version: 66.06
glider: 523
mission: 4
dive: 37
start: 4 29 113 0 35 3
data:
$ID,523
$MISSION,4
$DIVE,37
$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,-36621.352
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,002929,2104.279,-15744.154,41,0.8,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.2
$GPS2,003447,2104.270,-15744.121,18,0.8,18,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,210.4,15392,-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,-77.62,0.000,6,0.000,0.000,25,1981,3392,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-7.0,13,118,9.50,2.30,0.00,0.000,4,0.235,0.051,2391,546,3393,0,0,0,0,0,0
$GC,173,-0.74,-146.0,25.4,-22.7,25,181,0.00,2.22,0.00,0.000,6,0.000,0.040,2382,1960,3395,0,0,0,0,0,0
$GC,344,-0.74,-146.0,53.4,-14.6,56,351,0.00,2.30,0.00,0.000,4,0.000,0.056,2382,560,3395,0,0,0,0,0,0
$GC,408,-0.74,-146.0,62.3,-14.3,67,414,0.00,2.17,0.00,0.000,6,0.000,0.038,2373,1973,3396,0,0,0,0,0,0
$GC,737,-0.74,-146.0,114.8,-16.1,108,742,0.10,2.20,0.00,0.000,4,0.176,0.057,2389,3360,3397,0,0,0,0,0,0
$GC,818,-0.74,-146.0,125.3,-12.0,115,825,0.00,2.22,0.00,0.000,6,0.000,0.044,2389,1961,3397,0,0,0,0,0,0
$GC,1145,-0.74,-146.0,166.4,-13.0,146,1149,0.00,2.20,0.00,0.000,4,0.000,0.055,2389,550,3398,0,0,0,0,0,0
$GC,1211,-0.74,-146.0,175.3,-13.5,151,1218,0.00,2.17,0.00,0.000,6,0.000,0.038,2379,1963,3398,0,0,0,0,0,0
$GC,1543,-0.74,-146.0,212.8,-11.7,178,1547,0.00,2.20,0.00,0.000,4,0.000,0.054,2368,3366,3399,0,0,0,0,0,0
$GC,1587,-0.74,-146.0,217.9,-11.2,180,1591,0.12,2.20,0.00,0.000,6,0.152,0.041,2402,1953,3399,0,0,0,0,0,0
$GC,1908,-0.74,-146.0,245.9,-7.7,196,1912,0.00,2.20,0.00,0.000,4,0.000,0.053,2403,552,3399,0,0,0,0,0,0
$GC,1982,-0.74,-146.0,251.7,-8.8,199,1986,0.00,2.15,0.00,0.000,6,0.000,0.038,2395,1971,3399,0,0,0,0,0,0
$GC,2300,-0.74,-146.0,277.5,-7.9,214,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1971,3400,0,0,0,0,0,0
$GC,2628,-0.74,-146.0,304.5,-7.6,229,2632,0.00,2.30,0.00,0.000,4,0.000,0.057,2395,552,3399,0,0,0,0,0,0
$GC,2655,-0.74,-146.0,306.8,-8.0,229,2659,0.00,2.15,0.00,0.000,6,0.000,0.041,2385,1955,3399,0,0,0,0,0,0
$GC,2994,-0.74,-146.0,330.5,-6.9,238,2998,0.00,2.25,0.00,0.000,4,0.000,0.060,2385,553,3398,0,0,0,0,0,0
$GC,3224,-0.74,-146.0,349.6,-8.4,243,3228,0.00,2.17,0.00,0.000,6,0.000,0.044,2376,1966,3396,0,0,0,0,0,0
$GC,3537,-0.74,-146.0,373.0,-7.5,251,3541,0.00,2.20,0.00,0.000,4,0.000,0.060,2366,3376,3395,0,0,0,0,0,0
$GC,3615,-0.74,-146.0,379.5,-8.4,252,3621,0.12,2.20,0.00,0.000,6,0.152,0.044,2399,1953,3395,0,0,0,0,0,0
$GC,3951,-0.74,-146.0,407.0,-8.7,261,3955,0.00,2.25,0.00,0.000,4,0.000,0.065,2400,549,3393,0,0,0,0,0,0
$GC,4006,-0.74,-146.0,412.7,-9.1,262,4010,0.00,2.20,0.00,0.000,6,0.000,0.046,2392,1969,3392,0,0,0,0,0,0
$GC,4355,-0.74,-146.0,439.8,-7.7,271,4359,0.00,2.28,0.00,0.000,4,0.000,0.064,2392,548,3390,0,0,0,0,0,0
$STATE,4492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4492,begin apogee
