version: 66.06
glider: 523
mission: 4
dive: 39
start: 4 29 113 5 39 9
data:
$ID,523
$MISSION,4
$DIVE,39
$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,-36660.902
$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,31
$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
$GPS1,053306,2101.598,-15746.222,18,0.9,18,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-74.8
$GPS2,053853,2101.651,-15746.189,18,0.9,18,9.8
$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,212.8,9387,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.78,0.000,6,0.000,0.000,46,1968,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-7.2,13,118,9.40,2.28,0.00,0.000,4,0.234,0.052,2389,552,3397,0,0,0,0,0,0
$GC,168,-0.74,-146.0,24.5,-22.5,24,176,0.00,2.20,0.00,0.000,6,0.000,0.038,2381,1961,3398,0,0,0,0,0,0
$GC,344,-0.74,-146.0,53.7,-14.9,55,349,0.00,2.17,0.00,0.000,4,0.000,0.056,2371,3364,3398,0,0,0,0,0,0
$GC,379,-0.74,-146.0,59.9,-17.0,61,385,0.12,2.22,0.00,0.000,6,0.156,0.045,2403,1954,3399,0,0,0,0,0,0
$GC,708,-0.74,-146.0,103.2,-13.5,106,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1955,3400,0,0,0,0,0,0
$GC,1026,-0.74,-146.0,144.4,-12.0,136,1031,0.00,2.17,0.00,0.000,4,0.000,0.053,2403,549,3401,0,0,0,0,0,0
$GC,1105,-0.74,-146.0,153.4,-10.4,143,1109,0.00,2.17,0.00,0.000,6,0.000,0.038,2395,1976,3401,0,0,0,0,0,0
$GC,1432,-0.74,-146.0,187.0,-11.8,173,1436,0.00,2.25,0.00,0.000,4,0.000,0.051,2395,539,3402,0,0,0,0,0,0
$GC,1454,-0.74,-146.0,190.0,-12.6,174,1461,0.00,2.17,0.00,0.000,6,0.000,0.035,2385,1961,3402,0,0,0,0,0,0
$GC,1772,-0.74,-146.0,217.9,-9.9,195,1776,0.00,2.22,0.00,0.000,4,0.000,0.049,2385,547,3402,0,0,0,0,0,0
$GC,1836,-0.74,-146.0,222.5,-8.0,198,1840,0.00,2.15,0.00,0.000,6,0.000,0.037,2376,1965,3402,0,0,0,0,0,0
$GC,2162,-0.74,-146.0,257.7,-10.5,214,2166,0.00,2.17,0.00,0.000,4,0.000,0.055,2366,3360,3402,0,0,0,0,0,0
$GC,2240,-0.74,-146.0,266.1,-11.1,217,2247,0.12,2.17,0.00,0.000,6,0.150,0.044,2400,1950,3403,0,0,0,0,0,0
$GC,2556,-0.74,-146.0,293.7,-7.1,233,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1950,3402,0,0,0,0,0,0
$GC,2865,-0.74,-146.0,318.2,-8.7,243,2869,0.00,2.17,0.00,0.000,4,0.000,0.060,2400,556,3402,0,0,0,0,0,0
$GC,2974,-0.74,-146.0,330.5,-11.1,245,2978,0.00,2.15,0.00,0.000,6,0.000,0.041,2393,1962,3401,0,0,0,0,0,0
$GC,3318,-0.74,-146.0,359.4,-8.0,254,3325,0.00,2.22,0.00,0.000,4,0.000,0.061,2392,558,3400,0,0,0,0,0,0
$GC,3366,-0.74,-146.0,363.7,-8.7,255,3370,0.00,2.15,0.00,0.000,6,0.000,0.044,2383,1959,3400,0,0,0,0,0,0
$GC,3700,-0.74,-146.0,390.9,-7.6,263,3704,0.00,2.28,0.00,0.000,4,0.000,0.061,2383,558,3397,0,0,0,0,0,0
$GC,3845,-0.74,-146.0,404.3,-6.9,266,3849,0.00,2.17,0.00,0.000,6,0.000,0.046,2374,1966,3396,0,0,0,0,0,0
$GC,4197,-0.74,-146.0,431.1,-7.7,275,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1966,3394,0,0,0,0,0,0
$STATE,4436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4436,begin apogee
$GC,4442,-0.17,0.0,454.1,9.9,281,4563,0.65,0.00,117.97,0.795,6,0.124,0.000,2585,1967,2800,0,0,0,0,0,0
$STATE,4564,end apogee,CONTROL_FINISHED_OK
