version: 66.06
glider: 523
mission: 4
dive: 542
start: 6 23 113 3 40 0
data:
$ID,523
$MISSION,4
$DIVE,542
$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,-46812.293
$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,21
$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
$GPS1,032658,2110.389,-15755.853,37,1.0,37,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.1
$GPS2,033941,2110.302,-15756.034,14,1.3,14,9.8
$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,100.3,24138,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,101,0.00,0.00,-77.55,0.000,6,0.000,0.000,38,1945,3395,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.8,-5.7,13,119,9.65,2.22,0.00,0.000,4,0.225,0.048,2391,539,3396,0,0,0,0,0,0
$GC,128,-0.74,-146.0,12.7,-27.4,16,135,0.00,2.25,0.00,0.000,6,0.000,0.040,2383,1957,3397,0,0,0,0,0,0
$GC,298,-0.74,-146.0,42.1,-16.5,47,303,0.00,2.28,0.00,0.000,4,0.000,0.055,2383,535,3397,0,0,0,0,0,0
$GC,486,-0.74,-146.0,72.2,-14.0,81,492,0.00,2.20,0.00,0.000,6,0.000,0.038,2374,1961,3398,0,0,0,0,0,0
$GC,814,-0.74,-146.0,109.6,-10.0,117,819,0.00,2.30,0.00,0.000,4,0.000,0.054,2373,538,3399,0,0,0,0,0,0
$GC,1013,-0.74,-146.0,131.6,-10.6,135,1020,0.10,2.22,0.00,0.000,6,0.138,0.037,2395,1958,3399,0,0,0,0,0,0
$GC,1341,-0.74,-146.0,160.7,-8.3,166,1345,0.00,2.30,0.00,0.000,4,0.000,0.053,2395,537,3399,0,0,0,0,0,0
$GC,1514,-0.74,-146.0,177.0,-9.5,181,1518,0.00,2.17,0.00,0.000,6,0.000,0.037,2387,1963,3399,0,0,0,0,0,0
$GC,1837,-0.74,-146.0,206.9,-7.9,207,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1963,3399,0,0,0,0,0,0
$GC,2147,-0.74,-146.0,229.6,-7.7,222,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1963,3399,0,0,0,0,0,0
$GC,2456,-0.74,-146.0,254.7,-8.7,237,2460,0.00,2.30,0.00,0.000,4,0.000,0.054,2387,537,3399,0,0,0,0,0,0
$GC,2501,-0.74,-146.0,258.7,-8.2,239,2505,0.00,2.17,0.00,0.000,6,0.000,0.038,2378,1961,3399,0,0,0,0,0,0
$GC,2830,-0.74,-146.0,283.7,-6.3,255,2834,0.00,2.22,0.00,0.000,4,0.000,0.055,2368,3366,3399,0,0,0,0,0,0
$GC,2902,-0.74,-146.0,288.3,-6.2,258,2907,0.12,2.22,0.00,0.000,6,0.147,0.044,2400,1952,3399,0,0,0,0,0,0
$GC,3240,-0.74,-146.0,307.6,-5.7,271,3244,0.00,2.22,0.00,0.000,4,0.000,0.056,2401,547,3399,0,0,0,0,0,0
$GC,3325,-0.74,-146.0,313.7,-7.5,273,3329,0.00,2.17,0.00,0.000,6,0.000,0.035,2393,1966,3398,0,0,0,0,0,0
$GC,3650,-0.74,-146.0,333.9,-5.8,281,3654,0.00,2.30,0.00,0.000,4,0.000,0.056,2393,541,3397,0,0,0,0,0,0
$GC,3807,-0.74,-146.0,346.5,-9.3,284,3811,0.00,2.20,0.00,0.000,6,0.000,0.036,2383,1969,3396,0,0,0,0,0,0
$GC,4146,-0.74,-146.0,375.4,-8.4,293,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1969,3394,0,0,0,0,0,0
$GC,4469,-0.74,-146.0,399.3,-6.2,301,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3392,0,0,0,0,0,0
$GC,4794,-0.74,-146.0,414.5,-4.7,309,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1969,3390,0,0,0,0,0,0
$GC,5121,-0.74,-146.0,437.0,-7.6,317,5125,0.00,2.33,0.00,0.000,4,0.000,0.058,2383,547,3388,0,0,0,0,0,0
$STATE,5286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5286,begin apogee
$GC,5295,-0.17,0.0,450.3,8.0,320,5421,0.65,0.00,121.43,0.759,6,0.120,0.000,2582,1984,2800,0,0,0,0,0,0
