version: 66.06
glider: 523
mission: 4
dive: 20
start: 4 27 113 6 25 18
data:
$ID,523
$MISSION,4
$DIVE,20
$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,-36307.672
$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,23
$R_STBD_OVSHOOT,30
$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
$GPS1,061934,2108.058,-15759.591,25,0.8,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.2
$GPS2,062459,2108.046,-15759.593,17,0.9,17,9.8
$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,88.4,29106,-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,-78.12,0.000,6,0.000,0.000,25,1986,3395,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.8,-6.7,13,117,9.50,2.25,0.00,0.000,4,0.232,0.049,2409,551,3396,0,0,0,0,0,0
$GC,142,-0.76,-146.0,17.3,-32.7,19,150,0.00,2.22,0.00,0.000,6,0.000,0.041,2400,1962,3396,0,0,0,0,0,0
$GC,311,-0.76,-146.0,46.7,-15.8,50,318,0.00,2.28,0.00,0.000,4,0.000,0.056,2400,557,3398,0,0,0,0,0,0
$GC,474,-0.76,-146.0,68.9,-13.7,79,479,0.00,2.17,0.00,0.000,6,0.000,0.038,2390,1986,3398,0,0,0,0,0,0
$GC,807,-0.76,-146.0,113.2,-12.8,118,811,0.00,2.25,0.00,0.000,4,0.000,0.054,2390,555,3399,0,0,0,0,0,0
$GC,838,-0.76,-146.0,116.8,-11.7,120,843,0.12,2.17,0.00,0.000,6,0.173,0.038,2413,1982,3400,0,0,0,0,0,0
$GC,1165,-0.76,-146.0,148.0,-10.4,150,1169,0.00,2.15,0.00,0.000,4,0.000,0.054,2404,3370,3401,0,0,0,0,0,0
$GC,1240,-0.76,-146.0,156.6,-11.3,156,1248,0.00,2.20,0.00,0.000,6,0.000,0.042,2404,1966,3401,0,0,0,0,0,0
$GC,1568,-0.76,-146.0,190.4,-9.5,187,1572,0.00,2.17,0.00,0.000,4,0.000,0.055,2404,563,3401,0,0,0,0,0,0
$GC,1609,-0.76,-146.0,194.3,-9.1,190,1613,0.00,2.15,0.00,0.000,6,0.000,0.037,2395,1981,3402,0,0,0,0,0,0
$GC,1939,-0.76,-146.0,225.9,-12.0,209,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1982,3401,0,0,0,0,0,0
$GC,2246,-0.76,-146.0,257.9,-9.7,224,2250,0.00,2.15,0.00,0.000,4,0.000,0.054,2384,3371,3402,0,0,0,0,0,0
$GC,2268,-0.76,-146.0,260.3,-10.4,225,2273,0.12,2.17,0.00,0.000,6,0.152,0.042,2419,1970,3402,0,0,0,0,0,0
$GC,2590,-0.76,-146.0,288.9,-7.8,241,2594,0.00,2.22,0.00,0.000,4,0.000,0.058,2419,560,3402,0,0,0,0,0,0
$GC,2814,-0.76,-146.0,304.7,-6.4,250,2819,0.00,2.15,0.00,0.000,6,0.000,0.041,2412,1966,3402,0,0,0,0,0,0
$GC,3141,-0.76,-146.0,330.1,-9.0,258,3145,0.00,2.22,0.00,0.000,4,0.000,0.058,2412,567,3401,0,0,0,0,0,0
$GC,3282,-0.76,-146.0,344.1,-9.9,261,3286,0.00,2.15,0.00,0.000,6,0.000,0.044,2403,1969,3401,0,0,0,0,0,0
$GC,3603,-0.76,-146.0,373.2,-8.8,269,3607,0.00,2.22,0.00,0.000,4,0.000,0.060,2393,3384,3399,0,0,0,0,0,0
$GC,3772,-0.76,-146.0,386.5,-7.2,272,3778,0.00,2.15,0.00,0.000,6,0.000,0.043,2393,1976,3399,0,0,0,0,0,0
$GC,4104,-0.76,-146.0,407.8,-6.0,281,4108,0.00,2.20,0.00,0.000,4,0.000,0.058,2393,554,3397,0,0,0,0,0,0
$GC,4205,-0.76,-146.0,415.6,-6.9,283,4209,0.12,2.20,0.00,0.000,6,0.162,0.047,2418,1974,3395,0,0,0,0,0,0
