version: 66.06
glider: 523
mission: 4
dive: 35
start: 4 28 113 19 38 12
data:
$ID,523
$MISSION,4
$DIVE,35
$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,-36584.391
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,27
$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
$GPS1,192922,2104.789,-15745.259,37,0.7,37,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-74.5
$GPS2,193753,2104.822,-15745.154,14,1.1,14,9.8
$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,54.8,4279,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.62,0.000,6,0.000,0.000,38,1984,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.8,13,118,9.50,2.17,0.00,0.000,4,0.235,0.048,2386,3369,3397,0,0,0,0,0,0
$GC,260,-0.74,-146.0,40.7,-13.0,41,266,0.00,2.25,0.00,0.000,6,0.000,0.044,2386,1957,3399,0,0,0,0,0,0
$GC,592,-0.74,-146.0,92.5,-16.5,95,596,0.00,2.28,0.00,0.000,4,0.000,0.057,2386,540,3400,0,0,0,0,0,0
$GC,830,-0.74,-146.0,130.0,-13.6,116,834,0.00,2.15,0.00,0.000,6,0.000,0.034,2376,1967,3400,0,0,0,0,0,0
$GC,1162,-0.74,-146.0,174.7,-11.7,147,1169,0.00,2.17,0.00,0.000,4,0.000,0.058,2366,3360,3402,0,0,0,0,0,0
$GC,1275,-0.74,-146.0,188.3,-12.4,157,1280,0.12,2.20,0.00,0.000,6,0.150,0.042,2399,1953,3402,0,0,0,0,0,0
$GC,1595,-0.74,-146.0,216.1,-8.6,178,1599,0.00,2.17,0.00,0.000,4,0.000,0.052,2400,548,3402,0,0,0,0,0,0
$GC,1720,-0.74,-146.0,229.1,-10.5,183,1726,0.00,2.15,0.00,0.000,6,0.000,0.038,2392,1964,3402,0,0,0,0,0,0
$GC,2038,-0.74,-146.0,259.4,-9.5,199,2042,0.00,2.20,0.00,0.000,4,0.000,0.055,2381,3371,3402,0,0,0,0,0,0
$GC,2200,-0.74,-146.0,274.9,-8.9,206,2205,0.00,2.15,0.00,0.000,6,0.000,0.039,2381,1956,3402,0,0,0,0,0,0
$GC,2530,-0.74,-146.0,303.6,-8.7,221,2534,0.00,2.17,0.00,0.000,4,0.000,0.060,2381,558,3402,0,0,0,0,0,0
$GC,2727,-0.74,-146.0,321.7,-9.6,225,2732,0.10,2.12,0.00,0.000,6,0.174,0.041,2398,1959,3401,0,0,0,0,0,0
$GC,3073,-0.74,-146.0,348.9,-7.9,234,3077,0.00,2.20,0.00,0.000,4,0.000,0.058,2390,3363,3400,0,0,0,0,0,0
$GC,3134,-0.74,-146.0,354.1,-7.7,235,3138,0.00,2.17,0.00,0.000,6,0.000,0.041,2389,1953,3399,0,0,0,0,0,0
$GC,3478,-0.74,-146.0,375.2,-5.7,244,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1953,3397,0,0,0,0,0,0
$GC,3803,-0.74,-146.0,398.1,-7.6,252,3807,0.00,2.20,0.00,0.000,4,0.000,0.064,2390,550,3395,0,0,0,0,0,0
$GC,3898,-0.74,-146.0,406.9,-9.9,254,3902,0.00,2.17,0.00,0.000,6,0.000,0.047,2380,1959,3394,0,0,0,0,0,0
$GC,4214,-0.74,-146.0,433.2,-8.5,262,4218,0.00,2.28,0.00,0.000,4,0.000,0.063,2380,557,3392,0,0,0,0,0,0
$GC,4270,-0.74,-146.0,438.8,-9.0,263,4274,0.12,2.17,0.00,0.000,6,0.172,0.048,2403,1960,3391,0,0,0,0,0,0
$STATE,4418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4418,begin apogee
$GC,4424,-0.17,0.0,450.8,7.9,267,4545,0.55,0.00,117.75,0.802,6,0.119,0.000,2586,1961,2800,0,0,0,0,0,0
$STATE,4546,end apogee,CONTROL_FINISHED_OK
$STATE,4546,begin climb
$GC,4548,0.74,146.0,453.7,0.0,270,4678,0.85,0.00,126.03,0.769,6,0.074,0.000,2877,1960,2204,0,0,0,0,0,0
