version: 66.06
glider: 523
mission: 4
dive: 495
start: 6 17 113 8 26 40
data:
$ID,523
$MISSION,4
$DIVE,495
$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,-45878.723
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,082034,2109.168,-15752.336,24,1.3,24,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.6
$GPS2,082623,2109.171,-15752.361,18,1.4,18,9.8
$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,101.1,17462,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-82.50,0.000,2,0.000,0.000,51,1982,3349,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.1,-4.3,13,125,9.52,2.38,-1.05,0.000,4,0.228,0.064,2393,545,3397,0,0,0,0,0,0
$GC,151,-0.74,-146.0,14.9,-22.8,20,158,0.00,2.22,0.00,0.000,6,0.000,0.035,2385,1966,3398,0,0,0,0,0,0
$GC,323,-0.74,-146.0,42.9,-15.3,51,329,0.00,2.35,0.00,0.000,4,0.000,0.055,2385,550,3398,0,0,0,0,0,0
$GC,392,-0.74,-146.0,54.4,-16.5,63,397,0.00,2.15,0.00,0.000,6,0.000,0.036,2376,1959,3398,0,0,0,0,0,0
$GC,727,-0.74,-146.0,97.8,-10.2,110,731,0.00,2.28,0.00,0.000,4,0.000,0.054,2376,549,3399,0,0,0,0,0,0
$GC,977,-0.74,-146.0,129.0,-10.7,132,986,0.10,2.17,0.00,0.000,6,0.144,0.034,2397,1962,3400,0,0,0,0,0,0
$GC,1304,-0.74,-146.0,162.3,-10.4,163,1308,0.00,2.25,0.00,0.000,4,0.000,0.051,2398,548,3401,0,0,0,0,0,0
$GC,1555,-0.74,-146.0,188.5,-10.1,185,1563,0.00,2.17,0.00,0.000,6,0.000,0.034,2389,1955,3401,0,0,0,0,0,0
$GC,1874,-0.74,-146.0,221.2,-10.4,206,1878,0.00,2.25,0.00,0.000,4,0.000,0.051,2389,545,3402,0,0,0,0,0,0
$GC,2134,-0.74,-146.0,244.5,-7.3,217,2140,0.00,2.15,0.00,0.000,6,0.000,0.034,2379,1969,3402,0,0,0,0,0,0
$GC,2452,-0.74,-146.0,269.0,-7.9,233,2456,0.00,2.30,0.00,0.000,4,0.000,0.051,2380,542,3402,0,0,0,0,0,0
$GC,2710,-0.74,-146.0,290.4,-7.7,244,2714,0.12,2.17,0.00,0.000,6,0.163,0.035,2403,1964,3401,0,0,0,0,0,0
$GC,3047,-0.74,-146.0,310.3,-6.1,256,3051,0.00,2.30,0.00,0.000,4,0.000,0.054,2403,541,3401,0,0,0,0,0,0
$GC,3305,-0.74,-146.0,330.6,-7.9,261,3310,0.00,2.15,0.00,0.000,6,0.000,0.036,2395,1964,3401,0,0,0,0,0,0
$GC,3638,-0.74,-146.0,349.2,-5.6,270,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1965,3400,0,0,0,0,0,0
$GC,3961,-0.74,-146.0,369.0,-6.3,278,3965,0.00,2.33,0.00,0.000,4,0.000,0.056,2395,547,3399,0,0,0,0,0,0
$GC,4082,-0.74,-146.0,379.1,-8.4,280,4086,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1953,3398,0,0,0,0,0,0
$GC,4419,-0.74,-146.0,406.3,-7.5,289,4423,0.00,2.30,0.00,0.000,4,0.000,0.057,2386,549,3396,0,0,0,0,0,0
$GC,4620,-0.74,-146.0,419.8,-6.2,293,4627,0.00,2.17,0.00,0.000,6,0.000,0.039,2376,1965,3394,0,0,0,0,0,0
$GC,4971,-0.74,-146.0,439.2,-5.9,302,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1964,3391,0,0,0,0,0,0
$STATE,5173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5173,begin apogee
$GC,5180,-0.17,0.0,451.7,6.3,307,5304,0.65,0.00,121.40,0.759,6,0.120,0.000,2582,1965,2800,0,0,0,0,0,0
$STATE,5305,end apogee,CONTROL_FINISHED_OK
$STATE,5305,begin climb
