version: 66.06
glider: 523
mission: 4
dive: 307
start: 5 27 113 10 18 54
data:
$ID,523
$MISSION,4
$DIVE,307
$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,-41887.273
$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,24
$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
$GPS1,101156,2108.551,-15749.561,33,1.1,33,9.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.8
$GPS2,101835,2108.532,-15749.562,17,1.1,17,9.8
$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,103.9,12534,-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,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.70,0.000,2,0.000,0.000,37,1956,3380,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.4,-5.1,12,113,9.45,2.28,-0.30,0.000,4,0.227,0.064,2391,543,3397,0,0,0,0,0,0
$GC,226,-0.74,-146.0,32.5,-17.4,35,232,0.00,2.17,0.00,0.000,6,0.000,0.037,2382,1963,3399,0,0,0,0,0,0
$GC,564,-0.74,-146.0,83.6,-13.4,95,568,0.00,2.28,0.00,0.000,4,0.000,0.053,2382,547,3400,0,0,0,0,0,0
$GC,768,-0.74,-146.0,113.2,-12.6,113,772,0.00,2.15,0.00,0.000,6,0.000,0.034,2373,1977,3400,0,0,0,0,0,0
$GC,1095,-0.74,-146.0,154.3,-11.7,143,1102,0.00,2.28,0.00,0.000,4,0.000,0.051,2373,547,3401,0,0,0,0,0,0
$GC,1341,-0.74,-146.0,182.6,-11.3,165,1346,0.15,2.15,0.00,0.000,6,0.155,0.033,2404,1976,3401,0,0,0,0,0,0
$GC,1663,-0.74,-146.0,209.4,-8.7,190,1667,0.00,2.12,0.00,0.000,4,0.000,0.053,2396,3357,3402,0,0,0,0,0,0
$GC,1741,-0.74,-146.0,216.3,-8.4,193,1747,0.00,2.17,0.00,0.000,6,0.000,0.041,2396,1949,3402,0,0,0,0,0,0
$GC,2059,-0.74,-146.0,244.5,-9.2,209,2063,0.00,2.20,0.00,0.000,4,0.000,0.051,2396,547,3402,0,0,0,0,0,0
$GC,2317,-0.74,-146.0,269.9,-8.6,220,2321,0.00,2.10,0.00,0.000,6,0.000,0.033,2386,1960,3402,0,0,0,0,0,0
$GC,2640,-0.74,-146.0,294.5,-8.4,236,2645,0.00,2.25,0.00,0.000,4,0.000,0.053,2386,545,3402,0,0,0,0,0,0
$GC,2820,-0.74,-146.0,311.9,-8.2,242,2824,0.00,2.12,0.00,0.000,6,0.000,0.035,2376,1963,3402,0,0,0,0,0,0
$GC,3147,-0.74,-146.0,336.8,-8.0,250,3151,0.00,2.17,0.00,0.000,4,0.000,0.054,2366,3366,3401,0,0,0,0,0,0
$GC,3225,-0.74,-146.0,343.8,-8.9,251,3231,0.12,2.20,0.00,0.000,6,0.147,0.041,2399,1954,3401,0,0,0,0,0,0
$GC,3557,-0.74,-146.0,368.8,-7.1,260,3561,0.00,2.22,0.00,0.000,4,0.000,0.059,2400,553,3399,0,0,0,0,0,0
$GC,3736,-0.74,-146.0,380.7,-6.6,264,3740,0.00,2.12,0.00,0.000,6,0.000,0.038,2392,1958,3397,0,0,0,0,0,0
$GC,4055,-0.74,-146.0,399.1,-6.1,272,4059,0.00,2.20,0.00,0.000,4,0.000,0.058,2381,3365,3395,0,0,0,0,0,0
$GC,4163,-0.74,-146.0,406.6,-7.0,274,4167,0.00,2.20,0.00,0.000,6,0.000,0.043,2381,1951,3395,0,0,0,0,0,0
$GC,4507,-0.74,-146.0,432.9,-7.5,283,4511,0.00,2.20,0.00,0.000,4,0.000,0.061,2381,552,3393,0,0,0,0,0,0
$STATE,4700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4700,begin apogee
$GC,4709,-0.17,0.0,450.4,8.8,287,4831,0.65,0.00,119.28,0.777,6,0.126,0.000,2583,1971,2800,0,0,0,0,0,0
$STATE,4832,end apogee,CONTROL_FINISHED_OK
$STATE,4832,begin climb
