version: 66.06
glider: 523
mission: 4
dive: 223
start: 5 18 113 12 58 29
data:
$ID,523
$MISSION,4
$DIVE,223
$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,-40280.18
$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,27
$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
$GPS1,125234,2107.655,-15745.916,23,0.8,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.6
$GPS2,125812,2107.666,-15745.898,15,0.8,15,9.8
$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,113.9,6187,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.72,0.000,2,0.000,0.000,49,1975,3384,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.7,-6.5,12,113,9.50,2.28,-0.17,0.000,4,0.233,0.060,2393,551,3394,0,0,0,0,0,0
$GC,257,-0.74,-146.0,40.1,-17.6,41,263,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1960,3395,0,0,0,0,0,0
$GC,595,-0.74,-146.0,91.2,-12.5,95,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1961,3397,0,0,0,0,0,0
$GC,923,-0.74,-146.0,136.8,-14.1,126,927,0.00,2.25,0.00,0.000,4,0.000,0.052,2385,545,3398,0,0,0,0,0,0
$GC,974,-0.74,-146.0,144.3,-15.2,130,979,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1962,3398,0,0,0,0,0,0
$GC,1306,-0.74,-146.0,186.3,-11.9,161,1310,0.00,2.25,0.00,0.000,4,0.000,0.051,2376,541,3399,0,0,0,0,0,0
$GC,1507,-0.74,-146.0,210.5,-11.8,175,1512,0.12,2.15,0.00,0.000,6,0.164,0.034,2399,1970,3399,0,0,0,0,0,0
$GC,1831,-0.74,-146.0,241.5,-8.8,191,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1970,3400,0,0,0,0,0,0
$GC,2139,-0.74,-146.0,266.1,-7.8,206,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1971,3400,0,0,0,0,0,0
$GC,2447,-0.74,-146.0,292.0,-8.9,221,2451,0.00,2.30,0.00,0.000,4,0.000,0.053,2399,543,3400,0,0,0,0,0,0
$GC,2516,-0.74,-146.0,297.8,-8.9,224,2520,0.00,2.17,0.00,0.000,6,0.000,0.038,2391,1969,3400,0,0,0,0,0,0
$GC,2841,-0.74,-146.0,321.3,-7.0,233,2845,0.00,2.20,0.00,0.000,4,0.000,0.057,2380,3360,3399,0,0,0,0,0,0
$GC,3009,-0.74,-146.0,334.1,-7.6,236,3015,0.00,2.20,0.00,0.000,6,0.000,0.044,2380,1956,3399,0,0,0,0,0,0
$GC,3341,-0.74,-146.0,358.2,-7.2,245,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1956,3399,0,0,0,0,0,0
$GC,3668,-0.74,-146.0,381.2,-6.9,253,3672,0.00,2.25,0.00,0.000,4,0.000,0.062,2380,554,3397,0,0,0,0,0,0
$GC,3804,-0.74,-146.0,392.4,-8.3,256,3809,0.12,2.15,0.00,0.000,6,0.170,0.040,2404,1964,3395,0,0,0,0,0,0
$GC,4130,-0.74,-146.0,414.0,-6.5,264,4134,0.00,2.20,0.00,0.000,4,0.000,0.059,2395,3369,3393,0,0,0,0,0,0
$GC,4214,-0.74,-146.0,420.5,-7.4,265,4220,0.00,2.17,0.00,0.000,6,0.000,0.043,2395,1959,3393,0,0,0,0,0,0
$GC,4547,-0.74,-146.0,445.2,-7.6,274,4551,0.00,2.25,0.00,0.000,4,0.000,0.064,2395,546,3391,0,0,0,0,0,0
$STATE,4600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4600,begin apogee
$GC,4609,-0.17,0.0,450.1,9.4,275,4731,0.60,0.00,118.03,0.784,6,0.127,0.000,2581,1977,2800,0,0,0,0,0,0
$STATE,4731,end apogee,CONTROL_FINISHED_OK
$STATE,4731,begin climb
