version: 66.06
glider: 523
mission: 4
dive: 555
start: 6 24 113 17 47 25
data:
$ID,523
$MISSION,4
$DIVE,555
$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,-47083.777
$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,20
$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
$GPS1,172948,2106.584,-15744.185,16,1.4,16,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.6
$GPS2,174706,2106.729,-15744.213,15,1.5,15,9.8
$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,117.4,2807,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.72,0.000,6,0.000,0.000,35,1969,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.5,-4.7,13,118,9.60,2.28,0.00,0.000,4,0.222,0.051,2392,540,3396,0,0,0,0,0,0
$GC,311,-0.74,-146.0,44.4,-16.9,51,316,0.00,2.20,0.00,0.000,6,0.000,0.035,2383,1975,3397,0,0,0,0,0,0
$GC,642,-0.74,-146.0,82.8,-9.1,109,646,0.00,2.30,0.00,0.000,4,0.000,0.056,2383,539,3398,0,0,0,0,0,0
$GC,685,-0.74,-146.0,88.3,-13.0,112,692,0.00,2.20,0.00,0.000,6,0.000,0.035,2374,1956,3398,0,0,0,0,0,0
$GC,1013,-0.74,-146.0,125.7,-12.3,143,1017,0.00,2.22,0.00,0.000,4,0.000,0.053,2364,3368,3398,0,0,0,0,0,0
$GC,1048,-0.74,-146.0,130.0,-11.8,146,1055,0.15,2.25,0.00,0.000,6,0.146,0.043,2404,1944,3398,0,0,0,0,0,0
$GC,1384,-0.74,-146.0,160.7,-8.2,177,1388,0.00,2.22,0.00,0.000,4,0.000,0.057,2404,538,3399,0,0,0,0,0,0
$GC,1507,-0.74,-146.0,172.4,-10.0,188,1511,0.00,2.17,0.00,0.000,6,0.000,0.035,2396,1962,3399,0,0,0,0,0,0
$GC,1834,-0.74,-146.0,194.5,-5.9,218,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1962,3399,0,0,0,0,0,0
$GC,2149,-0.74,-146.0,215.1,-7.7,238,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1962,3399,0,0,0,0,0,0
$GC,2453,-0.74,-146.0,236.8,-6.7,253,2457,0.00,2.28,0.00,0.000,4,0.000,0.051,2396,547,3399,0,0,0,0,0,0
$GC,2633,-0.74,-146.0,251.1,-7.8,261,2637,0.00,2.15,0.00,0.000,6,0.000,0.035,2387,1966,3399,0,0,0,0,0,0
$GC,2959,-0.74,-146.0,276.1,-6.6,277,2963,0.00,2.22,0.00,0.000,4,0.000,0.055,2377,3361,3399,0,0,0,0,0,0
$GC,3067,-0.74,-146.0,283.2,-6.2,282,3071,0.00,2.22,0.00,0.000,6,0.000,0.044,2377,1954,3399,0,0,0,0,0,0
$GC,3395,-0.74,-146.0,310.4,-10.2,296,3399,0.00,2.25,0.00,0.000,4,0.000,0.058,2377,548,3398,0,0,0,0,0,0
$GC,3501,-0.74,-146.0,322.1,-10.5,298,3506,0.12,2.17,0.00,0.000,6,0.161,0.035,2399,1966,3397,0,0,0,0,0,0
$GC,3846,-0.74,-146.0,348.5,-7.1,307,3850,0.00,2.30,0.00,0.000,4,0.000,0.056,2400,538,3395,0,0,0,0,0,0
$GC,3972,-0.74,-146.0,358.0,-7.5,309,3977,0.00,2.20,0.00,0.000,6,0.000,0.037,2392,1965,3395,0,0,0,0,0,0
$GC,4303,-0.74,-146.0,379.4,-5.7,318,4308,0.00,2.30,0.00,0.000,4,0.000,0.058,2392,539,3392,0,0,0,0,0,0
$GC,4344,-0.74,-146.0,381.2,-4.6,319,4348,0.00,2.20,0.00,0.000,6,0.000,0.038,2382,1961,3393,0,0,0,0,0,0
$GC,4668,-0.74,-146.0,394.2,-4.2,327,4672,0.00,2.28,0.00,0.000,4,0.000,0.058,2382,548,3390,0,0,0,0,0,0
$GC,4742,-0.74,-146.0,398.5,-6.6,328,4746,0.00,2.20,0.00,0.000,6,0.000,0.039,2373,1962,3390,0,0,0,0,0,0
$GC,5074,-0.74,-146.0,425.4,-9.1,336,5078,0.00,2.30,0.00,0.000,4,0.000,0.058,2373,539,3388,0,0,0,0,0,0
$GC,5175,-0.74,-146.0,435.6,-9.9,338,5179,0.15,2.22,0.00,0.000,6,0.152,0.041,2403,1962,3387,0,0,0,0,0,0
$STATE,5398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5399,begin apogee
$GC,5405,-0.17,0.0,452.3,7.0,344,5529,0.55,0.00,121.55,0.755,6,0.113,0.000,2583,1962,2800,0,0,0,0,0,0
