version: 66.06
glider: 523
mission: 4
dive: 215
start: 5 17 113 16 40 19
data:
$ID,523
$MISSION,4
$DIVE,215
$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,-40123.227
$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,34
$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
$GPS1,163105,2108.089,-15755.160,28,1.1,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.3
$GPS2,164000,2108.128,-15755.294,14,1.8,14,9.8
$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,91.5,21810,-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,-77.18,0.000,6,0.000,0.000,35,1976,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.7,13,118,9.50,2.30,0.00,0.000,4,0.231,0.048,2394,550,3398,0,0,0,0,0,0
$GC,175,-0.74,-146.0,26.6,-24.2,25,182,0.00,2.20,0.00,0.000,6,0.000,0.035,2385,1962,3399,0,0,0,0,0,0
$GC,347,-0.74,-146.0,56.8,-14.5,56,354,0.00,2.33,0.00,0.000,4,0.000,0.053,2385,544,3399,0,0,0,0,0,0
$GC,401,-0.74,-146.0,65.0,-14.9,65,407,0.00,2.17,0.00,0.000,6,0.000,0.036,2376,1963,3400,0,0,0,0,0,0
$GC,730,-0.74,-146.0,109.1,-12.6,105,735,0.00,2.28,0.00,0.000,4,0.000,0.052,2376,543,3400,0,0,0,0,0,0
$GC,798,-0.74,-146.0,118.0,-13.3,111,803,0.12,2.17,0.00,0.000,6,0.173,0.035,2397,1972,3401,0,0,0,0,0,0
$GC,1126,-0.74,-146.0,155.5,-10.7,141,1130,0.00,2.17,0.00,0.000,4,0.000,0.054,2389,3359,3402,0,0,0,0,0,0
$GC,1222,-0.74,-146.0,166.9,-12.9,149,1226,0.00,2.20,0.00,0.000,6,0.000,0.044,2388,1962,3401,0,0,0,0,0,0
$GC,1562,-0.74,-146.0,206.0,-12.2,179,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1963,3402,0,0,0,0,0,0
$GC,1874,-0.74,-146.0,236.3,-8.1,194,1878,0.00,2.22,0.00,0.000,4,0.000,0.051,2388,539,3402,0,0,0,0,0,0
$GC,2092,-0.74,-146.0,257.3,-10.0,204,2096,0.00,2.12,0.00,0.000,6,0.000,0.035,2378,1962,3403,0,0,0,0,0,0
$GC,2420,-0.74,-146.0,287.1,-8.5,220,2424,0.00,2.28,0.00,0.000,4,0.000,0.053,2378,549,3402,0,0,0,0,0,0
$GC,2470,-0.74,-146.0,291.9,-9.2,222,2474,0.12,2.12,0.00,0.000,6,0.170,0.038,2402,1958,3403,0,0,0,0,0,0
$GC,2810,-0.74,-146.0,313.0,-6.1,234,2814,0.00,2.17,0.00,0.000,4,0.000,0.055,2394,3369,3402,0,0,0,0,0,0
$GC,2849,-0.74,-146.0,315.7,-6.8,234,2854,0.00,2.17,0.00,0.000,6,0.000,0.041,2394,1956,3402,0,0,0,0,0,0
$GC,3180,-0.74,-146.0,344.1,-8.4,243,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1956,3400,0,0,0,0,0,0
$GC,3505,-0.74,-146.0,369.8,-7.9,251,3510,0.00,2.22,0.00,0.000,4,0.000,0.061,2393,556,3398,0,0,0,0,0,0
$GC,3572,-0.74,-146.0,375.9,-8.9,252,3576,0.00,2.12,0.00,0.000,6,0.000,0.041,2383,1956,3397,0,0,0,0,0,0
$GC,3924,-0.74,-146.0,405.4,-8.2,261,3928,0.00,2.22,0.00,0.000,4,0.000,0.059,2383,555,3394,0,0,0,0,0,0
$GC,3968,-0.74,-146.0,409.4,-8.2,262,3972,0.00,2.17,0.00,0.000,6,0.000,0.043,2374,1960,3394,0,0,0,0,0,0
$GC,4291,-0.74,-146.0,432.8,-7.0,270,4295,0.00,2.22,0.00,0.000,4,0.000,0.061,2364,3366,3392,0,0,0,0,0,0
$GC,4324,-0.74,-146.0,435.9,-8.5,270,4331,0.12,2.20,0.00,0.000,6,0.158,0.044,2396,1957,3392,0,0,0,0,0,0
$STATE,4533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4533,begin apogee
$GC,4539,-0.17,0.0,451.3,7.3,276,4661,0.57,0.00,118.38,0.785,6,0.123,0.000,2583,1956,2800,0,0,0,0,0,0
