version: 66.06
glider: 523
mission: 4
dive: 584
start: 6 28 113 5 50 58
data:
$ID,523
$MISSION,4
$DIVE,584
$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,-47685.09
$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,26
$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
$GPS1,054424,2109.347,-15758.122,37,2.0,37,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.1
$GPS2,055041,2109.364,-15758.155,17,1.2,17,9.8
$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,94.2,27136,-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,-146.0,0.0,0.0,0,101,0.00,0.00,-77.50,0.000,6,0.000,0.000,39,1982,3394,0,0,0,0,0,0
$GC,106,-0.74,-146.0,4.1,-6.8,13,120,9.65,2.33,0.00,0.000,4,0.225,0.051,2394,538,3396,0,0,0,0,0,0
$GC,186,-0.74,-146.0,23.2,-15.1,27,193,0.00,2.25,0.00,0.000,6,0.000,0.038,2386,1962,3397,0,0,0,0,0,0
$GC,358,-0.74,-146.0,49.7,-14.9,58,365,0.00,2.33,0.00,0.000,4,0.000,0.058,2386,545,3397,0,0,0,0,0,0
$GC,469,-0.74,-146.0,66.2,-12.9,78,476,0.00,2.22,0.00,0.000,6,0.000,0.037,2377,1965,3398,0,0,0,0,0,0
$GC,802,-0.74,-146.0,100.8,-8.7,120,806,0.00,2.30,0.00,0.000,4,0.000,0.056,2377,538,3399,0,0,0,0,0,0
$GC,1052,-0.74,-146.0,133.5,-16.1,142,1060,0.10,2.20,0.00,0.000,6,0.140,0.037,2398,1949,3400,0,0,0,0,0,0
$GC,1380,-0.74,-146.0,170.0,-9.9,173,1384,0.00,2.25,0.00,0.000,4,0.000,0.054,2399,542,3401,0,0,0,0,0,0
$GC,1542,-0.74,-146.0,188.8,-12.2,187,1546,0.00,2.17,0.00,0.000,6,0.000,0.036,2391,1970,3401,0,0,0,0,0,0
$GC,1871,-0.74,-146.0,221.3,-7.8,207,1875,0.00,2.33,0.00,0.000,4,0.000,0.055,2391,536,3402,0,0,0,0,0,0
$GC,2014,-0.74,-146.0,232.6,-7.8,213,2018,0.00,2.17,0.00,0.000,6,0.000,0.037,2381,1961,3402,0,0,0,0,0,0
$GC,2332,-0.74,-146.0,252.6,-6.5,228,2336,0.00,2.30,0.00,0.000,4,0.000,0.054,2381,542,3402,0,0,0,0,0,0
$GC,2473,-0.74,-146.0,265.8,-9.8,234,2478,0.12,2.17,0.00,0.000,6,0.156,0.038,2405,1967,3402,0,0,0,0,0,0
$GC,2799,-0.74,-146.0,290.9,-6.8,250,2803,0.00,2.30,0.00,0.000,4,0.000,0.056,2405,539,3402,0,0,0,0,0,0
$GC,2980,-0.74,-146.0,306.3,-9.0,257,2984,0.00,2.20,0.00,0.000,6,0.000,0.038,2397,1963,3402,0,0,0,0,0,0
$GC,3302,-0.74,-146.0,332.9,-7.2,265,3306,0.00,2.30,0.00,0.000,4,0.000,0.057,2397,532,3402,0,0,0,0,0,0
$GC,3370,-0.74,-146.0,337.3,-5.9,266,3374,0.00,2.17,0.00,0.000,6,0.000,0.038,2388,1956,3401,0,0,0,0,0,0
$GC,3709,-0.74,-146.0,356.3,-5.8,275,3713,0.00,2.28,0.00,0.000,4,0.000,0.058,2388,544,3400,0,0,0,0,0,0
$GC,3968,-0.74,-146.0,375.9,-7.4,280,3973,0.00,2.20,0.00,0.000,6,0.000,0.039,2378,1961,3398,0,0,0,0,0,0
$GC,4299,-0.74,-146.0,399.4,-6.8,289,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1961,3396,0,0,0,0,0,0
$GC,4625,-0.74,-146.0,424.3,-7.9,297,4629,0.00,2.30,0.00,0.000,4,0.000,0.058,2378,538,3394,0,0,0,0,0,0
$GC,4794,-0.74,-146.0,438.5,-8.5,300,4800,0.12,2.22,0.00,0.000,6,0.161,0.041,2401,1963,3393,0,0,0,0,0,0
$STATE,5004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5004,begin apogee
$GC,5011,-0.17,0.0,452.2,6.3,306,5137,0.55,0.00,122.90,0.752,6,0.110,0.000,2582,1963,2800,0,0,0,0,0,0
$STATE,5138,end apogee,CONTROL_FINISHED_OK
$STATE,5138,begin climb
