1,-7.4,284,3687,0.00,2.22,0.00,0.000,6,0.000,0.044,2379,1950,3400,0,0,0,0,0,0
$GC,4010,-0.74,-146.0,376.3,-7.5,292,4014,0.00,2.25,0.00,0.000,4,0.000,0.062,2379,543,3398,0,0,0,0,0,0
$GC,4153,-0.74,-146.0,388.2,-8.0,295,4157,0.12,2.20,0.00,0.000,6,0.167,0.040,2402,1960,3397,0,0,0,0,0,0
$GC,4468,-0.74,-146.0,408.9,-6.0,303,4472,0.00,2.28,0.00,0.000,4,0.000,0.059,2402,545,3395,0,0,0,0,0,0
$GC,4637,-0.74,-146.0,420.3,-7.0,306,4642,0.00,2.20,0.00,0.000,6,0.000,0.042,2394,1954,3394,0,0,0,0,0,0
$GC,4969,-0.74,-146.0,441.9,-6.5,315,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1954,3391,0,0,0,0,0,0
$STATE,5128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5128,begin apogee
$GC,5135,-0.17,0.0,452.4,6.5,319,5259,0.60,0.00,121.55,0.757,6,0.117,0.000,2586,1955,2800,0,0,0,0,0,0
$STATE,5260,end apogee,CONTROL_FINISHED_OK
$STATE,5260,begin climb
$GC,5263,0.74,146.0,453.3,0.0,322,5401,0.82,2.42,127.07,0.732,4,0.074,0.064,2873,3385,2202,0,0,0,0,0,0
$GC,5475,0.74,146.0,429.3,12.8,327,5479,0.00,2.30,0.00,0.000,6,0.000,0.048,2883,1983,2198,0,0,0,0,0,0
$GC,5799,0.74,146.0,390.7,11.7,335,5803,0.00,2.35,0.00,0.000,4,0.000,0.069,2893,570,2195,0,0,0,0,0,0
$GC,5827,0.74,146.0,387.1,13.2,335,5831,0.00,2.25,0.00,0.000,6,0.000,0.041,2893,1991,2194,0,0,0,0,0,0
$GC,6158,0.74,146.0,340.6,14.5,343,6162,0.00,2.28,0.00,0.000,4,0.000,0.064,2893,3389,2193,0,0,0,0,0,0
$GC,6236,0.74,146.0,329.2,14.5,344,6241,0.00,2.25,0.00,0.000,6,0.000,0.048,2901,1978,2192,0,0,0,0,0,0
$GC,6548,0.74,146.0,292.6,10.9,354,6552,0.00,2.30,0.00,0.000,4,0.000,0.061,2901,3388,2191,0,0,0,0,0,0
$GC,6603,0.74,146.0,285.4,12.8,356,6609,0.12,2.25,0.00,0.000,6,0.154,0.049,2876,1979,2190,0,0,0,0,0,0
$GC,6919,0.74,146.0,247.9,12.1,372,6923,0.00,2.33,0.00,0.000,4,0.000,0.070,2885,566,2189,0,0,0,0,0,0
$GC,6947,0.74,146.0,244.1,13.2,373,6951,0.00,2.25,0.00,0.000,6,0.000,0.045,2885,1982,2189,0,0,0,0,0,0
$GC,7263,0.74,146.0,206.1,11.5,388,7267,0.00,2.20,0.00,0.000,4,0.000,0.053,2885,3392,2188,0,0,0,0,0,0
$GC,7307,0.74,146.0,200.7,12.1,390,7311,0.00,2.25,0.00,0.000,6,0.000,0.042,2895,1967,2188,0,0,0,0,0,0
$GC,7639,0.74,146.0,164.7,11.6,421,7643,0.00,2.28,0.00,0.000,4,0.000,0.051,2895,3392,2187,0,0,0,0,0,0
$GC,7691,0.74,146.0,158.8,11.4,425,7695,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,1979,2187,0,0,0,0,0,0
$GC,8018,0.74,146.0,123.3,11.5,455,8022,0.00,2.25,0.00,0.000,4,0.000,0.057,2915,569,2187,0,0,0,0,0,0
$GC,8059,0.74,146.0,118.6,11.4,458,8064,0.12,2.17,0.00,0.000,6,0.134,0.038,2880,1991,2186,0,0,0,0,0,0
$GC,8386,0.77,176.6,89.1,7.8,488,8421,0.00,2.25,24.30,0.514,4,0.000,0.052,2880,3386,2078,0,0,0,0,0,0
$GC,8469,0.78,182.1,82.1,8.8,495,8482,0.00,2.22,6.03,0.420,6,0.000,0.039,2887,1979,2057,0,0,0,0,0,0
$GC,8808,0.84,228.2,55.4,7.1,555,8854,0.00,2.25,40.33,0.484,4,0.000,0.055,2896,573,1869,0,0,0,0,0,0
$GC,8894,0.88,263.4,49.2,7.6,570,8936,0.00,2.22,31.35,0.469,6,0.000,0.038,2896,1977,1725,0,0,0,0,0,0
$GC,9263,0.88,264.3,19.9,9.0,637,9270,0.00,2.25,0.00,0.000,4,0.000,0.053,2895,3386,1725,0,0,0,0,0,0
$GC,9389,0.88,264.3,9.0,11.7,660,9396,0.00,2.30,0.00,0.000,6,0.000,0.049,2903,1980,1725,0,0,0,0,0,0
$STATE,9469,end climb,SURFACE_DEPTH_REACHED
$STATE,9469,begin surface coast
$FINISH,0.5,1.023135
$STATE,9509,end surface coast,CONTROL_FINISHED_OK
$STATE,9509,begin surface
$SM_CCo,9527,16.77,0.412,0,0,1575,300.24
$SM_GC,1.48,0.00,0.00,16.77,0.000,0.000,0.412,61,1973,1575,-8.06,0.45,300.24
$IRIDIUM_FIX,2054.83,-15804.20,100902,212104
$TT8_MAMPS,0.028379
$HUMID,66.34
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,24.5,40.843
$10V_AH,10.3,45.013
$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,18.925,94.650,350.625,16.775,0.000,29.473,38.941,167.928,19.500,0.000,19.059,1241.804,5433.343,414.259,2308.159,516.246,0.000,1254.620,0.000,2260.311,0.000,117.267,0.000
$DEVICE_MAMPS,223.964,69.797,757.029,411.879,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,462.252,388.596,1349.534,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38070,682
$CAP_FILE_SIZE,107914,0
$CFSIZE,260165632,231497728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170613,024504,2109.276,-15753.762,34,0.9,34,9.8