version: 66.06
glider: 523
mission: 4
dive: 546
start: 6 23 113 15 24 12
data:
$ID,523
$MISSION,4
$DIVE,546
$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,-46904.539
$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,25
$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
$GPS1,151037,2109.403,-15753.000,23,1.8,23,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.2
$GPS2,152356,2109.409,-15753.164,27,0.8,28,9.8
$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,100.8,18914,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-80.40,0.000,6,0.000,0.000,46,1947,3396,0,0,0,0,0,0
$GC,105,-0.74,-146.0,3.5,-5.4,13,120,9.62,2.28,0.00,0.000,4,0.224,0.057,2394,545,3397,0,0,0,0,0,0
$GC,169,-0.74,-146.0,20.9,-19.3,24,177,0.00,2.20,0.00,0.000,6,0.000,0.035,2386,1962,3398,0,0,0,0,0,0
$GC,342,-0.74,-146.0,48.7,-16.7,55,348,0.00,2.30,0.00,0.000,4,0.000,0.055,2387,547,3398,0,0,0,0,0,0
$GC,389,-0.74,-146.0,56.6,-16.1,63,394,0.00,2.17,0.00,0.000,6,0.000,0.036,2377,1960,3398,0,0,0,0,0,0
$GC,718,-0.74,-146.0,99.5,-11.5,108,725,0.00,2.25,0.00,0.000,4,0.000,0.054,2377,549,3399,0,0,0,0,0,0
$GC,886,-0.74,-146.0,118.0,-10.7,123,890,0.12,2.15,0.00,0.000,6,0.170,0.036,2398,1969,3399,0,0,0,0,0,0
$GC,1213,-0.74,-146.0,151.2,-9.3,153,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1969,3400,0,0,0,0,0,0
$GC,1531,-0.74,-146.0,178.3,-9.0,183,1536,0.00,2.30,0.00,0.000,4,0.000,0.052,2399,541,3400,0,0,0,0,0,0
$GC,1663,-0.74,-146.0,191.3,-9.7,194,1667,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1959,3400,0,0,0,0,0,0
$GC,1992,-0.74,-146.0,221.0,-9.9,214,1996,0.00,2.30,0.00,0.000,4,0.000,0.053,2391,544,3400,0,0,0,0,0,0
$GC,2137,-0.74,-146.0,236.1,-9.8,220,2143,0.00,2.17,0.00,0.000,6,0.000,0.036,2381,1962,3400,0,0,0,0,0,0
$GC,2455,-0.74,-146.0,259.5,-7.4,236,2460,0.00,2.28,0.00,0.000,4,0.000,0.052,2381,542,3400,0,0,0,0,0,0
$GC,2506,-0.74,-146.0,263.4,-7.6,238,2510,0.12,2.15,0.00,0.000,6,0.161,0.036,2404,1962,3400,0,0,0,0,0,0
$GC,2829,-0.74,-146.0,284.0,-7.0,254,2833,0.00,2.28,0.00,0.000,4,0.000,0.054,2405,545,3400,0,0,0,0,0,0
$GC,3086,-0.74,-146.0,301.9,-6.7,265,3091,0.00,2.17,0.00,0.000,6,0.000,0.037,2397,1962,3400,0,0,0,0,0,0
$GC,3419,-0.74,-146.0,324.5,-6.6,274,3424,0.00,2.20,0.00,0.000,4,0.000,0.055,2386,3361,3398,0,0,0,0,0,0
$GC,3448,-0.74,-146.0,326.7,-7.2,274,3452,0.00,2.22,0.00,0.000,6,0.000,0.044,2386,1957,3398,0,0,0,0,0,0
$GC,3788,-0.74,-146.0,351.6,-7.6,283,3792,0.00,2.30,0.00,0.000,4,0.000,0.060,2386,536,3397,0,0,0,0,0,0
$GC,3951,-0.74,-146.0,364.7,-7.4,286,3956,0.00,2.17,0.00,0.000,6,0.000,0.037,2377,1963,3395,0,0,0,0,0,0
$GC,4288,-0.74,-146.0,388.2,-6.6,295,4292,0.00,2.30,0.00,0.000,4,0.000,0.059,2377,539,3393,0,0,0,0,0,0
$GC,4450,-0.74,-146.0,398.8,-6.4,298,4455,0.12,2.20,0.00,0.000,6,0.162,0.039,2399,1959,3392,0,0,0,0,0,0
$GC,4782,-0.74,-146.0,414.6,-4.8,306,4786,0.00,2.30,0.00,0.000,4,0.000,0.060,2400,549,3391,0,0,0,0,0,0
$GC,4945,-0.74,-146.0,426.0,-8.0,309,4949,0.00,2.17,0.00,0.000,6,0.000,0.040,2392,1958,3389,0,0,0,0,0,0
$GC,5282,-0.74,-146.0,449.7,-6.6,318,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1958,3387,0,0,0,0,0,0
$STATE,5320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5320,begin apogee
$GC,5326,-0.17,0.0,452.2,6.4,319,5451,0.60,0.00,121.35,0.759,6,0.117,0.000,2583,1958,2800,0,0,0,0,0,0