$GC,4553,-0.76,-146.0,433.2,-4.4,292,4557,0.00,2.20,0.00,0.000,4,0.000,0.061,2417,3384,3394,0,0,0,0,0,0
$STATE,4692,end dive,NO_VERTICAL_VELOCITY
$STATE,4692,begin apogee
$GC,4701,-0.17,0.0,433.2,0.0,295,4822,0.52,0.00,118.00,0.782,6,0.082,0.000,2609,1973,2800,0,0,0,0,0,0
$STATE,4823,end apogee,CONTROL_FINISHED_OK
$STATE,4823,begin climb
$GC,4825,0.76,146.0,432.5,0.0,298,4957,0.82,0.00,125.00,0.751,6,0.060,0.000,2911,1973,2203,0,0,0,0,0,0
$GC,5272,0.76,146.0,376.4,14.6,309,5276,0.00,2.25,0.00,0.000,4,0.000,0.060,2922,574,2195,0,0,0,0,0,0
$GC,5322,0.76,146.0,367.8,16.9,310,5326,0.00,2.22,0.00,0.000,6,0.000,0.042,2922,1988,2194,0,0,0,0,0,0
$GC,5635,0.76,146.0,316.9,16.9,318,5639,0.00,2.17,0.00,0.000,4,0.000,0.056,2922,3387,2192,0,0,0,0,0,0
$GC,5662,0.76,146.0,311.2,20.1,318,5666,0.00,2.20,0.00,0.000,6,0.000,0.044,2932,1976,2192,0,0,0,0,0,0
$GC,5976,0.76,146.0,256.1,16.6,331,5980,0.00,2.22,0.00,0.000,4,0.000,0.059,2942,567,2191,0,0,0,0,0,0
$GC,6077,0.76,146.0,239.7,16.4,335,6083,0.12,2.20,0.00,0.000,6,0.159,0.041,2909,1986,2190,0,0,0,0,0,0
$GC,6395,0.76,146.0,195.7,13.5,352,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1987,2189,0,0,0,0,0,0
$GC,6715,0.76,146.0,157.8,11.7,382,6719,0.00,2.17,0.00,0.000,4,0.000,0.055,2908,3387,2189,0,0,0,0,0,0
$GC,6736,0.76,146.0,154.4,12.9,383,6743,0.00,2.22,0.00,0.000,6,0.000,0.042,2915,1973,2188,0,0,0,0,0,0
$GC,7064,0.76,146.0,115.8,11.1,414,7068,0.00,2.20,0.00,0.000,4,0.000,0.052,2915,3385,2188,0,0,0,0,0,0
$GC,7179,0.76,146.0,104.1,11.0,424,7183,0.00,2.17,0.00,0.000,6,0.000,0.041,2925,1977,2188,0,0,0,0,0,0
$GC,7510,0.76,146.0,58.7,13.1,467,7516,0.00,2.17,0.00,0.000,4,0.000,0.056,2935,565,2188,0,0,0,0,0,0
$GC,7642,0.76,146.0,42.5,11.2,491,7648,0.00,2.17,0.00,0.000,6,0.000,0.040,2935,1989,2188,0,0,0,0,0,0
$STATE,7963,end climb,SURFACE_DEPTH_REACHED
$STATE,7963,begin surface coast
$FINISH,0.4,1.014288
$STATE,7987,end surface coast,CONTROL_FINISHED_OK
$STATE,7987,begin surface
$SM_CCo,8005,68.57,0.472,0,0,1575,300.24
$SM_GC,1.30,0.00,0.00,68.57,0.000,0.000,0.472,24,1998,1575,-8.26,0.76,300.24
$IRIDIUM_FIX,2059.45,-15756.04,220702,040447
$TT8_MAMPS,0.027612
$HUMID,63.19
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,400.4,54.2
$24V_AH,24.6,2.173
$10V_AH,10.6,2.331
$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,18.925,74.700,243.000,68.575,0.000,30.795,39.110,134.370,17.000,0.000,17.954,1039.005,4706.802,372.055,1878.375,407.657,0.000,1029.542,0.000,1828.107,0.000,104.780,0.000
$DEVICE_MAMPS,232.401,61.360,781.573,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,377.853,311.731,1103.826,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,31823,555
$CAP_FILE_SIZE,88656,0
$CFSIZE,260165632,254152704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270413,084047,2107.953,-15757.943,16,1.5,16,9.8