version: 66.06
glider: 523
mission: 4
dive: 118
start: 5 7 113 13 9 3
data:
$ID,523
$MISSION,4
$DIVE,118
$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,-38233.914
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,125930,2106.984,-15753.971,15,1.4,15,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-75.7
$GPS2,130847,2107.064,-15753.997,19,1.2,19,9.8
$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,87.1,19282,-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,-77.80,0.000,6,0.000,0.000,28,1989,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.5,13,118,9.45,2.35,0.00,0.000,4,0.232,0.049,2391,549,3396,0,0,0,0,0,0
$GC,238,-0.74,-146.0,38.5,-19.0,37,243,0.00,2.17,0.00,0.000,6,0.000,0.037,2382,1961,3397,0,0,0,0,0,0
$GC,576,-0.74,-146.0,90.8,-12.4,91,580,0.00,2.20,0.00,0.000,4,0.000,0.054,2372,3369,3398,0,0,0,0,0,0
$GC,661,-0.74,-146.0,101.7,-12.4,98,665,0.10,2.20,0.00,0.000,6,0.162,0.044,2396,1966,3399,0,0,0,0,0,0
$GC,994,-0.74,-146.0,140.5,-12.5,129,998,0.00,2.22,0.00,0.000,4,0.000,0.053,2397,541,3399,0,0,0,0,0,0
$GC,1212,-0.74,-146.0,168.7,-12.1,148,1216,0.00,2.12,0.00,0.000,6,0.000,0.033,2389,1971,3400,0,0,0,0,0,0
$GC,1536,-0.74,-146.0,201.9,-8.5,177,1540,0.00,2.17,0.00,0.000,4,0.000,0.054,2378,3366,3400,0,0,0,0,0,0
$GC,1564,-0.74,-146.0,204.5,-9.3,178,1568,0.00,2.17,0.00,0.000,6,0.000,0.042,2378,1956,3401,0,0,0,0,0,0
$GC,1885,-0.74,-146.0,236.7,-10.2,194,1889,0.00,2.22,0.00,0.000,4,0.000,0.051,2369,3359,3401,0,0,0,0,0,0
$GC,1964,-0.74,-146.0,244.9,-10.2,197,1971,0.12,2.17,0.00,0.000,6,0.153,0.044,2403,1958,3401,0,0,0,0,0,0
$GC,2280,-0.74,-146.0,270.4,-7.4,213,2284,0.00,2.20,0.00,0.000,4,0.000,0.054,2403,551,3401,0,0,0,0,0,0
$GC,2465,-0.74,-146.0,286.3,-8.7,221,2469,0.00,2.10,0.00,0.000,6,0.000,0.035,2395,1961,3400,0,0,0,0,0,0
$GC,2782,-0.74,-146.0,310.4,-7.7,233,2786,0.00,2.22,0.00,0.000,4,0.000,0.054,2395,546,3400,0,0,0,0,0,0
$GC,2989,-0.74,-146.0,328.4,-8.5,237,2993,0.00,2.15,0.00,0.000,6,0.000,0.038,2386,1965,3400,0,0,0,0,0,0
$GC,3323,-0.74,-146.0,350.8,-6.7,245,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1965,3397,0,0,0,0,0,0
$GC,3646,-0.74,-146.0,374.7,-7.5,253,3650,0.00,2.28,0.00,0.000,4,0.000,0.059,2385,546,3396,0,0,0,0,0,0
$GC,3691,-0.74,-146.0,378.0,-7.3,254,3695,0.00,2.17,0.00,0.000,6,0.000,0.041,2376,1969,3395,0,0,0,0,0,0
$GC,4017,-0.74,-146.0,400.0,-6.6,262,4022,0.00,2.25,0.00,0.000,4,0.000,0.060,2376,549,3392,0,0,0,0,0,0
$GC,4055,-0.74,-146.0,403.1,-7.8,262,4062,0.12,2.12,0.00,0.000,6,0.170,0.042,2399,1959,3392,0,0,0,0,0,0
$GC,4388,-0.74,-146.0,421.5,-5.3,271,4392,0.00,2.28,0.00,0.000,4,0.000,0.061,2400,544,3390,0,0,0,0,0,0
$GC,4444,-0.74,-146.0,424.5,-5.0,272,4448,0.00,2.17,0.00,0.000,6,0.000,0.043,2392,1964,3389,0,0,0,0,0,0
$GC,4758,-0.74,-146.0,442.2,-6.0,280,4762,0.00,2.22,0.00,0.000,4,0.000,0.061,2381,3370,3387,0,0,0,0,0,0
$GC,4843,-0.74,-146.0,447.6,-6.0,282,4847,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,1958,3387,0,0,0,0,0,0
$STATE,4881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4881,begin apogee