$STATE,5530,end apogee,CONTROL_FINISHED_OK
$STATE,5530,begin climb
$GC,5533,0.74,146.0,453.1,0.0,347,5672,0.85,2.45,127.47,0.732,4,0.071,0.059,2877,3390,2203,0,0,0,0,0,0
$GC,5717,0.74,146.0,433.3,13.5,351,5721,0.00,2.33,0.00,0.000,6,0.000,0.047,2886,1981,2200,0,0,0,0,0,0
$GC,6049,0.74,146.0,395.5,10.9,359,6053,0.00,2.30,0.00,0.000,4,0.000,0.066,2897,574,2196,0,0,0,0,0,0
$GC,6076,0.74,146.0,392.2,11.2,359,6080,0.00,2.20,0.00,0.000,6,0.000,0.040,2897,1983,2196,0,0,0,0,0,0
$GC,6407,0.74,146.0,347.5,14.3,367,6411,0.00,2.25,0.00,0.000,4,0.000,0.061,2897,3392,2194,0,0,0,0,0,0
$GC,6541,0.74,146.0,328.7,13.5,370,6545,0.00,2.28,0.00,0.000,6,0.000,0.049,2906,1982,2192,0,0,0,0,0,0
$GC,6861,0.74,146.0,289.0,11.6,380,6865,0.00,2.30,0.00,0.000,4,0.000,0.061,2907,3392,2192,0,0,0,0,0,0
$GC,6894,0.74,146.0,285.1,11.8,381,6900,0.12,2.28,0.00,0.000,6,0.150,0.051,2880,1980,2190,0,0,0,0,0,0
$GC,7211,0.77,174.1,259.0,7.9,397,7236,0.00,0.00,23.38,0.640,6,0.000,0.000,2880,1980,2089,0,0,0,0,0,0
$GC,7541,0.77,174.1,226.2,10.3,413,7545,0.00,2.28,0.00,0.000,4,0.000,0.061,2889,571,2085,0,0,0,0,0,0
$GC,7642,0.77,174.1,215.3,10.4,417,7648,0.00,2.22,0.00,0.000,6,0.000,0.042,2889,1983,2084,0,0,0,0,0,0
$GC,7966,0.77,174.1,181.0,9.4,441,7970,0.00,2.25,0.00,0.000,4,0.000,0.051,2889,3398,2083,0,0,0,0,0,0
$GC,8042,0.77,174.1,173.6,9.2,447,8046,0.00,2.25,0.00,0.000,6,0.000,0.048,2898,1980,2083,0,0,0,0,0,0
$GC,8371,0.86,242.7,151.3,6.2,477,8440,0.00,2.35,59.22,0.568,4,0.000,0.058,2898,3386,1809,0,0,0,0,0,0
$GC,8468,0.86,242.7,143.2,9.8,485,8472,0.00,2.28,0.00,0.000,6,0.000,0.049,2906,1980,1808,0,0,0,0,0,0
$GC,8794,0.86,242.7,111.0,9.6,515,8798,0.00,2.30,0.00,0.000,4,0.000,0.058,2905,3386,1807,0,0,0,0,0,0
$GC,8848,0.86,242.7,104.8,11.8,519,8856,0.00,2.30,0.00,0.000,6,0.000,0.049,2914,1973,1806,0,0,0,0,0,0
$GC,9179,0.86,242.7,72.5,9.6,557,9184,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1974,1806,0,0,0,0,0,0
$GC,9512,0.90,279.0,43.1,7.5,618,9554,0.00,2.30,31.95,0.470,4,0.000,0.057,2923,565,1661,0,0,0,0,0,0
$GC,9569,0.91,285.8,38.7,8.8,627,9582,0.00,2.25,7.15,0.396,6,0.000,0.041,2923,1990,1634,0,0,0,0,0,0
$GC,9903,0.97,333.0,11.4,7.1,689,9949,0.00,2.22,40.50,0.442,4,0.000,0.052,2923,3396,1443,0,0,0,0,0,0
$STATE,9995,end climb,SURFACE_DEPTH_REACHED
$STATE,9996,begin surface coast
$FINISH,0.7,1.010978
$STATE,10025,end surface coast,CONTROL_FINISHED_OK
$STATE,10025,begin surface
$SM_CCo,10106,0.00,0.000,0,0,1438,333.85
$SM_GC,1.49,7.43,0.00,0.00,0.025,0.000,0.000,47,1953,1438,-7.99,-0.11,333.85
$IRIDIUM_FIX,2057.14,-15748.75,180902,171755
$TT8_MAMPS,0.027612
$HUMID,66.77
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.4,47.270
$10V_AH,10.2,51.547
$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,18.975,94.900,411.225,0.000,0.000,147.941,355.372,156.863,19.000,0.000,15.672,1262.654,6190.250,428.376,2321.443,937.210,0.000,1263.420,0.000,2275.598,0.000,121.233,0.000
$DEVICE_MAMPS,221.663,65.962,755.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,481.592,415.571,1407.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38010,710
$CAP_FILE_SIZE,110390,0
$CFSIZE,260165632,228237312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240613,203704,2106.759,-15742.495,37,0.8,37,9.8