version: 66.06
glider: 523
mission: 4
dive: 288
start: 5 25 113 9 9 59
data:
$ID,523
$MISSION,4
$DIVE,288
$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,-41524.254
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,085941,2104.705,-15757.997,19,1.1,19,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.5
$GPS2,090941,2104.661,-15758.098,20,0.9,20,9.8
$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,305.0,9655,-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,-76.18,0.000,2,0.000,0.000,38,1964,3390,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.5,12,112,9.38,2.20,0.00,0.000,4,0.224,0.048,2384,3376,3391,0,0,0,0,0,0
$GC,351,-0.74,-146.0,54.3,-15.0,59,357,0.00,2.25,0.00,0.000,6,0.000,0.043,2384,1955,3393,0,0,0,0,0,0
$GC,683,-0.74,-146.0,97.2,-14.6,109,687,0.00,2.25,0.00,0.000,4,0.000,0.058,2384,541,3394,0,0,0,0,0,0
$GC,705,-0.74,-146.0,101.1,-14.8,110,713,0.00,2.20,0.00,0.000,6,0.000,0.038,2375,1966,3394,0,0,0,0,0,0
$GC,1033,-0.74,-146.0,140.4,-9.7,141,1037,0.00,2.30,0.00,0.000,4,0.000,0.055,2375,541,3395,0,0,0,0,0,0
$GC,1281,-0.74,-146.0,170.8,-13.2,163,1289,0.10,2.17,0.00,0.000,6,0.141,0.035,2397,1968,3395,0,0,0,0,0,0
$GC,1616,-0.74,-146.0,205.8,-9.2,192,1620,0.00,2.17,0.00,0.000,4,0.000,0.055,2388,3358,3395,0,0,0,0,0,0
$GC,1735,-0.74,-146.0,218.2,-10.2,197,1739,0.00,2.22,0.00,0.000,6,0.000,0.045,2388,1948,3395,0,0,0,0,0,0
$GC,2052,-0.74,-146.0,249.9,-9.2,212,2057,0.00,2.22,0.00,0.000,4,0.000,0.056,2388,544,3395,0,0,0,0,0,0
$GC,2132,-0.74,-146.0,256.3,-8.1,215,2136,0.00,2.15,0.00,0.000,6,0.000,0.038,2379,1954,3396,0,0,0,0,0,0
$GC,2450,-0.74,-146.0,277.6,-7.8,230,2454,0.00,2.20,0.00,0.000,4,0.000,0.058,2368,3373,3395,0,0,0,0,0,0
$GC,2500,-0.74,-146.0,282.4,-8.9,232,2505,0.12,2.22,0.00,0.000,6,0.153,0.044,2402,1956,3395,0,0,0,0,0,0
$GC,2843,-0.74,-146.0,305.4,-6.2,247,2847,0.00,2.22,0.00,0.000,4,0.000,0.060,2402,550,3395,0,0,0,0,0,0
$GC,3101,-0.74,-146.0,324.7,-6.8,252,3106,0.00,2.17,0.00,0.000,6,0.000,0.041,2394,1961,3394,0,0,0,0,0,0
$GC,3435,-0.74,-146.0,345.8,-6.8,261,3439,0.00,2.28,0.00,0.000,4,0.000,0.061,2394,553,3392,0,0,0,0,0,0
$GC,3693,-0.74,-146.0,367.2,-7.5,266,3699,0.00,2.17,0.00,0.000,6,0.000,0.045,2384,1963,3390,0,0,0,0,0,0
$GC,4025,-0.74,-146.0,389.4,-6.8,275,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1964,3387,0,0,0,0,0,0
$GC,4352,-0.74,-146.0,411.8,-6.7,283,4356,0.00,2.20,0.00,0.000,4,0.000,0.057,2374,3376,3386,0,0,0,0,0,0
$GC,4605,-0.74,-146.0,427.5,-6.8,288,4609,0.00,2.28,0.00,0.000,6,0.000,0.050,2373,1949,3385,0,0,0,0,0,0
$GC,4942,-0.74,-146.0,448.0,-6.1,297,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1949,3383,0,0,0,0,0,0
$STATE,4982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4982,begin apogee
$GC,4988,-0.17,0.0,450.6,6.2,298,5108,0.65,0.00,117.15,0.784,6,0.127,0.000,2580,1949,2800,0,0,0,0,0,0
$STATE,5109,end apogee,CONTROL_FINISHED_OK
$STATE,5109,begin climb