$STATE,4564,begin climb
$GC,4567,0.74,146.0,458.4,0.0,284,4701,0.82,2.42,124.68,0.765,4,0.076,0.062,2872,3387,2203,0,0,0,0,0,0
$GC,4735,0.74,146.0,437.3,19.0,288,4739,0.00,2.35,0.00,0.000,6,0.000,0.049,2882,1979,2200,0,0,0,0,0,0
$GC,5053,0.74,146.0,392.2,13.9,296,5057,0.00,2.30,0.00,0.000,4,0.000,0.069,2892,562,2195,0,0,0,0,0,0
$GC,5080,0.74,146.0,387.8,15.1,296,5084,0.00,2.25,0.00,0.000,6,0.000,0.045,2892,1979,2195,0,0,0,0,0,0
$GC,5411,0.74,146.0,338.6,15.1,304,5415,0.00,2.33,0.00,0.000,4,0.000,0.067,2901,561,2193,0,0,0,0,0,0
$GC,5564,0.74,146.0,317.4,13.2,307,5568,0.00,2.22,0.00,0.000,6,0.000,0.048,2901,1981,2191,0,0,0,0,0,0
$GC,5895,0.74,146.0,264.5,16.4,320,5899,0.00,2.25,0.00,0.000,4,0.000,0.067,2902,3386,2190,0,0,0,0,0,0
$GC,6042,0.74,146.0,241.5,15.6,326,6048,0.12,2.25,0.00,0.000,6,0.166,0.052,2877,1969,2189,0,0,0,0,0,0
$GC,6358,0.74,146.0,203.4,11.3,342,6362,0.00,2.25,0.00,0.000,4,0.000,0.067,2886,558,2188,0,0,0,0,0,0
$GC,6478,0.74,146.0,190.6,10.2,351,6485,0.00,2.22,0.00,0.000,6,0.000,0.047,2886,1971,2187,0,0,0,0,0,0
$GC,6806,0.74,146.0,159.2,10.5,382,6810,0.00,2.17,0.00,0.000,4,0.000,0.055,2886,3390,2187,0,0,0,0,0,0
$GC,6880,0.74,146.0,149.5,14.1,388,6884,0.00,2.20,0.00,0.000,6,0.000,0.044,2895,1967,2186,0,0,0,0,0,0
$GC,7208,0.74,146.0,112.3,11.1,418,7212,0.00,2.20,0.00,0.000,4,0.000,0.060,2906,564,2186,0,0,0,0,0,0
$GC,7237,0.74,146.0,109.1,10.5,420,7242,0.00,2.17,0.00,0.000,6,0.000,0.040,2905,1986,2186,0,0,0,0,0,0
$GC,7564,0.74,146.0,75.4,9.7,454,7571,0.00,2.17,0.00,0.000,4,0.000,0.054,2906,3381,2186,0,0,0,0,0,0
$GC,7730,0.74,146.0,56.6,10.7,484,7737,0.10,2.17,0.00,0.000,6,0.124,0.040,2880,1981,2187,0,0,0,0,0,0
$GC,8067,0.79,187.3,30.7,7.3,545,8106,0.00,2.25,32.60,0.489,4,0.000,0.057,2889,561,2033,0,0,0,0,0,0
$GC,8135,0.79,188.6,25.2,9.0,556,8143,0.00,2.20,0.00,0.000,6,0.000,0.041,2889,1966,2032,0,0,0,0,0,0
$GC,8303,0.79,188.6,8.5,9.5,587,8311,0.00,2.22,0.00,0.000,4,0.000,0.053,2889,3378,2031,0,0,0,0,0,0
$GC,8340,0.79,188.6,4.4,11.0,593,8348,0.00,2.20,0.00,0.000,6,0.000,0.041,2895,1978,2031,0,0,0,0,0,0
$STATE,8353,end climb,SURFACE_DEPTH_REACHED
$STATE,8354,begin surface coast
$FINISH,0.5,1.005589
$STATE,8381,end surface coast,CONTROL_FINISHED_OK
$STATE,8381,begin surface
$SM_CCo,8399,49.62,0.453,0,0,1576,300.24
$SM_GC,1.25,0.00,0.00,49.62,0.000,0.000,0.453,52,1965,1576,-8.09,0.14,300.24
$IRIDIUM_FIX,2052.52,-15742.34,240702,000008
$TT8_MAMPS,0.028379
$HUMID,61.26
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.6,3.688
$10V_AH,10.6,3.989
$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,18.625,84.350,275.250,49.625,0.000,27.668,35.691,160.256,19.000,0.000,19.285,1097.283,4907.859,383.512,1953.016,454.242,0.000,1085.466,0.000,1903.997,0.000,120.952,0.000
$DEVICE_MAMPS,233.935,69.030,794.612,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.482,343.635,1185.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,31798,600
$CAP_FILE_SIZE,95570,0
$CFSIZE,260165632,253243392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290413,080104,2100.660,-15747.016,28,1.3,28,9.8