version: 66.06
glider: 523
mission: 4
dive: 56
start: 5 1 113 0 18 16
data:
$ID,523
$MISSION,4
$DIVE,56
$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,-36999.156
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,001234,2104.674,-15800.417,33,0.8,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.8
$GPS2,001759,2104.713,-15800.362,17,0.9,17,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,326.5,7323,-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,-77.68,0.000,6,0.000,0.000,39,1980,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.4,13,118,9.25,2.30,0.00,0.000,4,0.226,0.047,2392,543,3398,0,0,0,0,0,0
$GC,354,-0.74,-146.0,51.8,-14.0,60,362,0.00,2.20,0.00,0.000,6,0.000,0.036,2384,1962,3399,0,0,0,0,0,0
$GC,694,-0.74,-146.0,100.5,-14.4,109,698,0.00,2.22,0.00,0.000,4,0.000,0.051,2384,550,3401,0,0,0,0,0,0
$GC,855,-0.74,-146.0,123.9,-13.5,123,859,0.00,2.12,0.00,0.000,6,0.000,0.035,2375,1967,3401,0,0,0,0,0,0
$GC,1182,-0.74,-146.0,164.9,-12.2,153,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1969,3402,0,0,0,0,0,0
$GC,1508,-0.74,-146.0,202.5,-10.9,183,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1969,3402,0,0,0,0,0,0
$GC,1819,-0.74,-146.0,239.2,-13.5,198,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1969,3403,0,0,0,0,0,0
$GC,2129,-0.74,-146.0,268.6,-8.4,213,2133,0.00,2.25,0.00,0.000,4,0.000,0.051,2375,545,3403,0,0,0,0,0,0
$GC,2213,-0.74,-146.0,276.2,-8.8,216,2219,0.12,2.15,0.00,0.000,6,0.166,0.038,2399,1958,3403,0,0,0,0,0,0
$GC,2530,-0.74,-146.0,298.2,-7.4,232,2534,0.00,2.15,0.00,0.000,4,0.000,0.056,2390,3363,3403,0,0,0,0,0,0
$GC,2626,-0.74,-146.0,305.1,-6.8,235,2631,0.00,2.17,0.00,0.000,6,0.000,0.038,2390,1947,3403,0,0,0,0,0,0
$GC,2940,-0.74,-146.0,329.3,-8.2,243,2944,0.00,2.20,0.00,0.000,4,0.000,0.058,2390,554,3402,0,0,0,0,0,0
$GC,3057,-0.74,-146.0,339.5,-9.6,245,3061,0.00,2.15,0.00,0.000,6,0.000,0.043,2380,1955,3401,0,0,0,0,0,0
$GC,3391,-0.74,-146.0,367.0,-7.8,253,3395,0.00,2.17,0.00,0.000,4,0.000,0.058,2370,3370,3400,0,0,0,0,0,0
$GC,3547,-0.74,-146.0,379.7,-7.7,256,3555,0.12,2.20,0.00,0.000,6,0.146,0.044,2405,1965,3399,0,0,0,0,0,0
$GC,3895,-0.74,-146.0,401.6,-6.0,265,3899,0.00,2.22,0.00,0.000,4,0.000,0.059,2405,549,3397,0,0,0,0,0,0
$GC,4012,-0.74,-146.0,409.7,-6.4,267,4016,0.00,2.17,0.00,0.000,6,0.000,0.042,2397,1972,3396,0,0,0,0,0,0
$GC,4350,-0.74,-146.0,428.3,-5.6,276,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1972,3394,0,0,0,0,0,0
$GC,4675,-0.74,-146.0,449.8,-7.2,284,4681,0.00,2.28,0.00,0.000,4,0.000,0.056,2397,549,3392,0,0,0,0,0,0
$STATE,4684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4684,begin apogee
$GC,4692,-0.17,0.0,450.9,7.4,284,4814,0.57,0.00,117.90,0.791,6,0.118,0.000,2581,1976,2800,0,0,0,0,0,0
$STATE,4814,end apogee,CONTROL_FINISHED_OK
$STATE,4814,begin climb