$GC,4734,0.74,146.0,452.9,0.0,278,4869,0.85,2.35,124.97,0.754,4,0.081,0.059,2873,3384,2203,0,0,0,0,0,0
$GC,4880,0.74,146.0,439.5,13.1,281,4884,0.00,2.35,0.00,0.000,6,0.000,0.051,2882,1983,2202,0,0,0,0,0,0
$GC,5217,0.74,146.0,394.5,12.7,290,5221,0.00,2.30,0.00,0.000,4,0.000,0.064,2893,561,2196,0,0,0,0,0,0
$GC,5261,0.74,146.0,388.7,13.6,291,5265,0.00,2.22,0.00,0.000,6,0.000,0.044,2892,1976,2195,0,0,0,0,0,0
$GC,5579,0.74,146.0,340.1,15.9,299,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1976,2193,0,0,0,0,0,0
$GC,5904,0.74,146.0,295.3,12.7,307,5908,0.00,2.17,0.00,0.000,4,0.000,0.052,2893,3384,2192,0,0,0,0,0,0
$GC,5994,0.74,146.0,283.0,13.2,311,5998,0.00,2.22,0.00,0.000,6,0.000,0.043,2902,1961,2191,0,0,0,0,0,0
$GC,6321,0.74,146.0,238.0,13.3,327,6325,0.00,2.22,0.00,0.000,4,0.000,0.051,2903,3385,2190,0,0,0,0,0,0
$GC,6371,0.74,146.0,231.4,13.2,329,6375,0.12,2.20,0.00,0.000,6,0.160,0.041,2878,1969,2189,0,0,0,0,0,0
$GC,6689,0.74,146.0,195.6,10.9,345,6693,0.00,2.20,0.00,0.000,4,0.000,0.058,2887,567,2189,0,0,0,0,0,0
$GC,6794,0.74,146.0,183.3,10.8,354,6798,0.00,2.17,0.00,0.000,6,0.000,0.038,2887,1986,2188,0,0,0,0,0,0
$GC,7121,0.74,146.0,145.5,11.8,384,7125,0.00,2.17,0.00,0.000,4,0.000,0.051,2887,3390,2188,0,0,0,0,0,0
$GC,7142,0.74,146.0,142.6,12.3,385,7150,0.00,2.22,0.00,0.000,6,0.000,0.041,2898,1977,2188,0,0,0,0,0,0
$GC,7469,0.74,146.0,104.8,11.1,416,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1978,2188,0,0,0,0,0,0
$GC,7791,0.74,146.0,71.3,10.0,453,7796,0.00,2.20,0.00,0.000,4,0.000,0.054,2908,566,2188,0,0,0,0,0,0
$GC,7891,0.74,146.0,60.2,11.0,471,7897,0.12,2.12,0.00,0.000,6,0.140,0.035,2872,1978,2188,0,0,0,0,0,0
$GC,8221,0.74,147.6,30.0,9.0,532,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1978,2189,0,0,0,0,0,0
$GC,8387,0.77,169.9,18.1,8.1,563,8415,0.00,2.22,18.83,0.454,4,0.000,0.051,2873,3370,2105,0,0,0,0,0,0
$GC,8440,0.77,169.9,13.4,9.5,571,8447,0.00,2.22,0.00,0.000,6,0.000,0.044,2879,1978,2105,0,0,0,0,0,0
$STATE,8566,end climb,SURFACE_DEPTH_REACHED
$STATE,8567,begin surface coast
$FINISH,0.5,1.020080
$STATE,8596,end surface coast,CONTROL_FINISHED_OK
$STATE,8596,begin surface
$SM_CCo,8614,58.80,0.443,0,0,1575,300.24
$SM_GC,1.49,0.00,0.00,58.80,0.000,0.000,0.443,27,1970,1575,-8.17,0.28,300.24
$IRIDIUM_FIX,2106.38,-15750.02,120802,101002
$TT8_MAMPS,0.026845
$HUMID,61.65
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.7,18.429
$10V_AH,10.4,20.126
$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,18.725,71.000,261.825,58.800,0.000,30.992,34.416,146.418,19.000,0.000,16.070,1093.241,5177.344,369.464,1936.269,435.098,0.000,1048.494,0.000,1889.028,0.000,117.250,0.000
$DEVICE_MAMPS,233.168,64.428,783.874,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.675,334.833,1163.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,31869,600
$CAP_FILE_SIZE,91915,0
$CFSIZE,260165632,244592640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180513,152406,2107.233,-15744.548,24,0.9,25,9.8