version: 66.06
glider: 523
mission: 4
dive: 109
start: 5 6 113 14 29 41
data:
$ID,523
$MISSION,4
$DIVE,109
$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,-38057.996
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,142348,2107.306,-15800.862,15,1.3,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-75.6
$GPS2,142925,2107.301,-15800.904,20,0.7,20,9.8
$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,85.3,31200,-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,-78.68,0.000,6,0.000,0.000,51,1974,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.5,-5.1,13,117,9.32,2.33,0.00,0.000,4,0.232,0.048,2388,544,3396,0,0,0,0,0,0
$GC,357,-0.74,-146.0,56.6,-16.1,60,364,0.00,2.20,0.00,0.000,6,0.000,0.037,2379,1963,3398,0,0,0,0,0,0
$GC,689,-0.74,-146.0,105.8,-13.8,104,693,0.00,2.20,0.00,0.000,4,0.000,0.057,2369,3365,3399,0,0,0,0,0,0
$GC,741,-0.74,-146.0,113.3,-13.4,108,746,0.12,2.20,0.00,0.000,6,0.160,0.044,2402,1951,3399,0,0,0,0,0,0
$GC,1069,-0.74,-146.0,153.6,-11.1,138,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1951,3401,0,0,0,0,0,0
$GC,1387,-0.74,-146.0,185.6,-10.3,168,1391,0.00,2.20,0.00,0.000,4,0.000,0.053,2402,544,3402,0,0,0,0,0,0
$GC,1462,-0.74,-146.0,194.2,-11.2,174,1466,0.00,2.15,0.00,0.000,6,0.000,0.035,2394,1971,3401,0,0,0,0,0,0
$GC,1785,-0.74,-146.0,226.1,-8.5,192,1789,0.00,2.28,0.00,0.000,4,0.000,0.054,2394,544,3402,0,0,0,0,0,0
$GC,1885,-0.74,-146.0,235.7,-9.3,196,1891,0.00,2.12,0.00,0.000,6,0.000,0.038,2384,1956,3402,0,0,0,0,0,0
$GC,2204,-0.74,-146.0,261.7,-8.1,212,2208,0.00,2.25,0.00,0.000,4,0.000,0.055,2384,547,3402,0,0,0,0,0,0
$GC,2271,-0.74,-146.0,268.7,-9.6,215,2276,0.00,2.15,0.00,0.000,6,0.000,0.039,2374,1967,3401,0,0,0,0,0,0
$GC,2594,-0.74,-146.0,298.3,-10.2,231,2598,0.00,2.25,0.00,0.000,4,0.000,0.058,2374,544,3402,0,0,0,0,0,0
$GC,2727,-0.74,-146.0,312.4,-10.5,235,2732,0.12,2.15,0.00,0.000,6,0.166,0.041,2398,1964,3401,0,0,0,0,0,0
$GC,3049,-0.74,-146.0,338.6,-7.9,243,3053,0.00,2.20,0.00,0.000,4,0.000,0.058,2389,3368,3401,0,0,0,0,0,0
$GC,3135,-0.74,-146.0,346.1,-8.3,245,3139,0.00,2.15,0.00,0.000,6,0.000,0.041,2389,1957,3401,0,0,0,0,0,0
$GC,3463,-0.74,-146.0,370.6,-7.5,253,3467,0.00,2.22,0.00,0.000,4,0.000,0.065,2389,551,3399,0,0,0,0,0,0
$GC,3498,-0.74,-146.0,373.6,-7.8,253,3504,0.00,2.17,0.00,0.000,6,0.000,0.044,2379,1959,3398,0,0,0,0,0,0
$GC,3831,-0.74,-146.0,396.3,-6.7,262,3835,0.00,2.20,0.00,0.000,4,0.000,0.058,2369,3375,3397,0,0,0,0,0,0
$GC,3963,-0.74,-146.0,406.4,-7.6,265,3968,0.12,2.17,0.00,0.000,6,0.152,0.045,2403,1965,3396,0,0,0,0,0,0
$GC,4290,-0.74,-146.0,424.5,-5.0,273,4294,0.00,2.25,0.00,0.000,4,0.000,0.059,2403,538,3394,0,0,0,0,0,0
$GC,4487,-0.74,-146.0,435.8,-5.9,277,4491,0.00,2.20,0.00,0.000,6,0.000,0.042,2395,1974,3392,0,0,0,0,0,0
$STATE,4745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4746,begin apogee
