version: 66.06
glider: 523
mission: 4
dive: 117
start: 5 7 113 10 33 20
data:
$ID,523
$MISSION,4
$DIVE,117
$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,-38213.547
$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,28
$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
$GPS1,102720,2106.973,-15754.083,16,1.7,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-76.3
$GPS2,103304,2107.022,-15754.110,24,1.1,24,9.8
$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,86.8,19468,-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,-78.22,0.000,6,0.000,0.000,41,1984,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.2,13,118,9.45,2.28,0.00,0.000,4,0.233,0.048,2392,548,3396,0,0,0,0,0,0
$GC,356,-0.74,-146.0,60.1,-18.4,60,363,0.00,2.20,0.00,0.000,6,0.000,0.038,2384,1963,3398,0,0,0,0,0,0
$GC,693,-0.74,-146.0,110.4,-13.4,103,697,0.00,2.25,0.00,0.000,4,0.000,0.053,2384,540,3399,0,0,0,0,0,0
$GC,945,-0.74,-146.0,147.2,-13.1,125,952,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1962,3399,0,0,0,0,0,0
$GC,1272,-0.74,-146.0,186.2,-9.4,156,1276,0.00,2.17,0.00,0.000,4,0.000,0.054,2365,3361,3400,0,0,0,0,0,0
$GC,1336,-0.74,-146.0,192.1,-8.8,161,1343,0.10,2.20,0.00,0.000,6,0.133,0.042,2397,1955,3401,0,0,0,0,0,0
$GC,1656,-0.74,-146.0,217.1,-10.3,183,1660,0.00,2.17,0.00,0.000,4,0.000,0.054,2397,554,3402,0,0,0,0,0,0
$GC,1712,-0.74,-146.0,223.4,-11.9,185,1718,0.00,2.12,0.00,0.000,6,0.000,0.035,2389,1963,3402,0,0,0,0,0,0
$GC,2032,-0.74,-146.0,252.0,-8.4,201,2036,0.00,2.28,0.00,0.000,4,0.000,0.054,2389,549,3402,0,0,0,0,0,0
$GC,2222,-0.74,-146.0,269.6,-8.1,209,2227,0.00,2.12,0.00,0.000,6,0.000,0.037,2380,1961,3402,0,0,0,0,0,0
$GC,2541,-0.74,-146.0,293.2,-8.4,225,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1962,3402,0,0,0,0,0,0
$GC,2863,-0.74,-146.0,324.5,-10.1,235,2867,0.00,2.28,0.00,0.000,4,0.000,0.058,2379,550,3401,0,0,0,0,0,0
$GC,2970,-0.74,-146.0,335.9,-10.7,237,2975,0.12,2.17,0.00,0.000,6,0.171,0.041,2404,1967,3401,0,0,0,0,0,0
$GC,3322,-0.74,-146.0,362.6,-7.1,246,3326,0.00,2.28,0.00,0.000,4,0.000,0.061,2404,557,3398,0,0,0,0,0,0
$GC,3428,-0.74,-146.0,370.3,-6.5,248,3432,0.00,2.17,0.00,0.000,6,0.000,0.044,2396,1964,3397,0,0,0,0,0,0
$GC,3772,-0.74,-146.0,390.1,-5.6,257,3776,0.00,2.17,0.00,0.000,4,0.000,0.057,2386,3369,3395,0,0,0,0,0,0
$GC,3817,-0.74,-146.0,393.0,-6.4,258,3821,0.00,2.15,0.00,0.000,6,0.000,0.043,2386,1959,3395,0,0,0,0,0,0
$GC,4136,-0.74,-146.0,413.6,-6.5,266,4140,0.00,2.20,0.00,0.000,4,0.000,0.060,2386,546,3392,0,0,0,0,0,0
$GC,4221,-0.74,-146.0,420.2,-7.8,267,4227,0.00,2.17,0.00,0.000,6,0.000,0.044,2376,1962,3392,0,0,0,0,0,0
$GC,4553,-0.74,-146.0,448.8,-8.9,276,4557,0.00,2.20,0.00,0.000,4,0.000,0.057,2366,3365,3390,0,0,0,0,0,0
$STATE,4567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4567,begin apogee
$GC,4575,-0.17,0.0,450.4,9.1,276,4697,0.65,0.00,118.38,0.789,6,0.129,0.000,2578,1965,2800,0,0,0,0,0,0
$STATE,4698,end apogee,CONTROL_FINISHED_OK
