version: 66.06
glider: 523
mission: 4
dive: 211
start: 5 17 113 6 38 30
data:
$ID,523
$MISSION,4
$DIVE,211
$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,-40049.977
$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,20
$R_STBD_OVSHOOT,31
$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
$GPS1,062828,2108.064,-15759.149,65,0.9,65,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.7
$GPS2,063811,2108.149,-15759.289,13,1.3,13,9.8
$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,88.9,28615,-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,-76.95,0.000,6,0.000,0.000,24,1961,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.5,13,118,9.48,2.28,0.00,0.000,4,0.230,0.048,2392,544,3397,0,0,0,0,0,0
$GC,143,-0.74,-146.0,17.6,-33.0,19,150,0.00,2.22,0.00,0.000,6,0.000,0.038,2384,1963,3398,0,0,0,0,0,0
$GC,314,-0.74,-146.0,49.3,-18.6,50,321,0.00,2.22,0.00,0.000,4,0.000,0.057,2374,3361,3399,0,0,0,0,0,0
$GC,349,-0.74,-146.0,56.0,-17.3,56,357,0.00,2.25,0.00,0.000,6,0.000,0.044,2374,1961,3399,0,0,0,0,0,0
$GC,681,-0.74,-146.0,105.1,-13.6,100,685,0.00,2.22,0.00,0.000,4,0.000,0.054,2374,538,3400,0,0,0,0,0,0
$GC,768,-0.74,-146.0,118.3,-14.8,107,775,0.10,2.17,0.00,0.000,6,0.152,0.035,2394,1962,3401,0,0,0,0,0,0
$GC,1095,-0.74,-146.0,155.4,-11.0,138,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1962,3401,0,0,0,0,0,0
$GC,1423,-0.74,-146.0,192.9,-12.0,169,1427,0.00,2.17,0.00,0.000,4,0.000,0.052,2385,3362,3402,0,0,0,0,0,0
$GC,1501,-0.74,-146.0,202.7,-12.6,174,1507,0.00,2.20,0.00,0.000,6,0.000,0.042,2386,1949,3402,0,0,0,0,0,0
$GC,1819,-0.74,-146.0,236.7,-10.7,190,1823,0.00,2.22,0.00,0.000,4,0.000,0.051,2376,3360,3403,0,0,0,0,0,0
$GC,1892,-0.74,-146.0,244.8,-10.7,193,1896,0.00,2.20,0.00,0.000,6,0.000,0.043,2376,1958,3402,0,0,0,0,0,0
$GC,2213,-0.74,-146.0,274.0,-9.0,209,2217,0.00,2.22,0.00,0.000,4,0.000,0.052,2366,3363,3402,0,0,0,0,0,0
$GC,2230,-0.74,-146.0,275.6,-9.4,210,2235,0.12,2.17,0.00,0.000,6,0.154,0.045,2399,1961,3402,0,0,0,0,0,0
$GC,2578,-0.74,-146.0,307.0,-8.2,225,2582,0.00,2.22,0.00,0.000,4,0.000,0.056,2400,545,3402,0,0,0,0,0,0
$GC,2740,-0.74,-146.0,318.6,-7.3,228,2744,0.00,2.15,0.00,0.000,6,0.000,0.037,2392,1961,3402,0,0,0,0,0,0
$GC,3074,-0.74,-146.0,340.1,-6.3,236,3078,0.00,2.22,0.00,0.000,4,0.000,0.054,2392,543,3400,0,0,0,0,0,0
$GC,3107,-0.74,-146.0,342.7,-7.3,236,3113,0.00,2.17,0.00,0.000,6,0.000,0.039,2382,1966,3400,0,0,0,0,0,0
$GC,3439,-0.74,-146.0,370.4,-8.5,245,3443,0.00,2.22,0.00,0.000,4,0.000,0.057,2372,3369,3398,0,0,0,0,0,0
$GC,3490,-0.74,-146.0,374.8,-8.7,246,3497,0.10,2.20,0.00,0.000,6,0.160,0.041,2397,1952,3397,0,0,0,0,0,0
$GC,3813,-0.74,-146.0,398.4,-6.3,254,3817,0.00,2.22,0.00,0.000,4,0.000,0.060,2398,543,3395,0,0,0,0,0,0
$GC,3999,-0.74,-146.0,418.4,-15.2,258,4003,0.00,2.17,0.00,0.000,6,0.000,0.042,2390,1968,3394,0,0,0,0,0,0
$STATE,4314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4314,begin apogee
$GC,4321,-0.17,0.0,451.6,7.8,266,4443,0.60,0.00,118.85,0.777,6,0.124,0.000,2582,1967,2799,0,0,0,0,0,0