$STATE,5452,end apogee,CONTROL_FINISHED_OK
$STATE,5452,begin climb
$GC,5455,0.74,146.0,452.6,0.0,322,5591,0.88,2.45,127.47,0.732,4,0.076,0.058,2880,3389,2203,0,0,0,0,0,0
$GC,5657,0.74,146.0,428.6,14.6,327,5661,0.00,2.30,0.00,0.000,6,0.000,0.046,2890,1982,2199,0,0,0,0,0,0
$GC,5975,0.74,146.0,384.9,13.4,335,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1982,2195,0,0,0,0,0,0
$GC,6300,0.74,146.0,343.0,12.7,343,6304,0.00,2.28,0.00,0.000,4,0.000,0.058,2890,3391,2194,0,0,0,0,0,0
$GC,6333,0.74,146.0,338.3,13.2,343,6337,0.00,2.25,0.00,0.000,6,0.000,0.048,2900,1974,2193,0,0,0,0,0,0
$GC,6665,0.74,146.0,300.9,11.4,351,6669,0.00,2.30,0.00,0.000,4,0.000,0.059,2899,3390,2192,0,0,0,0,0,0
$GC,6687,0.74,146.0,298.2,12.1,351,6692,0.12,2.25,0.00,0.000,6,0.150,0.050,2874,1975,2192,0,0,0,0,0,0
$GC,7008,0.74,146.0,264.2,10.3,367,7012,0.00,2.25,0.00,0.000,4,0.000,0.060,2883,569,2191,0,0,0,0,0,0
$GC,7063,0.74,146.0,258.3,11.0,369,7068,0.00,2.22,0.00,0.000,6,0.000,0.041,2884,1991,2191,0,0,0,0,0,0
$GC,7379,0.74,146.0,223.8,10.8,385,7383,0.00,2.17,0.00,0.000,4,0.000,0.053,2884,3386,2190,0,0,0,0,0,0
$GC,7457,0.74,146.0,215.6,10.7,388,7462,0.00,2.22,0.00,0.000,6,0.000,0.041,2893,1976,2189,0,0,0,0,0,0
$GC,7779,0.76,167.3,187.9,8.2,410,7798,0.00,0.00,17.08,0.587,6,0.000,0.000,2893,1976,2117,0,0,0,0,0,0
$GC,8119,0.80,201.0,161.6,7.6,442,8155,0.00,2.20,30.00,0.574,4,0.000,0.050,2893,3387,1978,0,0,0,0,0,0
$GC,8224,0.80,201.0,152.1,10.5,451,8228,0.00,2.25,0.00,0.000,6,0.000,0.040,2898,1969,1976,0,0,0,0,0,0
$GC,8550,0.80,201.0,120.5,9.1,481,8554,0.00,2.25,0.00,0.000,4,0.000,0.051,2899,3390,1975,0,0,0,0,0,0
$GC,8581,0.80,201.0,117.6,9.8,483,8585,0.00,2.22,0.00,0.000,6,0.000,0.041,2908,1980,1975,0,0,0,0,0,0
$GC,8908,0.86,248.1,88.3,7.1,513,8952,0.00,0.00,41.10,0.511,6,0.000,0.000,2908,1980,1787,0,0,0,0,0,0
$GC,9271,0.86,249.7,59.8,9.0,568,9279,0.00,2.33,0.00,0.000,4,0.000,0.059,2908,3385,1786,0,0,0,0,0,0
$GC,9317,0.86,249.7,54.7,11.3,576,9325,0.00,2.28,0.00,0.000,6,0.000,0.047,2915,1977,1786,0,0,0,0,0,0
$GC,9652,0.93,299.9,29.6,6.9,637,9704,0.00,2.28,45.10,0.456,4,0.000,0.057,2925,578,1574,0,0,0,0,0,0
$GC,9724,0.93,304.4,23.4,8.9,648,9739,0.00,2.22,4.97,0.344,6,0.000,0.040,2925,1970,1559,0,0,0,0,0,0
$GC,9899,0.93,304.4,5.4,10.9,680,9906,0.00,2.30,0.00,0.000,4,0.000,0.055,2925,3387,1558,0,0,0,0,0,0
$STATE,9922,end climb,SURFACE_DEPTH_REACHED
$STATE,9922,begin surface coast
$FINISH,0.5,1.023168
$STATE,9951,end surface coast,CONTROL_FINISHED_OK
$STATE,9951,begin surface
$SM_CCo,10031,0.00,0.000,0,0,1555,305.39
$SM_GC,1.48,7.32,0.00,0.00,0.021,0.000,0.000,51,1952,1555,-7.98,-0.14,305.39
$IRIDIUM_FIX,2057.14,-15759.05,170902,151508
$TT8_MAMPS,0.027612
$HUMID,64.96
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.5,46.434
$10V_AH,10.3,50.622
$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,18.925,94.325,387.075,0.000,0.000,79.528,111.995,322.605,19.250,0.000,29.072,1245.370,6079.036,420.154,2264.189,814.077,0.000,1243.307,0.000,2209.649,0.000,119.779,0.000
$DEVICE_MAMPS,223.964,59.826,758.563,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,467.066,406.244,1351.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38187,689
$CAP_FILE_SIZE,113428,0
$CFSIZE,260165632,228708352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230613,181234,2109.355,-15752.026,35,0.8,35,9.8