$GC,4985,0.74,146.0,405.5,12.8,281,4989,0.00,2.30,0.00,0.000,4,0.000,0.066,2886,567,2195,0,0,0,0,0,0
$GC,5017,0.74,146.0,401.0,12.9,281,5023,0.00,2.25,0.00,0.000,6,0.000,0.047,2886,1975,2194,0,0,0,0,0,0
$GC,5348,0.74,146.0,354.8,14.2,290,5352,0.00,2.30,0.00,0.000,4,0.000,0.067,2894,573,2192,0,0,0,0,0,0
$GC,5398,0.74,146.0,347.7,14.4,291,5403,0.00,2.22,0.00,0.000,6,0.000,0.048,2894,1975,2192,0,0,0,0,0,0
$GC,5711,0.74,146.0,303.7,14.0,299,5715,0.00,2.25,0.00,0.000,4,0.000,0.059,2904,574,2190,0,0,0,0,0,0
$GC,5774,0.74,146.0,294.8,13.9,301,5778,0.00,2.20,0.00,0.000,6,0.000,0.041,2904,1986,2190,0,0,0,0,0,0
$GC,6100,0.74,146.0,249.0,14.0,317,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1987,2189,0,0,0,0,0,0
$GC,6410,0.74,146.0,209.8,13.5,332,6414,0.00,2.20,0.00,0.000,4,0.000,0.058,2904,3387,2187,0,0,0,0,0,0
$GC,6563,0.74,146.0,187.5,15.3,342,6568,0.12,2.22,0.00,0.000,6,0.157,0.053,2879,1978,2187,0,0,0,0,0,0
$GC,6890,0.74,146.0,153.5,10.2,372,6894,0.00,2.20,0.00,0.000,4,0.000,0.058,2888,565,2186,0,0,0,0,0,0
$GC,6912,0.74,146.0,151.2,9.7,373,6919,0.00,2.20,0.00,0.000,6,0.000,0.041,2888,1978,2186,0,0,0,0,0,0
$GC,7239,0.74,146.0,116.3,9.5,404,7242,0.00,2.15,0.00,0.000,4,0.000,0.055,2888,3384,2186,0,0,0,0,0,0
$GC,7313,0.74,146.0,108.9,10.0,410,7321,0.00,2.20,0.00,0.000,6,0.000,0.042,2897,1978,2186,0,0,0,0,0,0
$GC,7643,0.74,146.0,77.1,9.9,443,7648,0.00,2.20,0.00,0.000,4,0.000,0.058,2908,555,2186,0,0,0,0,0,0
$GC,7721,0.74,146.0,68.5,10.5,457,7727,0.12,2.15,0.00,0.000,6,0.143,0.038,2872,1981,2186,0,0,0,0,0,0
$GC,8054,0.74,148.2,39.5,8.9,518,8061,0.00,2.17,0.00,0.000,4,0.000,0.054,2872,3377,2186,0,0,0,0,0,0
$GC,8163,0.74,152.4,30.0,8.9,537,8176,0.00,2.15,3.83,0.345,6,0.000,0.040,2880,1970,2178,0,0,0,0,0,0
$GC,8336,0.80,194.0,17.2,7.3,569,8383,0.00,2.28,36.15,0.481,4,0.000,0.056,2889,553,2005,0,0,0,0,0,0
$GC,8476,0.80,199.3,5.4,8.8,593,8491,0.00,2.22,5.28,0.370,6,0.000,0.040,2889,1978,1986,0,0,0,0,0,0
$STATE,8504,end climb,SURFACE_DEPTH_REACHED
$STATE,8504,begin surface coast
$FINISH,0.4,1.023319
$STATE,8537,end surface coast,CONTROL_FINISHED_OK
$STATE,8537,begin surface
$SM_CCo,8555,45.53,0.455,0,0,1575,300.24
$SM_GC,1.20,0.00,0.00,45.53,0.000,0.000,0.455,30,1979,1575,-8.16,0.54,300.24
$IRIDIUM_FIX,2050.21,-15756.91,230702,191900
$TT8_MAMPS,0.028379
$HUMID,61.10
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.6,3.371
$10V_AH,10.5,3.639
$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,18.775,79.275,289.025,45.525,0.000,49.752,68.216,206.839,19.000,0.000,14.779,1106.068,5073.052,417.760,1961.806,555.999,0.000,1103.977,0.000,1920.050,0.000,120.997,0.000
$DEVICE_MAMPS,235.469,67.496,802.282,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.209,336.476,1173.008,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34951,603
$CAP_FILE_SIZE,96663,0
$CFSIZE,260165632,253431808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280413,220234,2105.290,-15743.959,22,0.9,22,9.8