$GC,4887,-0.17,0.0,450.2,6.6,283,5008,0.62,0.00,117.82,0.791,6,0.126,0.000,2583,1958,2800,0,0,0,0,0,0
$STATE,5009,end apogee,CONTROL_FINISHED_OK
$STATE,5009,begin climb
$GC,5011,0.74,146.0,450.7,0.0,286,5146,0.85,2.38,124.97,0.756,4,0.078,0.055,2877,3378,2203,0,0,0,0,0,0
$GC,5180,0.74,146.0,430.5,15.9,290,5184,0.00,2.33,0.00,0.000,6,0.000,0.049,2885,1979,2199,0,0,0,0,0,0
$GC,5498,0.74,146.0,385.6,14.0,298,5502,0.00,2.33,0.00,0.000,4,0.000,0.071,2896,558,2195,0,0,0,0,0,0
$GC,5582,0.74,146.0,372.9,15.5,300,5586,0.00,2.22,0.00,0.000,6,0.000,0.044,2896,1970,2194,0,0,0,0,0,0
$GC,5906,0.74,146.0,321.4,15.8,308,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1971,2192,0,0,0,0,0,0
$GC,6214,0.74,146.0,278.8,14.1,319,6218,0.00,2.30,0.00,0.000,4,0.000,0.067,2906,557,2190,0,0,0,0,0,0
$GC,6231,0.74,146.0,276.3,14.2,320,6235,0.00,2.20,0.00,0.000,6,0.000,0.043,2906,1982,2190,0,0,0,0,0,0
$GC,6557,0.74,146.0,234.8,12.5,336,6561,0.00,2.30,0.00,0.000,4,0.000,0.065,2914,562,2188,0,0,0,0,0,0
$GC,6619,0.74,146.0,227.3,12.2,339,6623,0.12,2.20,0.00,0.000,6,0.145,0.044,2880,1974,2188,0,0,0,0,0,0
$GC,6940,0.76,168.2,195.4,8.1,357,6963,0.00,2.20,17.60,0.621,4,0.000,0.051,2880,3385,2113,0,0,0,0,0,0
$GC,7117,0.76,168.2,175.6,11.5,373,7122,0.00,2.22,0.00,0.000,6,0.000,0.041,2888,1955,2110,0,0,0,0,0,0
$GC,7444,0.76,168.2,136.7,12.4,403,7448,0.00,2.17,0.00,0.000,4,0.000,0.058,2898,558,2109,0,0,0,0,0,0
$GC,7551,0.76,168.2,122.8,13.4,412,7555,0.00,2.17,0.00,0.000,6,0.000,0.040,2899,1981,2108,0,0,0,0,0,0
$GC,7877,0.76,168.2,77.3,11.5,444,7884,0.00,2.20,0.00,0.000,4,0.000,0.052,2898,3378,2108,0,0,0,0,0,0
$GC,7996,0.76,168.2,64.7,10.5,465,8001,0.00,2.20,0.00,0.000,6,0.000,0.044,2907,1972,2108,0,0,0,0,0,0
$GC,8326,0.76,168.2,33.8,9.4,526,8333,0.00,2.22,0.00,0.000,4,0.000,0.057,2915,570,2109,0,0,0,0,0,0
$GC,8369,0.76,168.2,29.9,9.7,533,8376,0.00,2.17,0.00,0.000,6,0.000,0.038,2915,1984,2108,0,0,0,0,0,0
$GC,8536,0.76,168.2,14.2,11.1,564,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1985,2109,0,0,0,0,0,0
$STATE,8649,end climb,SURFACE_DEPTH_REACHED
$STATE,8649,begin surface coast
$FINISH,0.3,1.006177
$STATE,8678,end surface coast,CONTROL_FINISHED_OK
$STATE,8679,begin surface
$SM_CCo,8696,58.72,0.456,0,0,1575,300.24
$SM_GC,1.35,0.00,0.00,58.72,0.000,0.000,0.456,31,1991,1575,-8.16,0.88,300.24
$IRIDIUM_FIX,2101.76,-15738.45,010802,131309
$TT8_MAMPS,0.028379
$HUMID,61.65
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.6,9.994
$10V_AH,10.5,10.935
$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,18.650,84.200,260.400,58.725,0.000,54.460,78.649,214.668,19.000,0.000,19.739,1108.499,5246.015,382.528,1974.290,600.741,0.000,1092.424,0.000,1922.792,0.000,117.262,0.000
$DEVICE_MAMPS,231.634,70.564,790.777,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,401.996,337.145,1121.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31813,590
$CAP_FILE_SIZE,99481,0
$CFSIZE,260165632,249524224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070513,153605,2106.917,-15753.668,28,1.0,28,9.8