$GC,4835,0.74,146.0,452.7,0.0,290,4965,0.88,0.00,125.85,0.749,6,0.077,0.000,2880,1971,2204,0,0,0,0,0,0
$GC,5258,0.74,146.0,399.5,13.4,301,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1971,2196,0,0,0,0,0,0
$GC,5583,0.74,146.0,352.0,14.7,309,5587,0.00,2.22,0.00,0.000,4,0.000,0.053,2880,3386,2193,0,0,0,0,0,0
$GC,5616,0.74,146.0,347.2,13.9,309,5622,0.00,2.25,0.00,0.000,6,0.000,0.043,2890,1973,2193,0,0,0,0,0,0
$GC,5948,0.74,146.0,301.2,13.4,318,5952,0.00,2.28,0.00,0.000,4,0.000,0.060,2900,555,2191,0,0,0,0,0,0
$GC,5975,0.74,146.0,297.7,11.9,318,5979,0.00,2.22,0.00,0.000,6,0.000,0.041,2900,1982,2191,0,0,0,0,0,0
$GC,6297,0.74,146.0,254.0,14.5,334,6301,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3388,2190,0,0,0,0,0,0
$GC,6341,0.74,146.0,246.9,16.6,336,6346,0.12,2.25,0.00,0.000,6,0.156,0.048,2875,1971,2189,0,0,0,0,0,0
$GC,6662,0.74,146.0,209.1,11.2,352,6666,0.00,2.22,0.00,0.000,4,0.000,0.059,2884,562,2188,0,0,0,0,0,0
$GC,6751,0.74,146.0,198.9,11.6,356,6758,0.00,2.22,0.00,0.000,6,0.000,0.042,2884,1975,2188,0,0,0,0,0,0
$GC,7078,0.74,146.0,162.6,12.3,387,7082,0.00,2.20,0.00,0.000,4,0.000,0.052,2884,3384,2188,0,0,0,0,0,0
$GC,7176,0.74,146.0,149.7,13.5,395,7183,0.00,2.28,0.00,0.000,6,0.000,0.049,2893,1976,2187,0,0,0,0,0,0
$GC,7503,0.74,146.0,115.7,10.3,426,7507,0.00,2.22,0.00,0.000,4,0.000,0.058,2901,561,2187,0,0,0,0,0,0
$GC,7578,0.74,146.0,106.9,11.3,432,7585,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1980,2187,0,0,0,0,0,0
$GC,7907,0.74,146.0,72.5,10.9,469,7913,0.00,2.15,0.00,0.000,4,0.000,0.051,2901,3383,2187,0,0,0,0,0,0
$GC,8000,0.74,146.0,60.4,12.6,486,8006,0.10,2.25,0.00,0.000,6,0.121,0.045,2876,1973,2187,0,0,0,0,0,0
$GC,8335,0.80,198.8,33.2,6.8,547,8382,0.00,2.25,42.05,0.481,4,0.000,0.054,2885,559,1988,0,0,0,0,0,0
$GC,8536,0.80,201.4,17.1,8.9,584,8544,0.00,2.22,0.00,0.000,6,0.000,0.037,2885,1981,1986,0,0,0,0,0,0
$GC,8706,0.80,201.4,3.3,9.1,615,8714,0.00,2.22,0.00,0.000,4,0.000,0.049,2885,3383,1985,0,0,0,0,0,0
$STATE,8720,end climb,SURFACE_DEPTH_REACHED
$STATE,8720,begin surface coast
$FINISH,0.5,1.023313
$STATE,8752,end surface coast,CONTROL_FINISHED_OK
$STATE,8752,begin surface
$SM_CCo,8772,45.60,0.440,0,0,1575,300.24
$SM_GC,1.33,0.00,0.00,45.60,0.000,0.000,0.440,32,1949,1575,-8.15,-0.31,300.24
$IRIDIUM_FIX,2104.07,-15755.17,210802,070742
$TT8_MAMPS,0.028379
$HUMID,64.33
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.7,25.173
$10V_AH,10.4,27.603
$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,18.675,83.975,287.175,45.600,0.000,28.931,34.241,207.564,19.000,0.000,17.878,1151.044,5025.813,396.150,2138.527,507.656,0.000,1140.761,0.000,2084.618,0.000,117.268,0.000
$DEVICE_MAMPS,227.032,63.661,776.971,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,423.548,352.743,1228.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,35005,623
$CAP_FILE_SIZE,99070,0
$CFSIZE,260165632,240599040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270513,124703,2108.129,-15748.724,29,1.1,31,9.8