version: 66.06
glider: 523
mission: 4
dive: 249
start: 5 21 113 6 27 40
data:
$ID,523
$MISSION,4
$DIVE,249
$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,-40769.461
$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,32
$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
$GPS1,062134,2107.102,-15759.052,39,0.9,39,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.8
$GPS2,062723,2107.123,-15759.005,17,0.9,17,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,283.2,5741,-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,-77.60,0.000,6,0.000,0.000,38,1982,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.8,13,117,9.50,0.00,0.00,0.000,6,0.231,0.000,2393,1981,3397,0,0,0,0,0,0
$GC,279,-0.74,-146.0,41.4,-14.4,45,284,0.00,2.33,0.00,0.000,4,0.000,0.053,2393,541,3398,0,0,0,0,0,0
$GC,371,-0.74,-146.0,56.5,-15.9,62,378,0.00,2.20,0.00,0.000,6,0.000,0.035,2385,1961,3398,0,0,0,0,0,0
$GC,702,-0.74,-146.0,104.8,-14.1,107,707,0.00,2.28,0.00,0.000,4,0.000,0.053,2385,551,3400,0,0,0,0,0,0
$GC,816,-0.74,-146.0,120.8,-14.8,117,820,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1971,3400,0,0,0,0,0,0
$GC,1148,-0.74,-146.0,164.7,-12.2,148,1155,0.00,2.17,0.00,0.000,4,0.000,0.054,2366,3363,3401,0,0,0,0,0,0
$GC,1262,-0.74,-146.0,179.3,-13.4,158,1267,0.12,2.22,0.00,0.000,6,0.154,0.044,2398,1955,3401,0,0,0,0,0,0
$GC,1599,-0.74,-146.0,212.1,-7.9,183,1603,0.00,2.20,0.00,0.000,4,0.000,0.053,2398,547,3402,0,0,0,0,0,0
$GC,1720,-0.74,-146.0,221.7,-7.7,188,1724,0.00,2.12,0.00,0.000,6,0.000,0.035,2390,1967,3402,0,0,0,0,0,0
$GC,2038,-0.74,-146.0,247.5,-8.1,203,2042,0.00,2.25,0.00,0.000,4,0.000,0.052,2390,550,3402,0,0,0,0,0,0
$GC,2158,-0.74,-146.0,258.1,-9.0,208,2162,0.00,2.15,0.00,0.000,6,0.000,0.037,2381,1962,3402,0,0,0,0,0,0
$GC,2481,-0.74,-146.0,285.4,-9.1,224,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1962,3401,0,0,0,0,0,0
$GC,2808,-0.74,-146.0,310.9,-8.0,237,2812,0.00,2.25,0.00,0.000,4,0.000,0.054,2380,553,3402,0,0,0,0,0,0
$GC,3065,-0.74,-146.0,334.7,-9.2,242,3074,0.12,2.15,0.00,0.000,6,0.163,0.038,2404,1958,3400,0,0,0,0,0,0
$GC,3398,-0.74,-146.0,358.5,-7.1,251,3402,0.00,2.28,0.00,0.000,4,0.000,0.059,2405,553,3399,0,0,0,0,0,0
$GC,3466,-0.74,-146.0,364.0,-7.6,252,3470,0.00,2.15,0.00,0.000,6,0.000,0.042,2397,1956,3398,0,0,0,0,0,0
$GC,3803,-0.74,-146.0,387.5,-7.0,261,3807,0.00,2.22,0.00,0.000,4,0.000,0.061,2387,3374,3396,0,0,0,0,0,0
$GC,3854,-0.74,-146.0,391.4,-7.4,262,3858,0.00,2.22,0.00,0.000,6,0.000,0.044,2387,1958,3396,0,0,0,0,0,0
$GC,4175,-0.74,-146.0,417.2,-8.2,270,4179,0.00,2.22,0.00,0.000,4,0.000,0.059,2377,3365,3394,0,0,0,0,0,0
$GC,4242,-0.74,-146.0,422.7,-7.6,271,4247,0.00,2.20,0.00,0.000,6,0.000,0.046,2377,1952,3393,0,0,0,0,0,0
$GC,4589,-0.74,-146.0,446.4,-6.8,280,4593,0.00,2.25,0.00,0.000,4,0.000,0.067,2377,548,3390,0,0,0,0,0,0