$STATE,4662,end apogee,CONTROL_FINISHED_OK
$STATE,4662,begin climb
$GC,4665,0.74,146.0,453.2,0.0,279,4796,0.85,0.00,125.15,0.754,6,0.082,0.000,2875,1956,2204,0,0,0,0,0,0
$GC,5112,0.74,146.0,399.0,12.9,290,5116,0.00,2.25,0.00,0.000,4,0.000,0.062,2885,568,2197,0,0,0,0,0,0
$GC,5144,0.74,146.0,394.7,13.2,290,5150,0.00,2.22,0.00,0.000,6,0.000,0.042,2885,1982,2195,0,0,0,0,0,0
$GC,5475,0.74,146.0,351.2,12.8,299,5480,0.00,2.28,0.00,0.000,4,0.000,0.056,2895,556,2194,0,0,0,0,0,0
$GC,5509,0.74,146.0,346.7,13.0,299,5514,0.00,2.20,0.00,0.000,6,0.000,0.038,2895,1977,2193,0,0,0,0,0,0
$GC,5840,0.74,146.0,303.2,13.5,308,5844,0.00,2.17,0.00,0.000,4,0.000,0.052,2895,3380,2193,0,0,0,0,0,0
$GC,5897,0.74,146.0,294.8,15.7,309,5901,0.00,2.20,0.00,0.000,6,0.000,0.043,2905,1975,2191,0,0,0,0,0,0
$GC,6212,0.74,146.0,245.1,16.4,324,6216,0.00,2.22,0.00,0.000,4,0.000,0.058,2914,567,2190,0,0,0,0,0,0
$GC,6318,0.74,146.0,228.7,15.7,328,6324,0.12,2.17,0.00,0.000,6,0.146,0.038,2880,1984,2189,0,0,0,0,0,0
$GC,6637,0.74,146.0,192.9,11.0,347,6641,0.00,2.15,0.00,0.000,4,0.000,0.051,2880,3388,2188,0,0,0,0,0,0
$GC,6743,0.74,146.0,181.2,11.1,356,6747,0.00,2.17,0.00,0.000,6,0.000,0.039,2888,1968,2187,0,0,0,0,0,0
$GC,7070,0.74,146.0,147.9,9.5,386,7074,0.00,2.20,0.00,0.000,4,0.000,0.050,2888,3380,2187,0,0,0,0,0,0
$GC,7121,0.74,146.0,142.3,11.0,390,7125,0.00,2.15,0.00,0.000,6,0.000,0.040,2898,1976,2187,0,0,0,0,0,0
$GC,7448,0.74,146.0,105.7,10.6,420,7452,0.00,2.17,0.00,0.000,4,0.000,0.056,2908,568,2187,0,0,0,0,0,0
$GC,7499,0.74,146.0,100.6,10.2,424,7504,0.12,2.15,0.00,0.000,6,0.145,0.036,2874,1979,2186,0,0,0,0,0,0
$GC,7825,0.74,146.0,71.6,9.3,462,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1980,2187,0,0,0,0,0,0
$GC,8157,0.74,150.3,40.6,8.9,523,8163,0.00,2.25,0.00,0.000,4,0.000,0.061,2881,569,2187,0,0,0,0,0,0
$GC,8174,0.75,155.1,38.9,8.8,526,8187,0.00,2.20,6.40,0.411,6,0.000,0.042,2881,1973,2167,0,0,0,0,0,0
$GC,8506,0.78,179.9,12.0,8.0,588,8533,0.00,2.20,22.33,0.453,4,0.000,0.050,2881,3388,2065,0,0,0,0,0,0
$GC,8590,0.78,179.9,3.9,10.8,602,8597,0.00,2.20,0.00,0.000,6,0.000,0.035,2890,1976,2063,0,0,0,0,0,0
$STATE,8603,end climb,SURFACE_DEPTH_REACHED
$STATE,8603,begin surface coast
$FINISH,0.8,1.023375
$STATE,8631,end surface coast,CONTROL_FINISHED_OK
$STATE,8631,begin surface
$SM_CCo,8649,54.15,0.442,0,0,1575,300.24
$SM_GC,1.30,0.00,0.00,54.15,0.000,0.000,0.442,37,1971,1575,-8.14,0.31,300.24
$IRIDIUM_FIX,2054.83,-15751.76,110802,161647
$TT8_MAMPS,0.028379
$HUMID,61.61
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.7,17.771
$10V_AH,10.5,19.429
$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,18.725,83.675,272.250,54.150,0.000,51.726,75.437,215.927,19.000,0.000,14.880,1113.328,5215.947,385.358,1941.510,584.876,0.000,1069.631,0.000,1897.056,0.000,117.260,0.000
$DEVICE_MAMPS,230.867,62.127,785.408,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,413.955,343.219,1206.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,35031,609
$CAP_FILE_SIZE,98234,0
$CFSIZE,260165632,244985856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170513,190617,2108.234,-15754.279,16,0.9,16,9.8