$STATE,4698,begin climb
$GC,4701,0.74,146.0,454.1,0.0,279,4835,0.85,2.38,124.80,0.759,4,0.080,0.064,2882,569,2204,0,0,0,0,0,0
$GC,4880,0.74,146.0,437.4,13.3,283,4884,0.00,2.28,0.00,0.000,6,0.000,0.041,2881,1979,2200,0,0,0,0,0,0
$GC,5227,0.74,146.0,389.8,13.6,292,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1980,2196,0,0,0,0,0,0
$GC,5552,0.74,146.0,348.9,12.5,300,5556,0.00,2.28,0.00,0.000,4,0.000,0.065,2891,567,2194,0,0,0,0,0,0
$GC,5592,0.74,146.0,344.0,12.0,301,5596,0.00,2.22,0.00,0.000,6,0.000,0.044,2891,1985,2193,0,0,0,0,0,0
$GC,5916,0.74,146.0,299.7,13.9,309,5920,0.00,2.30,0.00,0.000,4,0.000,0.065,2900,571,2192,0,0,0,0,0,0
$GC,5950,0.74,146.0,294.8,14.3,310,5955,0.00,2.22,0.00,0.000,6,0.000,0.048,2900,1982,2192,0,0,0,0,0,0
$GC,6265,0.74,146.0,248.5,14.4,326,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1982,2190,0,0,0,0,0,0
$GC,6574,0.74,146.0,207.7,12.7,341,6578,0.00,2.28,0.00,0.000,4,0.000,0.064,2909,567,2189,0,0,0,0,0,0
$GC,6656,0.74,146.0,196.6,14.0,345,6660,0.12,2.20,0.00,0.000,6,0.143,0.046,2874,1984,2188,0,0,0,0,0,0
$GC,6987,0.74,146.0,160.5,9.4,376,6991,0.00,2.15,0.00,0.000,4,0.000,0.056,2874,3387,2187,0,0,0,0,0,0
$GC,7074,0.74,146.0,151.8,9.3,383,7082,0.00,2.25,0.00,0.000,6,0.000,0.048,2881,1976,2187,0,0,0,0,0,0
$GC,7401,0.76,164.4,123.7,8.3,414,7426,0.00,2.30,14.23,0.548,4,0.000,0.058,2892,563,2128,0,0,0,0,0,0
$GC,7496,0.76,164.4,113.7,10.3,422,7504,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1985,2127,0,0,0,0,0,0
$GC,7825,0.76,164.4,77.0,10.4,455,7831,0.00,2.25,0.00,0.000,4,0.000,0.053,2892,3388,2126,0,0,0,0,0,0
$GC,7915,0.76,164.4,66.5,12.0,471,7920,0.00,2.20,0.00,0.000,6,0.000,0.041,2899,1962,2127,0,0,0,0,0,0
$GC,8244,0.76,165.5,35.8,9.0,532,8252,0.00,2.22,0.00,0.000,4,0.000,0.055,2909,568,2127,0,0,0,0,0,0
$GC,8288,0.76,165.5,32.0,9.6,539,8293,0.00,2.15,0.00,0.000,6,0.000,0.037,2909,1981,2126,0,0,0,0,0,0
$STATE,8602,end climb,SURFACE_DEPTH_REACHED
$STATE,8602,begin surface coast
$FINISH,0.3,1.009638
$STATE,8637,end surface coast,CONTROL_FINISHED_OK
$STATE,8638,begin surface
$SM_CCo,8655,60.17,0.451,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,60.17,0.000,0.000,0.451,28,1989,1575,-8.17,0.82,300.24
$IRIDIUM_FIX,2101.76,-15800.33,010802,080800
$TT8_MAMPS,0.028379
$HUMID,60.82
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.6,9.909
$10V_AH,10.5,10.847
$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,18.600,79.900,257.400,60.175,0.000,29.458,40.462,140.491,19.000,0.000,24.862,1110.742,5140.287,382.490,1995.808,430.277,0.000,1078.142,0.000,1941.000,0.000,119.255,0.000
$DEVICE_MAMPS,233.168,65.195,789.243,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.145,338.760,1188.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,34985,604
$CAP_FILE_SIZE,93097,0
$CFSIZE,260165632,249573376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070513,125930,2106.984,-15753.971,15,1.4,15,9.8