$GC,5112,0.74,146.0,451.5,0.0,301,5242,0.85,0.00,126.28,0.751,6,0.080,0.000,2875,1949,2204,0,0,0,0,0,0
$GC,5561,0.74,146.0,389.6,15.0,312,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1949,2196,0,0,0,0,0,0
$GC,5884,0.74,146.0,348.8,12.2,320,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1949,2193,0,0,0,0,0,0
$GC,6209,0.74,146.0,303.7,14.9,328,6213,0.00,2.22,0.00,0.000,4,0.000,0.059,2885,565,2193,0,0,0,0,0,0
$GC,6309,0.74,146.0,289.7,14.5,331,6313,0.00,2.20,0.00,0.000,6,0.000,0.038,2885,1987,2192,0,0,0,0,0,0
$GC,6624,0.74,146.0,251.8,10.6,346,6628,0.00,2.17,0.00,0.000,4,0.000,0.054,2886,3381,2190,0,0,0,0,0,0
$GC,6754,0.74,146.0,235.4,12.2,352,6759,0.00,2.20,0.00,0.000,6,0.000,0.041,2894,1967,2188,0,0,0,0,0,0
$GC,7080,0.74,146.0,196.0,11.8,369,7084,0.00,2.22,0.00,0.000,4,0.000,0.051,2895,3384,2188,0,0,0,0,0,0
$GC,7122,0.74,146.0,190.2,13.2,372,7130,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,1974,2187,0,0,0,0,0,0
$GC,7451,0.74,146.0,149.8,11.0,403,7455,0.00,2.22,0.00,0.000,4,0.000,0.056,2914,567,2187,0,0,0,0,0,0
$GC,7472,0.74,146.0,146.7,11.8,404,7479,0.10,2.20,0.00,0.000,6,0.114,0.038,2880,1982,2187,0,0,0,0,0,0
$GC,7799,0.74,146.0,113.1,10.2,435,7803,0.00,2.25,0.00,0.000,4,0.000,0.054,2888,568,2187,0,0,0,0,0,0
$GC,7841,0.74,146.0,108.0,11.3,438,7849,0.00,2.17,0.00,0.000,6,0.000,0.037,2888,1972,2187,0,0,0,0,0,0
$GC,8171,0.74,146.0,72.7,10.3,475,8177,0.00,2.20,0.00,0.000,4,0.000,0.051,2888,3389,2187,0,0,0,0,0,0
$GC,8221,0.74,146.0,67.6,9.4,484,8229,0.00,2.22,0.00,0.000,6,0.000,0.039,2897,1973,2187,0,0,0,0,0,0
$GC,8555,0.76,166.4,36.1,8.2,545,8579,0.00,2.25,15.77,0.468,4,0.000,0.055,2907,569,2120,0,0,0,0,0,0
$GC,8597,0.83,221.1,33.1,6.8,552,8651,0.00,2.17,46.25,0.481,6,0.000,0.035,2907,1978,1896,0,0,0,0,0,0
$GC,8811,0.83,221.1,15.8,10.0,591,8818,0.00,2.22,0.00,0.000,4,0.000,0.049,2907,3381,1894,0,0,0,0,0,0
$GC,8884,0.83,221.1,7.1,12.8,604,8892,0.00,2.22,0.00,0.000,6,0.000,0.039,2916,1977,1894,0,0,0,0,0,0
$STATE,8933,end climb,SURFACE_DEPTH_REACHED
$STATE,8933,begin surface coast
$FINISH,0.5,1.012456
$STATE,8995,end surface coast,CONTROL_FINISHED_OK
$STATE,8995,begin surface
$SM_CCo,9013,35.92,0.438,0,0,1575,300.24
$SM_GC,1.27,0.00,0.00,35.92,0.000,0.000,0.438,35,1965,1575,-8.14,0.14,300.24
$IRIDIUM_FIX,2059.45,-15858.25,190802,090929
$TT8_MAMPS,0.028379
$HUMID,64.33
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,3
$24V_AH,24.7,23.590
$10V_AH,10.5,25.883
$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,18.475,75.300,305.450,35.925,0.000,69.810,68.213,251.214,19.500,0.000,23.283,1136.811,5398.767,406.013,2063.646,644.348,0.000,1130.537,0.000,2011.416,0.000,119.157,0.000
$DEVICE_MAMPS,223.964,60.593,783.874,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,423.337,351.130,1201.704,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,34952,624
$CAP_FILE_SIZE,99125,0
$CFSIZE,260165632,241512448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250513,114234,2105.274,-15759.311,66,0.8,66,9.8