$GC,4752,-0.17,0.0,450.3,5.6,284,4874,0.57,0.00,118.68,0.782,6,0.123,0.000,2582,1974,2799,0,0,0,0,0,0
$STATE,4874,end apogee,CONTROL_FINISHED_OK
$STATE,4875,begin climb
$GC,4877,0.74,146.0,451.3,0.0,287,5012,0.82,2.38,125.75,0.751,4,0.078,0.054,2868,3374,2203,0,0,0,0,0,0
$GC,5028,0.74,146.0,434.0,14.4,290,5032,0.00,2.28,0.00,0.000,6,0.000,0.045,2878,1978,2201,0,0,0,0,0,0
$GC,5359,0.74,146.0,384.4,14.9,298,5364,0.00,2.30,0.00,0.000,4,0.000,0.060,2888,559,2195,0,0,0,0,0,0
$GC,5432,0.74,146.0,373.2,15.5,299,5436,0.00,2.22,0.00,0.000,6,0.000,0.039,2888,1982,2194,0,0,0,0,0,0
$GC,5763,0.74,146.0,322.1,15.6,307,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1982,2192,0,0,0,0,0,0
$GC,6070,0.74,146.0,277.6,14.1,318,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1983,2190,0,0,0,0,0,0
$GC,6379,0.74,146.0,233.3,14.1,333,6384,0.00,2.30,0.00,0.000,4,0.000,0.057,2898,557,2189,0,0,0,0,0,0
$GC,6491,0.74,146.0,218.6,12.7,338,6495,0.00,2.20,0.00,0.000,6,0.000,0.038,2897,1988,2189,0,0,0,0,0,0
$GC,6823,0.74,146.0,175.8,12.5,362,6827,0.00,2.28,0.00,0.000,4,0.000,0.057,2907,562,2188,0,0,0,0,0,0
$GC,6864,0.74,146.0,170.1,12.5,365,6868,0.00,2.17,0.00,0.000,6,0.000,0.038,2907,1981,2188,0,0,0,0,0,0
$GC,7191,0.74,146.0,129.6,11.8,395,7195,0.00,2.15,0.00,0.000,4,0.000,0.054,2907,3384,2187,0,0,0,0,0,0
$GC,7244,0.74,146.0,122.7,12.9,399,7251,0.10,2.22,0.00,0.000,6,0.127,0.044,2879,1976,2187,0,0,0,0,0,0
$GC,7571,0.74,146.0,90.1,9.5,430,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1976,2186,0,0,0,0,0,0
$GC,7895,0.74,146.0,61.1,9.3,479,7901,0.00,2.20,0.00,0.000,4,0.000,0.057,2888,555,2186,0,0,0,0,0,0
$GC,7985,0.77,174.8,53.5,7.8,495,8014,0.00,2.17,22.62,0.498,6,0.000,0.039,2888,1976,2086,0,0,0,0,0,0
$GC,8342,0.77,174.8,21.1,9.9,560,8349,0.00,2.28,0.00,0.000,4,0.000,0.056,2896,561,2083,0,0,0,0,0,0
$GC,8428,0.77,174.8,12.8,9.7,576,8436,0.00,2.20,0.00,0.000,6,0.000,0.037,2896,1982,2083,0,0,0,0,0,0
$STATE,8529,end climb,SURFACE_DEPTH_REACHED
$STATE,8529,begin surface coast
$FINISH,0.3,1.023453
$STATE,8565,end surface coast,CONTROL_FINISHED_OK
$STATE,8565,begin surface
$SM_CCo,8583,54.95,0.449,0,0,1575,300.24
$SM_GC,1.30,0.00,0.00,54.95,0.000,0.000,0.449,36,1944,1575,-8.14,-0.45,300.24
$IRIDIUM_FIX,2101.76,-15803.33,310702,121254
$TT8_MAMPS,0.027612
$HUMID,61.77
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.6,9.280
$10V_AH,10.5,10.155
$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,18.475,75.475,267.050,54.950,0.000,28.721,38.752,140.789,19.000,0.000,21.203,1099.116,5085.256,398.466,1947.806,444.571,0.000,1060.684,0.000,1905.486,0.000,117.243,0.000
$DEVICE_MAMPS,231.634,123.487,782.340,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.792,339.816,1171.600,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31756,601
$CAP_FILE_SIZE,92038,0
$CFSIZE,260165632,249946112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060513,165458,2107.383,-15759.811,39,0.9,39,9.8