$STATE,4443,end apogee,CONTROL_FINISHED_OK
$STATE,4444,begin climb
$GC,4446,0.74,146.0,452.0,0.0,269,4581,0.82,2.38,124.80,0.750,4,0.078,0.058,2868,3387,2203,0,0,0,0,0,0
$GC,4693,0.74,146.0,427.2,13.7,274,4699,0.00,2.35,0.00,0.000,6,0.000,0.053,2877,1979,2199,0,0,0,0,0,0
$GC,5025,0.74,146.0,384.5,13.9,283,5029,0.00,2.30,0.00,0.000,4,0.000,0.061,2888,551,2196,0,0,0,0,0,0
$GC,5064,0.74,146.0,379.9,11.5,284,5068,0.00,2.22,0.00,0.000,6,0.000,0.041,2888,1985,2195,0,0,0,0,0,0
$GC,5389,0.74,146.0,334.8,15.0,292,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1985,2194,0,0,0,0,0,0
$GC,5694,0.74,146.0,289.7,14.6,301,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1985,2191,0,0,0,0,0,0
$GC,6004,0.74,146.0,251.1,10.7,316,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1985,2190,0,0,0,0,0,0
$GC,6313,0.74,146.0,219.2,11.6,331,6317,0.00,2.20,0.00,0.000,4,0.000,0.051,2888,3381,2189,0,0,0,0,0,0
$GC,6402,0.74,146.0,207.9,12.9,335,6406,0.00,2.20,0.00,0.000,6,0.000,0.041,2897,1960,2188,0,0,0,0,0,0
$GC,6732,0.74,146.0,169.4,12.4,363,6736,0.00,2.20,0.00,0.000,4,0.000,0.058,2907,564,2188,0,0,0,0,0,0
$GC,6752,0.74,146.0,167.3,11.3,364,6757,0.10,2.17,0.00,0.000,6,0.152,0.038,2881,1983,2187,0,0,0,0,0,0
$GC,7079,0.74,146.0,134.5,9.7,394,7083,0.00,2.15,0.00,0.000,4,0.000,0.051,2881,3388,2187,0,0,0,0,0,0
$GC,7121,0.74,146.0,129.8,10.4,397,7129,0.00,2.22,0.00,0.000,6,0.000,0.040,2889,1973,2187,0,0,0,0,0,0
$GC,7448,0.74,146.0,97.8,9.7,428,7452,0.00,2.20,0.00,0.000,4,0.000,0.056,2899,561,2187,0,0,0,0,0,0
$GC,7632,0.74,150.3,79.6,8.9,444,7639,0.00,2.17,0.00,0.000,6,0.000,0.037,2899,1974,2187,0,0,0,0,0,0
$GC,7968,0.80,195.2,51.4,7.2,505,8015,0.00,2.22,38.97,0.492,4,0.000,0.050,2900,3381,2004,0,0,0,0,0,0
$GC,8105,0.80,195.2,38.9,10.4,529,8110,0.00,2.20,0.00,0.000,6,0.000,0.039,2907,1976,2002,0,0,0,0,0,0
$GC,8429,0.80,195.2,4.6,9.1,590,8437,0.00,2.25,0.00,0.000,4,0.000,0.055,2917,571,2002,0,0,0,0,0,0
$STATE,8443,end climb,SURFACE_DEPTH_REACHED
$STATE,8443,begin surface coast
$FINISH,0.4,0.998823
$STATE,8465,end surface coast,CONTROL_FINISHED_OK
$STATE,8465,begin surface
$SM_CCo,8485,47.80,0.439,0,0,1575,300.24
$SM_GC,1.37,0.00,0.00,47.80,0.000,0.000,0.439,40,1963,1575,-8.13,0.08,300.24
$IRIDIUM_FIX,2104.07,-15800.33,110802,060608
$TT8_MAMPS,0.027612
$HUMID,61.45
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,415.8,57.1
$24V_AH,24.7,17.454
$10V_AH,10.5,19.079
$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,18.525,79.800,282.625,47.800,0.000,53.972,64.409,260.360,17.750,0.000,13.658,1080.931,5081.932,390.324,1939.118,627.108,0.000,1085.398,0.000,1894.711,0.000,109.444,0.000
$DEVICE_MAMPS,230.100,60.593,776.971,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.152,331.181,1161.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31841,596
$CAP_FILE_SIZE,95559,0
$CFSIZE,260165632,245182464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170513,090142,2108.153,-15758.326,19,0.9,19,9.8