version: 66.06
glider: 523
mission: 4
dive: 19
start: 4 27 113 4 9 35
data:
$ID,523
$MISSION,4
$DIVE,19
$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,157
$T_MISSION,170
$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,-36289.09
$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,2665
$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,1970
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,34
$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
$GPS1,040312,2108.038,-15800.664,21,1.6,21,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.3
$GPS2,040917,2108.068,-15800.719,19,0.9,19,9.8
$SPEED_LIMITS,0.165,0.256
$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,87.9,31039,-17.6,-9.554
$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,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-77.95,0.000,6,0.000,0.000,29,1992,3394,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.9,-7.3,13,118,9.50,2.28,0.00,0.000,4,0.234,0.048,2410,567,3395,0,0,0,0,0,0
$GC,274,-0.76,-146.0,42.5,-13.8,44,281,0.00,2.17,0.00,0.000,6,0.000,0.039,2402,1958,3396,0,0,0,0,0,0
$GC,609,-0.76,-146.0,85.2,-11.6,101,613,0.00,2.25,0.00,0.000,4,0.000,0.053,2401,563,3398,0,0,0,0,0,0
$GC,693,-0.76,-146.0,97.1,-13.0,108,697,0.00,2.15,0.00,0.000,6,0.000,0.036,2392,1981,3398,0,0,0,0,0,0
$GC,1025,-0.76,-146.0,136.7,-12.3,139,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1981,3399,0,0,0,0,0,0
$GC,1344,-0.76,-146.0,174.5,-10.3,169,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1981,3400,0,0,0,0,0,0
$GC,1668,-0.76,-146.0,213.7,-12.0,195,1671,0.00,2.15,0.00,0.000,4,0.000,0.052,2381,3376,3401,0,0,0,0,0,0
$GC,1858,-0.76,-146.0,234.5,-9.6,203,1865,0.12,2.17,0.00,0.000,6,0.147,0.041,2417,1963,3402,0,0,0,0,0,0
$GC,2176,-0.76,-146.0,258.2,-6.2,219,2180,0.00,2.20,0.00,0.000,4,0.000,0.056,2417,558,3402,0,0,0,0,0,0
$GC,2377,-0.76,-146.0,274.5,-8.7,228,2382,0.00,2.15,0.00,0.000,6,0.000,0.041,2409,1980,3402,0,0,0,0,0,0
$GC,2707,-0.76,-146.0,300.5,-10.1,244,2711,0.00,2.20,0.00,0.000,4,0.000,0.057,2399,3381,3402,0,0,0,0,0,0
$GC,2807,-0.76,-146.0,312.2,-10.9,246,2811,0.00,2.17,0.00,0.000,6,0.000,0.041,2399,1970,3402,0,0,0,0,0,0
$GC,3158,-0.76,-146.0,343.0,-8.8,255,3162,0.00,2.25,0.00,0.000,4,0.000,0.058,2390,3380,3401,0,0,0,0,0,0
$GC,3197,-0.76,-146.0,347.3,-10.7,256,3201,0.00,2.15,0.00,0.000,6,0.000,0.043,2390,1972,3401,0,0,0,0,0,0
$GC,3523,-0.76,-146.0,382.4,-10.7,264,3527,0.00,2.20,0.00,0.000,4,0.000,0.061,2390,561,3399,0,0,0,0,0,0
$GC,3641,-0.76,-146.0,394.9,-9.8,266,3646,0.12,2.17,0.00,0.000,6,0.166,0.045,2415,1973,3398,0,0,0,0,0,0
$GC,3987,-0.76,-146.0,419.6,-6.2,275,3992,0.00,2.17,0.00,0.000,4,0.000,0.055,2406,3385,3396,0,0,0,0,0,0
$GC,4020,-0.76,-146.0,422.2,-7.3,275,4024,0.00,2.17,0.00,0.000,6,0.000,0.044,2406,1966,3396,0,0,0,0,0,0
$GC,4351,-0.76,-146.0,449.8,-8.3,283,4356,0.00,2.17,0.00,0.000,4,0.000,0.058,2406,560,3394,0,0,0,0,0,0