$GC,4817,0.74,146.0,452.3,0.0,287,4950,0.88,2.33,125.40,0.758,4,0.073,0.053,2882,3376,2204,0,0,0,0,0,0
$GC,4974,0.74,146.0,435.3,14.1,291,4978,0.00,2.33,0.00,0.000,6,0.000,0.048,2892,1978,2201,0,0,0,0,0,0
$GC,5287,0.74,146.0,388.0,15.0,299,5291,0.00,2.28,0.00,0.000,4,0.000,0.061,2902,561,2196,0,0,0,0,0,0
$GC,5393,0.74,146.0,371.9,14.5,301,5397,0.00,2.22,0.00,0.000,6,0.000,0.040,2902,1984,2195,0,0,0,0,0,0
$GC,5735,0.74,146.0,324.8,13.6,310,5739,0.00,2.17,0.00,0.000,4,0.000,0.054,2902,3379,2194,0,0,0,0,0,0
$GC,5768,0.74,146.0,319.6,15.1,310,5775,0.12,2.20,0.00,0.000,6,0.165,0.044,2878,1963,2193,0,0,0,0,0,0
$GC,6081,0.74,146.0,281.3,12.3,322,6085,0.00,2.20,0.00,0.000,4,0.000,0.061,2887,558,2191,0,0,0,0,0,0
$GC,6144,0.74,146.0,273.2,13.6,325,6148,0.00,2.20,0.00,0.000,6,0.000,0.041,2887,1986,2191,0,0,0,0,0,0
$GC,6476,0.74,146.0,228.7,13.5,341,6480,0.00,2.25,0.00,0.000,4,0.000,0.059,2897,560,2190,0,0,0,0,0,0
$GC,6531,0.74,146.0,221.6,12.5,343,6535,0.00,2.17,0.00,0.000,6,0.000,0.040,2897,1977,2190,0,0,0,0,0,0
$GC,6855,0.74,146.0,181.0,11.8,365,6859,0.00,2.17,0.00,0.000,4,0.000,0.054,2897,3383,2189,0,0,0,0,0,0
$GC,6896,0.74,146.0,175.8,13.2,368,6900,0.00,2.20,0.00,0.000,6,0.000,0.043,2906,1968,2189,0,0,0,0,0,0
$GC,7223,0.74,146.0,133.5,13.5,398,7227,0.00,2.17,0.00,0.000,4,0.000,0.059,2915,568,2189,0,0,0,0,0,0
$GC,7296,0.74,146.0,124.1,12.9,404,7300,0.12,2.12,0.00,0.000,6,0.146,0.039,2881,1975,2188,0,0,0,0,0,0
$GC,7624,0.75,159.4,91.9,8.5,434,7642,0.00,0.00,10.12,0.510,6,0.000,0.000,2881,1976,2149,0,0,0,0,0,0
$GC,7963,0.75,159.4,56.1,9.6,486,7970,0.00,2.20,0.00,0.000,4,0.000,0.052,2881,3380,2148,0,0,0,0,0,0
$GC,8082,0.75,159.4,43.1,11.7,507,8087,0.00,2.15,0.00,0.000,6,0.000,0.039,2888,1972,2147,0,0,0,0,0,0
$GC,8407,0.77,175.1,10.4,8.4,568,8428,0.00,2.22,14.98,0.457,4,0.000,0.055,2897,562,2084,0,0,0,0,0,0
$STATE,8494,end climb,SURFACE_DEPTH_REACHED
$STATE,8495,begin surface coast
$FINISH,1.5,1.023414
$STATE,8515,end surface coast,CONTROL_FINISHED_OK
$STATE,8515,begin surface
$SM_CCo,8534,59.08,0.459,0,0,1575,300.24
$SM_GC,1.25,0.00,0.00,59.08,0.000,0.000,0.459,25,1976,1575,-8.17,0.45,300.24
$IRIDIUM_FIX,2050.21,-15805.06,250702,212129
$TT8_MAMPS,0.028379
$HUMID,61.93
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,24.6,5.034
$10V_AH,10.5,5.484
$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,18.475,74.975,268.400,59.075,0.000,23.774,38.753,138.565,19.000,0.000,18.291,1083.743,5133.976,391.415,1894.880,416.483,0.000,1052.954,0.000,1847.582,0.000,117.259,0.000
$DEVICE_MAMPS,226.265,60.593,790.777,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.931,333.487,1133.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31896,587
$CAP_FILE_SIZE,90925,0
$CFSIZE,260165632,252448768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010513,024234,2105.344,-15800.592,25,1.1,25,9.8