version: 66.06
glider: 523
mission: 4
dive: 115
start: 5 7 113 5 28 10
data:
$ID,523
$MISSION,4
$DIVE,115
$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,-38170.27
$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,32
$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
$GPS1,052223,2107.254,-15755.687,17,0.8,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-75.5
$GPS2,052753,2107.260,-15755.670,14,1.1,14,9.8
$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,87.1,22195,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-77.85,0.000,6,0.000,0.000,51,1985,3392,0,0,0,0,0,0
$GC,101,-0.74,-146.0,3.9,-6.5,13,115,9.43,2.33,0.00,0.000,4,0.235,0.047,2393,546,3393,0,0,0,0,0,0
$GC,357,-0.74,-146.0,58.7,-16.9,60,364,0.00,2.17,0.00,0.000,6,0.000,0.036,2385,1955,3396,0,0,0,0,0,0
$GC,693,-0.74,-146.0,104.1,-14.1,106,698,0.00,2.25,0.00,0.000,4,0.000,0.053,2385,554,3397,0,0,0,0,0,0
$GC,948,-0.74,-146.0,135.7,-10.5,129,952,0.00,2.10,0.00,0.000,6,0.000,0.034,2376,1965,3397,0,0,0,0,0,0
$GC,1280,-0.74,-146.0,175.7,-11.9,160,1284,0.00,2.22,0.00,0.000,4,0.000,0.052,2376,554,3397,0,0,0,0,0,0
$GC,1476,-0.74,-146.0,199.4,-11.9,177,1483,0.12,2.10,0.00,0.000,6,0.169,0.034,2398,1963,3398,0,0,0,0,0,0
$GC,1800,-0.74,-146.0,230.0,-10.1,193,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1963,3398,0,0,0,0,0,0
$GC,2109,-0.74,-146.0,257.6,-7.8,208,2113,0.00,2.25,0.00,0.000,4,0.000,0.052,2399,549,3399,0,0,0,0,0,0
$GC,2248,-0.74,-146.0,270.7,-9.4,214,2252,0.00,2.12,0.00,0.000,6,0.000,0.035,2391,1962,3399,0,0,0,0,0,0
$GC,2571,-0.74,-146.0,296.9,-7.4,230,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1962,3398,0,0,0,0,0,0
$GC,2877,-0.74,-146.0,317.0,-6.4,239,2881,0.00,2.25,0.00,0.000,4,0.000,0.054,2390,550,3398,0,0,0,0,0,0
$GC,2938,-0.74,-146.0,321.9,-8.0,240,2942,0.00,2.12,0.00,0.000,6,0.000,0.038,2381,1962,3398,0,0,0,0,0,0
$GC,3283,-0.74,-146.0,351.2,-8.9,249,3287,0.00,2.25,0.00,0.000,4,0.000,0.057,2381,555,3395,0,0,0,0,0,0
$GC,3458,-0.74,-146.0,365.8,-7.7,253,3463,0.12,2.12,0.00,0.000,6,0.165,0.040,2405,1959,3394,0,0,0,0,0,0
$GC,3784,-0.74,-146.0,384.8,-5.5,261,3791,0.00,2.20,0.00,0.000,4,0.000,0.058,2396,3364,3392,0,0,0,0,0,0
$GC,3819,-0.74,-146.0,386.8,-5.3,261,3823,0.00,2.15,0.00,0.000,6,0.000,0.043,2396,1958,3392,0,0,0,0,0,0
$GC,4152,-0.74,-146.0,405.0,-5.7,269,4157,0.00,2.22,0.00,0.000,4,0.000,0.056,2387,3363,3390,0,0,0,0,0,0
$GC,4179,-0.74,-146.0,406.6,-5.2,269,4183,0.00,2.17,0.00,0.000,6,0.000,0.044,2387,1953,3390,0,0,0,0,0,0
$GC,4523,-0.74,-146.0,431.8,-7.8,278,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1953,3387,0,0,0,0,0,0
$STATE,4764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4764,begin apogee
$GC,4770,-0.17,0.0,451.1,7.9,284,4891,0.60,0.00,117.78,0.790,6,0.123,0.000,2582,1953,2800,0,0,0,0,0,0
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4892,begin climb
$GC,4894,0.74,146.0,454.0,0.0,287,5028,0.82,2.35,125.05,0.760,4,0.080,0.062,2879,567,2204,0,0,0,0,0,0
$GC,5068,0.74,146.0,440.2,11.4,291,5072,0.00,2.28,0.00,0.000,6,0.000,0.041,2879,1969,2201,0,0,0,0,0,0