$GC,4500,-0.17,0.0,450.0,7.9,274,4621,0.62,0.00,117.40,0.791,6,0.120,0.000,2586,1974,2800,0,0,0,0,0,0
$STATE,4621,end apogee,CONTROL_FINISHED_OK
$STATE,4621,begin climb
$GC,4624,0.74,146.0,451.3,0.0,277,4754,0.82,0.00,124.88,0.759,6,0.076,0.000,2874,1974,2206,0,0,0,0,0,0
$GC,5074,0.74,146.0,395.0,12.9,288,5078,0.00,2.30,0.00,0.000,4,0.000,0.067,2882,573,2198,0,0,0,0,0,0
$GC,5101,0.74,146.0,391.3,12.7,288,5105,0.00,2.25,0.00,0.000,6,0.000,0.046,2883,1982,2197,0,0,0,0,0,0
$GC,5437,0.74,146.0,350.4,11.7,297,5441,0.00,2.22,0.00,0.000,4,0.000,0.064,2883,3387,2195,0,0,0,0,0,0
$GC,5498,0.74,146.0,342.0,13.9,298,5503,0.00,2.22,0.00,0.000,6,0.000,0.051,2892,1978,2195,0,0,0,0,0,0
$GC,5847,0.74,146.0,295.0,14.0,307,5851,0.00,2.28,0.00,0.000,4,0.000,0.071,2900,565,2193,0,0,0,0,0,0
$GC,5954,0.74,146.0,280.7,12.4,312,5958,0.00,2.22,0.00,0.000,6,0.000,0.047,2900,1983,2192,0,0,0,0,0,0
$GC,6280,0.74,146.0,235.6,14.4,328,6284,0.00,2.20,0.00,0.000,4,0.000,0.066,2900,3383,2192,0,0,0,0,0,0
$GC,6346,0.74,146.0,226.7,13.5,331,6351,0.12,2.22,0.00,0.000,6,0.159,0.051,2876,1972,2192,0,0,0,0,0,0
$GC,6671,0.74,146.0,195.7,9.5,349,6675,0.00,2.25,0.00,0.000,4,0.000,0.068,2884,565,2190,0,0,0,0,0,0
$GC,6810,0.74,146.0,180.5,11.1,361,6814,0.00,2.20,0.00,0.000,6,0.000,0.045,2885,1979,2190,0,0,0,0,0,0
$GC,7138,0.74,146.0,143.8,11.7,391,7142,0.00,2.20,0.00,0.000,4,0.000,0.061,2885,3384,2189,0,0,0,0,0,0
$GC,7191,0.74,146.0,138.0,10.0,395,7199,0.00,2.22,0.00,0.000,6,0.000,0.047,2894,1979,2189,0,0,0,0,0,0
$GC,7518,0.74,146.0,108.4,9.4,426,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1979,2189,0,0,0,0,0,0
$GC,7838,0.74,146.0,72.4,11.7,461,7844,0.00,2.22,0.00,0.000,4,0.000,0.063,2899,561,2189,0,0,0,0,0,0
$GC,8050,0.74,146.0,51.4,9.7,500,8058,0.00,2.20,0.00,0.000,6,0.000,0.041,2899,1978,2189,0,0,0,0,0,0
$GC,8380,0.78,178.7,23.6,7.7,561,8414,0.00,2.33,25.88,0.478,4,0.000,0.060,2908,565,2072,0,0,0,0,0,0
$GC,8432,0.81,202.0,19.2,8.1,569,8460,0.00,2.22,20.83,0.464,6,0.000,0.043,2908,1980,1975,0,0,0,0,0,0
$STATE,8582,end climb,SURFACE_DEPTH_REACHED
$STATE,8582,begin surface coast
$FINISH,0.4,1.023324
$STATE,8604,end surface coast,CONTROL_FINISHED_OK
$STATE,8604,begin surface
$SM_CCo,8621,43.60,0.450,0,0,1575,300.24
$SM_GC,1.07,0.00,0.00,43.60,0.000,0.000,0.450,28,1987,1575,-8.16,0.79,300.24
$IRIDIUM_FIX,2052.52,-15744.48,230702,222214
$TT8_MAMPS,0.027612
$HUMID,60.63
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.6,3.531
$10V_AH,10.5,3.814
$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,18.775,84.575,288.975,43.600,0.000,27.022,31.088,135.785,19.500,0.000,19.146,1104.181,5125.964,398.131,1942.136,412.383,0.000,1092.120,0.000,1893.494,0.000,122.228,0.000
$DEVICE_MAMPS,235.469,70.564,790.777,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.422,336.578,1153.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31773,600
$CAP_FILE_SIZE,94668,0
$CFSIZE,260165632,253337600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290413,030034,2102.913,-15745.129,27,1.0,27,9.8