$GC,5308,0.74,146.0,452.8,0.0,310,5439,0.85,0.00,127.53,0.733,6,0.077,0.000,2874,1964,2204,0,0,0,0,0,0
$GC,5757,0.74,146.0,399.7,13.0,321,5761,0.00,2.28,0.00,0.000,4,0.000,0.056,2874,3389,2196,0,0,0,0,0,0
$GC,5936,0.74,146.0,374.0,13.7,325,5940,0.00,2.25,0.00,0.000,6,0.000,0.043,2884,1982,2194,0,0,0,0,0,0
$GC,6255,0.74,146.0,337.3,11.2,333,6259,0.00,2.28,0.00,0.000,4,0.000,0.064,2894,572,2193,0,0,0,0,0,0
$GC,6276,0.74,146.0,334.8,11.0,333,6280,0.00,2.20,0.00,0.000,6,0.000,0.039,2894,1979,2193,0,0,0,0,0,0
$GC,6593,0.74,146.0,291.6,14.5,342,6597,0.00,2.25,0.00,0.000,4,0.000,0.060,2895,3384,2192,0,0,0,0,0,0
$GC,6688,0.74,146.0,276.8,15.4,346,6692,0.00,2.22,0.00,0.000,6,0.000,0.047,2904,1981,2191,0,0,0,0,0,0
$GC,7003,0.74,146.0,236.7,9.9,361,7007,0.00,2.30,0.00,0.000,4,0.000,0.066,2914,571,2190,0,0,0,0,0,0
$GC,7055,0.74,146.0,231.3,10.7,363,7060,0.12,2.20,0.00,0.000,6,0.141,0.041,2879,1978,2190,0,0,0,0,0,0
$GC,7376,0.74,146.0,201.2,9.5,379,7380,0.00,2.22,0.00,0.000,4,0.000,0.059,2879,3386,2188,0,0,0,0,0,0
$GC,7561,0.74,146.0,180.4,11.9,395,7565,0.00,2.22,0.00,0.000,6,0.000,0.045,2886,1977,2187,0,0,0,0,0,0
$GC,7888,0.74,146.0,149.3,9.6,425,7892,0.00,2.30,0.00,0.000,4,0.000,0.058,2886,3391,2187,0,0,0,0,0,0
$GC,7950,0.74,146.0,143.2,10.2,430,7954,0.00,2.28,0.00,0.000,6,0.000,0.049,2894,1975,2187,0,0,0,0,0,0
$GC,8278,0.74,146.0,112.8,10.8,460,8282,0.00,2.25,0.00,0.000,4,0.000,0.058,2905,569,2187,0,0,0,0,0,0
$GC,8330,0.74,146.0,107.4,10.5,464,8334,0.00,2.17,0.00,0.000,6,0.000,0.037,2905,1988,2187,0,0,0,0,0,0
$GC,8658,0.74,146.0,74.3,10.2,499,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1989,2187,0,0,0,0,0,0
$GC,8990,0.83,220.4,46.7,5.9,560,9060,0.00,2.28,60.75,0.478,4,0.000,0.052,2905,3388,1899,0,0,0,0,0,0
$GC,9092,0.83,222.3,39.6,9.0,577,9098,0.00,2.22,0.00,0.000,6,0.000,0.039,2906,1967,1898,0,0,0,0,0,0
$GC,9420,0.87,254.0,12.8,7.7,638,9454,0.00,0.00,29.20,0.438,6,0.000,0.000,2906,1967,1763,0,0,0,0,0,0
$STATE,9532,end climb,SURFACE_DEPTH_REACHED
$STATE,9532,begin surface coast
$FINISH,0.5,1.016678
$STATE,9563,end surface coast,CONTROL_FINISHED_OK
$STATE,9563,begin surface
$SM_CCo,9581,23.23,0.417,0,0,1575,300.24
$SM_GC,1.47,0.00,0.00,23.23,0.000,0.000,0.417,54,1958,1575,-8.08,0.06,300.24
$IRIDIUM_FIX,2104.07,-15747.88,110902,050519
$TT8_MAMPS,0.028379
$HUMID,64.64
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.5,41.106
$10V_AH,10.3,45.310
$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,18.825,76.200,338.875,23.225,0.000,28.141,34.419,150.668,19.250,0.000,18.674,1228.989,5547.102,415.825,2273.259,485.769,0.000,1217.470,0.000,2230.479,0.000,117.258,0.000
$DEVICE_MAMPS,227.799,65.962,759.330,417.248,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,449.244,383.406,1301.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38116,663
$CAP_FILE_SIZE,101093,0
$CFSIZE,260165632,231354368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170613,110758,2109.288,-15751.866,34,0.8,34,9.8