$STATE,4637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4638,begin apogee
$GC,4647,-0.17,0.0,450.2,6.7,281,4769,0.68,0.00,118.45,0.781,6,0.130,0.000,2584,1983,2799,0,0,0,0,0,0
$STATE,4769,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4772,0.74,146.0,449.7,0.0,284,4909,0.82,2.38,125.47,0.749,4,0.079,0.053,2872,3390,2203,0,0,0,0,0,0
$GC,4954,0.74,146.0,426.3,15.9,288,4958,0.00,2.30,0.00,0.000,6,0.000,0.049,2881,1978,2199,0,0,0,0,0,0
$GC,5302,0.74,146.0,374.0,14.6,297,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1977,2195,0,0,0,0,0,0
$GC,5627,0.74,146.0,328.9,14.3,305,5631,0.00,2.25,0.00,0.000,4,0.000,0.059,2892,555,2192,0,0,0,0,0,0
$GC,5717,0.74,146.0,315.2,15.4,307,5722,0.00,2.22,0.00,0.000,6,0.000,0.044,2892,1981,2192,0,0,0,0,0,0
$GC,6039,0.74,146.0,263.5,15.5,320,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1981,2191,0,0,0,0,0,0
$GC,6349,0.74,146.0,219.3,12.4,335,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1981,2189,0,0,0,0,0,0
$GC,6666,0.74,146.0,180.4,12.1,357,6670,0.00,2.20,0.00,0.000,4,0.000,0.052,2892,3390,2188,0,0,0,0,0,0
$GC,6719,0.74,146.0,173.0,13.9,361,6727,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1971,2187,0,0,0,0,0,0
$GC,7046,0.74,146.0,132.5,13.2,392,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1971,2187,0,0,0,0,0,0
$GC,7367,0.74,146.0,92.6,12.2,422,7371,0.00,2.20,0.00,0.000,4,0.000,0.054,2913,562,2187,0,0,0,0,0,0
$GC,7408,0.74,146.0,87.4,12.1,425,7413,0.12,2.15,0.00,0.000,6,0.143,0.036,2878,1985,2186,0,0,0,0,0,0
$GC,7740,0.74,146.0,54.6,9.1,479,7746,0.00,2.15,0.00,0.000,4,0.000,0.051,2878,3383,2187,0,0,0,0,0,0
$GC,7886,0.74,146.0,41.8,9.4,505,7892,0.00,2.17,0.00,0.000,6,0.000,0.038,2886,1971,2187,0,0,0,0,0,0
$GC,8211,0.78,184.8,13.5,7.4,566,8251,0.00,2.25,30.73,0.466,4,0.000,0.054,2896,564,2044,0,0,0,0,0,0
$STATE,8347,end climb,SURFACE_DEPTH_REACHED
$STATE,8347,begin surface coast
$FINISH,0.5,1.009591
$STATE,8381,end surface coast,CONTROL_FINISHED_OK
$STATE,8381,begin surface
$SM_CCo,8401,52.92,0.446,0,0,1575,300.24
$SM_GC,1.45,0.00,0.00,52.92,0.000,0.000,0.446,43,1963,1575,-8.12,0.08,300.24
$IRIDIUM_FIX,2101.76,-15758.18,150802,040434
$TT8_MAMPS,0.028379
$HUMID,63.86
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.90
$XPDR_PINGS,3
$24V_AH,24.7,20.478
$10V_AH,10.4,22.411
$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,18.725,70.975,274.650,52.925,0.000,30.939,33.354,152.504,19.500,0.000,18.123,1080.303,4954.999,370.593,1952.157,445.424,0.000,1062.679,0.000,1903.626,0.000,117.263,0.000
$DEVICE_MAMPS,230.867,66.729,780.806,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,405.357,332.388,1153.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,31889,596
$CAP_FILE_SIZE,91040,0
$CFSIZE,260165632,243376128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210513,084929,2107.538,-15800.039,15,1.0,15,9.8