$GC,5140,0.74,146.0,452.4,0.0,309,5279,0.82,2.38,127.32,0.729,4,0.074,0.061,2870,3382,2203,0,0,0,0,0,0
$GC,5348,0.74,146.0,428.7,12.7,313,5353,0.00,2.33,0.00,0.000,6,0.000,0.047,2880,1971,2199,0,0,0,0,0,0
$GC,5679,0.74,146.0,386.1,12.9,322,5683,0.00,2.33,0.00,0.000,4,0.000,0.060,2880,3389,2196,0,0,0,0,0,0
$GC,5774,0.74,146.0,371.6,14.9,324,5778,0.00,2.28,0.00,0.000,6,0.000,0.048,2889,1975,2195,0,0,0,0,0,0
$GC,6094,0.74,146.0,331.7,11.7,332,6098,0.00,2.30,0.00,0.000,4,0.000,0.061,2888,3383,2193,0,0,0,0,0,0
$GC,6172,0.74,146.0,321.8,12.4,333,6177,0.00,2.28,0.00,0.000,6,0.000,0.051,2897,1981,2192,0,0,0,0,0,0
$GC,6484,0.74,146.0,290.8,9.6,343,6488,0.00,2.30,0.00,0.000,4,0.000,0.061,2898,3391,2192,0,0,0,0,0,0
$GC,6578,0.74,146.0,281.1,9.7,347,6582,0.00,2.30,0.00,0.000,6,0.000,0.053,2907,1970,2191,0,0,0,0,0,0
$GC,6894,0.74,146.0,251.1,10.9,362,6898,0.00,2.25,0.00,0.000,4,0.000,0.058,2914,562,2190,0,0,0,0,0,0
$GC,6916,0.74,146.0,248.4,11.6,363,6921,0.12,2.20,0.00,0.000,6,0.136,0.037,2880,1996,2190,0,0,0,0,0,0
$GC,7237,0.75,156.1,220.6,8.6,379,7252,0.00,2.25,7.60,0.535,4,0.000,0.053,2879,3393,2163,0,0,0,0,0,0
$GC,7496,0.75,156.1,195.8,10.8,392,7500,0.00,2.25,0.00,0.000,6,0.000,0.049,2886,1968,2161,0,0,0,0,0,0
$GC,7823,0.78,182.8,167.1,7.9,422,7858,0.00,2.35,24.33,0.564,4,0.000,0.058,2886,3390,2053,0,0,0,0,0,0
$GC,7959,0.78,182.8,153.2,11.5,434,7963,0.00,2.28,0.00,0.000,6,0.000,0.049,2894,1973,2052,0,0,0,0,0,0
$GC,8288,0.83,221.6,121.7,7.4,464,8329,0.00,2.33,34.42,0.535,4,0.000,0.058,2894,3378,1895,0,0,0,0,0,0
$GC,8349,0.89,266.7,117.4,7.2,470,8397,0.00,2.22,40.30,0.522,6,0.000,0.048,2894,1985,1711,0,0,0,0,0,0
$GC,8717,0.89,266.7,85.9,10.2,504,8721,0.00,2.30,0.00,0.000,4,0.000,0.057,2894,3386,1710,0,0,0,0,0,0
$GC,8801,0.89,266.7,76.7,11.4,513,8807,0.00,2.25,0.00,0.000,6,0.000,0.048,2902,1981,1709,0,0,0,0,0,0
$GC,9133,0.94,311.2,47.7,7.2,574,9180,0.12,2.33,38.78,0.466,4,0.074,0.057,2999,3385,1529,0,0,0,0,0,0
$GC,9238,0.94,311.2,33.0,15.8,592,9244,0.20,2.28,0.00,0.000,6,0.114,0.048,2930,1988,1528,0,0,0,0,0,0
$STATE,9561,end climb,SURFACE_DEPTH_REACHED
$STATE,9561,begin surface coast
$FINISH,1.0,1.023326
$STATE,9591,end surface coast,CONTROL_FINISHED_OK
$STATE,9591,begin surface
$SM_CCo,9670,0.00,0.000,0,0,1525,312.75
$SM_GC,1.34,7.38,0.00,0.00,0.024,0.000,0.000,33,1953,1525,-7.99,-0.08,312.75
$IRIDIUM_FIX,2104.07,-15800.33,220902,030344
$TT8_MAMPS,0.027612
$HUMID,65.27
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,452.2,49.9
$24V_AH,24.4,49.881
$10V_AH,10.2,54.507
$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,19.200,90.800,395.650,0.000,0.000,28.969,41.347,168.526,19.500,0.000,17.395,1225.213,5592.223,414.290,2288.087,520.130,0.000,1264.713,0.000,2239.713,0.000,128.125,0.000
$DEVICE_MAMPS,224.731,167.206,751.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,445.705,384.557,1277.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,35018,658
$CAP_FILE_SIZE,106295,0
$CFSIZE,260165632,226729984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280613,083307,2109.614,-15757.299,22,0.9,22,9.8