$GC,5381,0.74,146.0,399.9,13.8,299,5385,0.00,2.25,0.00,0.000,4,0.000,0.064,2879,3380,2196,0,0,0,0,0,0
$GC,5441,0.74,146.0,390.7,14.8,300,5446,0.00,2.22,0.00,0.000,6,0.000,0.052,2888,1980,2195,0,0,0,0,0,0
$GC,5789,0.74,146.0,344.6,12.6,309,5793,0.00,2.30,0.00,0.000,4,0.000,0.068,2899,563,2193,0,0,0,0,0,0
$GC,5862,0.74,146.0,335.1,12.5,310,5866,0.00,2.22,0.00,0.000,6,0.000,0.045,2899,1982,2192,0,0,0,0,0,0
$GC,6173,0.74,146.0,295.8,13.0,318,6177,0.00,2.30,0.00,0.000,4,0.000,0.067,2909,565,2191,0,0,0,0,0,0
$GC,6212,0.74,146.0,290.2,14.2,320,6217,0.12,2.20,0.00,0.000,6,0.158,0.047,2876,1979,2191,0,0,0,0,0,0
$GC,6539,0.74,146.0,252.7,12.0,336,6543,0.00,2.22,0.00,0.000,4,0.000,0.066,2876,3387,2190,0,0,0,0,0,0
$GC,6560,0.74,146.0,249.6,13.7,337,6565,0.00,2.20,0.00,0.000,6,0.000,0.041,2883,1967,2189,0,0,0,0,0,0
$GC,6882,0.74,146.0,209.3,13.1,353,6886,0.00,2.17,0.00,0.000,4,0.000,0.060,2894,572,2189,0,0,0,0,0,0
$GC,6932,0.74,146.0,202.9,13.3,355,6936,0.00,2.17,0.00,0.000,6,0.000,0.039,2894,1995,2188,0,0,0,0,0,0
$GC,7258,0.74,146.0,161.9,12.2,384,7262,0.00,2.25,0.00,0.000,4,0.000,0.058,2903,570,2187,0,0,0,0,0,0
$GC,7299,0.74,146.0,157.2,11.8,387,7303,0.00,2.12,0.00,0.000,6,0.000,0.038,2903,1977,2187,0,0,0,0,0,0
$GC,7626,0.74,146.0,118.9,13.3,417,7630,0.00,2.20,0.00,0.000,4,0.000,0.057,2912,569,2187,0,0,0,0,0,0
$GC,7647,0.74,146.0,115.6,14.0,418,7655,0.10,2.17,0.00,0.000,6,0.119,0.038,2878,1975,2187,0,0,0,0,0,0
$GC,7974,0.78,179.2,86.1,7.7,449,8010,0.00,2.22,26.20,0.544,4,0.000,0.053,2878,3378,2068,0,0,0,0,0,0
$GC,8090,0.78,179.2,75.3,10.8,463,8096,0.00,2.17,0.00,0.000,6,0.000,0.043,2884,1978,2066,0,0,0,0,0,0
$GC,8418,0.78,179.2,39.2,11.0,524,8425,0.00,2.25,0.00,0.000,4,0.000,0.056,2894,564,2066,0,0,0,0,0,0
$GC,8508,0.78,179.2,29.6,10.7,540,8515,0.00,2.20,0.00,0.000,6,0.000,0.040,2894,1978,2065,0,0,0,0,0,0
$GC,8680,0.79,189.8,12.8,8.6,571,8695,0.00,2.25,10.12,0.441,4,0.000,0.051,2894,3391,2025,0,0,0,0,0,0
$GC,8764,0.79,189.8,4.1,11.2,586,8772,0.00,2.22,0.00,0.000,6,0.000,0.040,2903,1977,2024,0,0,0,0,0,0
$STATE,8777,end climb,SURFACE_DEPTH_REACHED
$STATE,8777,begin surface coast
$FINISH,0.4,1.010200
$STATE,8805,end surface coast,CONTROL_FINISHED_OK
$STATE,8805,begin surface
$SM_CCo,8823,50.50,0.457,0,0,1576,300.24
$SM_GC,1.21,0.00,0.00,50.50,0.000,0.000,0.457,50,1973,1576,-8.10,0.34,300.24
$IRIDIUM_FIX,2059.45,-15745.74,010802,030309
$TT8_MAMPS,0.028379
$HUMID,62.99
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,24.6,9.753
$10V_AH,10.5,10.671
$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,18.625,84.025,279.150,50.500,0.000,28.106,38.852,142.743,19.250,0.000,14.703,1094.923,5371.073,394.603,1910.282,434.279,0.000,1081.109,0.000,1864.358,0.000,119.229,0.000
$DEVICE_MAMPS,235.469,68.263,790.010,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.009,336.360,1124.995,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,31857,593
$CAP_FILE_SIZE,94807,0
$CFSIZE,260165632,249667584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070513,075722,2107.234,-15754.710,40,1.0,40,9.8