$STATE,5422,end apogee,CONTROL_FINISHED_OK
$STATE,5422,begin climb
$GC,5425,0.74,146.0,451.3,0.0,324,5557,0.88,0.00,128.10,0.732,6,0.074,0.000,2881,1984,2204,0,0,0,0,0,0
$GC,5865,0.74,146.0,396.3,13.4,335,5870,0.00,2.28,0.00,0.000,4,0.000,0.057,2881,3393,2196,0,0,0,0,0,0
$GC,5955,0.74,146.0,384.0,14.3,337,5959,0.00,2.28,0.00,0.000,6,0.000,0.047,2890,1973,2195,0,0,0,0,0,0
$GC,6273,0.74,146.0,347.9,10.5,345,6278,0.00,2.30,0.00,0.000,4,0.000,0.055,2891,3389,2194,0,0,0,0,0,0
$GC,6301,0.74,146.0,344.9,11.0,345,6305,0.00,2.28,0.00,0.000,6,0.000,0.048,2900,1971,2193,0,0,0,0,0,0
$GC,6632,0.74,146.0,307.4,12.1,353,6636,0.00,2.25,0.00,0.000,4,0.000,0.059,2910,567,2192,0,0,0,0,0,0
$GC,6665,0.74,146.0,302.9,13.8,353,6671,0.12,2.20,0.00,0.000,6,0.143,0.039,2877,1992,2191,0,0,0,0,0,0
$GC,6980,0.74,146.0,266.8,10.8,368,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1993,2191,0,0,0,0,0,0
$GC,7289,0.75,155.2,237.7,8.7,383,7303,0.00,2.28,6.75,0.535,4,0.000,0.058,2876,3388,2166,0,0,0,0,0,0
$GC,7467,0.75,155.2,220.8,9.6,391,7471,0.00,2.22,0.00,0.000,6,0.000,0.045,2884,1976,2165,0,0,0,0,0,0
$GC,7793,0.76,168.6,192.2,8.5,410,7817,0.00,2.33,13.18,0.571,4,0.000,0.057,2884,3385,2111,0,0,0,0,0,0
$GC,7853,0.76,168.6,186.3,10.6,415,7857,0.00,2.22,0.00,0.000,6,0.000,0.048,2893,1982,2109,0,0,0,0,0,0
$GC,8180,0.76,168.6,153.3,10.2,445,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1982,2109,0,0,0,0,0,0
$GC,8501,0.76,168.6,123.5,10.1,475,8505,0.00,2.25,0.00,0.000,4,0.000,0.058,2903,563,2108,0,0,0,0,0,0
$GC,8565,0.76,168.6,116.9,9.1,480,8572,0.00,2.22,0.00,0.000,6,0.000,0.038,2902,1976,2108,0,0,0,0,0,0
$GC,8893,0.78,181.0,89.8,8.5,511,8910,0.00,2.20,11.68,0.486,4,0.000,0.051,2902,3393,2063,0,0,0,0,0,0
$GC,8989,0.78,181.0,81.0,9.3,519,8993,0.00,2.22,0.00,0.000,6,0.000,0.045,2911,1976,2061,0,0,0,0,0,0
$GC,9319,0.80,198.9,51.4,8.3,578,9343,0.00,2.25,17.17,0.468,4,0.000,0.057,2921,565,1987,0,0,0,0,0,0
$GC,9427,0.80,198.9,41.5,10.3,597,9433,0.00,2.20,0.00,0.000,6,0.000,0.037,2921,1981,1986,0,0,0,0,0,0
$GC,9758,0.83,219.3,14.5,8.2,658,9785,0.00,2.25,18.75,0.438,4,0.000,0.052,2921,3394,1904,0,0,0,0,0,0
$STATE,9874,end climb,SURFACE_DEPTH_REACHED
$STATE,9874,begin surface coast
$FINISH,1.0,1.023184
$STATE,9886,end surface coast,CONTROL_FINISHED_OK
$STATE,9886,begin surface
$SM_CCo,9907,38.30,0.429,0,0,1575,300.24
$SM_GC,1.59,0.00,0.00,38.30,0.000,0.000,0.429,47,1947,1575,-8.11,-0.28,300.24
$IRIDIUM_FIX,2104.07,-15800.33,170902,030319
$TT8_MAMPS,0.028379
$HUMID,65.94
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.4,46.070
$10V_AH,10.3,50.217
$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,18.950,80.900,317.050,38.300,0.000,87.774,102.844,291.242,19.000,0.000,15.224,1226.611,6104.050,429.470,2176.110,770.649,0.000,1169.673,0.000,2133.936,0.000,119.264,0.000
$DEVICE_MAMPS,224.731,59.059,758.563,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,462.841,395.007,1327.060,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,37960,681
$CAP_FILE_SIZE,107650,0
$CFSIZE,260165632,228921344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230613,062643,2110.041,-15754.901,18,0.8,18,9.8