$STATE,4359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4359,begin apogee
$GC,4368,-0.17,0.0,450.6,7.3,283,4489,0.62,0.00,118.25,0.786,6,0.121,0.000,2606,1993,2800,0,0,0,0,0,0
$STATE,4490,end apogee,CONTROL_FINISHED_OK
$STATE,4490,begin climb
$GC,4493,0.76,146.0,450.2,0.0,286,4627,0.85,2.30,124.85,0.755,4,0.071,0.053,2907,3383,2204,0,0,0,0,0,0
$GC,4661,0.76,146.0,427.2,17.1,290,4665,0.00,2.33,0.00,0.000,6,0.000,0.051,2916,1992,2200,0,0,0,0,0,0
$GC,4979,0.76,146.0,372.6,17.4,298,4983,0.00,2.30,0.00,0.000,4,0.000,0.061,2927,564,2196,0,0,0,0,0,0
$GC,5057,0.76,146.0,358.7,17.0,299,5062,0.00,2.22,0.00,0.000,6,0.000,0.047,2927,1977,2194,0,0,0,0,0,0
$GC,5389,0.76,146.0,301.2,17.2,308,5393,0.00,2.20,0.00,0.000,4,0.000,0.056,2927,3394,2193,0,0,0,0,0,0
$GC,5410,0.76,146.0,297.1,17.1,308,5415,0.00,2.28,0.00,0.000,6,0.000,0.051,2935,1968,2193,0,0,0,0,0,0
$GC,5731,0.76,146.0,244.2,16.2,324,5735,0.00,2.22,0.00,0.000,4,0.000,0.061,2946,564,2191,0,0,0,0,0,0
$GC,5787,0.76,146.0,234.9,16.1,326,5793,0.12,2.20,0.00,0.000,6,0.161,0.044,2913,1996,2190,0,0,0,0,0,0
$GC,6105,0.76,146.0,196.3,12.3,343,6109,0.00,2.17,0.00,0.000,4,0.000,0.058,2913,3388,2190,0,0,0,0,0,0
$GC,6213,0.76,146.0,180.4,16.2,352,6220,0.00,2.25,0.00,0.000,6,0.000,0.051,2920,1980,2190,0,0,0,0,0,0
$GC,6540,0.76,146.0,140.0,11.1,383,6544,0.00,2.20,0.00,0.000,4,0.000,0.059,2930,560,2189,0,0,0,0,0,0
$GC,6581,0.76,146.0,135.2,12.8,386,6585,0.00,2.17,0.00,0.000,6,0.000,0.045,2930,1975,2188,0,0,0,0,0,0
$GC,6908,0.76,146.0,92.7,12.2,416,6912,0.00,2.17,0.00,0.000,4,0.000,0.055,2929,3395,2188,0,0,0,0,0,0
$GC,7079,0.76,146.0,69.7,14.0,437,7084,0.00,2.20,0.00,0.000,6,0.000,0.046,2938,1979,2189,0,0,0,0,0,0
$GC,7412,0.76,146.0,25.8,9.6,498,7420,0.00,2.22,0.00,0.000,4,0.000,0.056,2948,561,2189,0,0,0,0,0,0
$GC,7480,0.76,146.0,18.9,11.3,510,7489,0.10,2.20,0.00,0.000,6,0.124,0.042,2914,1979,2188,0,0,0,0,0,0
$STATE,7624,end climb,SURFACE_DEPTH_REACHED
$STATE,7625,begin surface coast
$FINISH,0.4,1.004053
$STATE,7652,end surface coast,CONTROL_FINISHED_OK
$STATE,7652,begin surface
$SM_CCo,7669,65.25,0.469,0,0,1576,300.24
$SM_GC,1.27,0.00,0.00,65.25,0.000,0.000,0.469,25,1986,1576,-8.26,0.45,300.24
$IRIDIUM_FIX,2057.14,-15808.48,220702,010121
$TT8_MAMPS,0.028379
$HUMID,63.58
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,24.6,2.098
$10V_AH,10.6,2.248
$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,18.725,75.075,243.100,65.250,0.000,25.016,35.339,180.536,19.250,0.000,20.017,1010.096,4452.447,364.710,1825.541,450.595,0.000,1011.495,0.000,1776.222,0.000,119.234,0.000
$DEVICE_MAMPS,233.935,60.593,786.175,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,369.024,309.753,1071.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28676,542
$CAP_FILE_SIZE,87172,0
$CFSIZE,260165632,254201856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270413,061934,2108.058,-15759.591,25,0.8,25,9.8