version: 66.06
glider: 523
mission: 4
dive: 355
start: 6 1 113 13 10 39
data:
$ID,523
$MISSION,4
$DIVE,355
$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,285
$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,-42854.543
$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,2660
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,130437,2107.498,-15745.899,15,1.9,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.0
$GPS2,131023,2107.522,-15745.856,18,0.9,18,9.8
$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,112.1,5981,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-69.97,0.000,2,0.000,0.000,36,1975,3388,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.3,-4.4,11,112,9.65,2.30,-2.30,0.000,4,0.230,0.065,2411,550,3499,0,0,0,0,0,0
$GC,335,-0.74,-146.0,55.8,-16.5,55,341,0.00,2.17,0.00,0.000,6,0.000,0.040,2402,1952,3500,0,0,0,0,0,0
$GC,670,-0.74,-146.0,103.7,-13.4,101,674,0.00,2.20,0.00,0.000,4,0.000,0.056,2392,3369,3502,0,0,0,0,0,0
$GC,765,-0.74,-146.0,116.3,-13.7,109,770,0.10,2.22,0.00,0.000,6,0.169,0.047,2417,1952,3503,0,0,0,0,0,0
$GC,1092,-0.74,-146.0,153.1,-10.8,139,1096,0.00,2.20,0.00,0.000,4,0.000,0.055,2417,545,3504,0,0,0,0,0,0
$GC,1215,-0.74,-146.0,167.3,-11.3,149,1223,0.00,2.17,0.00,0.000,6,0.000,0.035,2409,1962,3504,0,0,0,0,0,0
$GC,1550,-0.74,-146.0,205.0,-10.8,179,1557,0.00,2.25,0.00,0.000,4,0.000,0.052,2409,542,3504,0,0,0,0,0,0
$GC,1636,-0.74,-146.0,216.2,-14.2,182,1642,0.00,2.15,0.00,0.000,6,0.000,0.035,2400,1955,3504,0,0,0,0,0,0
$GC,1954,-0.74,-146.0,248.4,-9.5,198,1958,0.00,2.25,0.00,0.000,4,0.000,0.052,2400,545,3505,0,0,0,0,0,0
$GC,2156,-0.74,-146.0,266.8,-7.9,207,2161,0.12,2.15,0.00,0.000,6,0.158,0.036,2425,1959,3505,0,0,0,0,0,0
$GC,2486,-0.74,-146.0,290.2,-7.4,223,2490,0.00,2.17,0.00,0.000,4,0.000,0.058,2418,3359,3505,0,0,0,0,0,0
$GC,2508,-0.74,-146.0,292.0,-6.9,224,2512,0.00,2.20,0.00,0.000,6,0.000,0.042,2419,1949,3505,0,0,0,0,0,0
$GC,2827,-0.74,-146.0,315.2,-7.3,235,2831,0.00,2.22,0.00,0.000,4,0.000,0.058,2419,546,3505,0,0,0,0,0,0
$GC,3084,-0.74,-146.0,339.1,-10.2,240,3090,0.00,2.15,0.00,0.000,6,0.000,0.038,2409,1954,3504,0,0,0,0,0,0
$GC,3416,-0.74,-146.0,366.1,-7.6,249,3420,0.00,2.33,0.00,0.000,4,0.000,0.058,2409,538,3503,0,0,0,0,0,0
$GC,3548,-0.74,-146.0,375.5,-6.9,251,3553,0.00,2.20,0.00,0.000,6,0.000,0.040,2400,1959,3502,0,0,0,0,0,0
$GC,3879,-0.74,-146.0,399.4,-7.6,260,3883,0.00,2.33,0.00,0.000,4,0.000,0.059,2400,543,3500,0,0,0,0,0,0
$GC,3924,-0.74,-146.0,403.6,-8.9,261,3929,0.12,2.20,0.00,0.000,6,0.157,0.042,2425,1960,3500,0,0,0,0,0,0
$GC,4245,-0.74,-146.0,428.2,-7.7,269,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1961,3498,0,0,0,0,0,0
$STATE,4565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4565,begin apogee
$GC,4572,-0.17,0.0,452.1,7.0,277,4695,0.55,0.00,119.80,0.768,6,0.109,0.000,2607,1961,2900,0,0,0,0,0,0
$STATE,4695,end apogee,CONTROL_FINISHED_OK
$STATE,4695,begin climb
$GC,4699,0.74,146.0,453.8,0.0,280,4830,0.80,0.00,125.40,0.742,6,0.067,0.000,2892,1961,2303,0,0,0,0,0,0
$GC,5146,0.74,146.0,397.3,13.9,291,5150,0.00,2.28,0.00,0.000,4,0.000,0.056,2892,3394,2295,0,0,0,0,0,0
$GC,5246,0.74,146.0,381.8,14.9,293,5250,0.00,2.33,0.00,0.000,6,0.000,0.052,2902,1979,2294,0,0,0,0,0,0
$GC,5593,0.74,146.0,332.2,13.9,302,5597,0.00,2.25,0.00,0.000,4,0.000,0.060,2913,569,2292,0,0,0,0,0,0
$GC,5673,0.74,146.0,321.9,13.3,303,5679,0.00,2.22,0.00,0.000,6,0.000,0.043,2913,1988,2291,0,0,0,0,0,0
$GC,5986,0.74,146.0,280.2,14.2,314,5990,0.00,2.17,0.00,0.000,4,0.000,0.053,2913,3391,2291,0,0,0,0,0,0
$GC,6036,0.74,146.0,272.1,16.8,316,6040,0.00,2.22,0.00,0.000,6,0.000,0.041,2922,1974,2290,0,0,0,0,0,0
$GC,6351,0.74,146.0,227.8,13.2,331,6355,0.00,2.20,0.00,0.000,4,0.000,0.057,2933,570,2289,0,0,0,0,0,0
$GC,6519,0.74,146.0,205.5,13.4,338,6526,0.12,2.17,0.00,0.000,6,0.150,0.037,2899,1984,2288,0,0,0,0,0,0
$GC,6844,0.74,146.0,169.8,11.1,366,6848,0.00,2.17,0.00,0.000,4,0.000,0.051,2900,3388,2287,0,0,0,0,0,0
$GC,6909,0.74,146.0,161.8,12.0,371,6917,0.00,2.20,0.00,0.000,6,0.000,0.038,2907,1983,2287,0,0,0,0,0,0
$GC,7236,0.74,146.0,128.1,11.1,402,7240,0.00,2.20,0.00,0.000,4,0.000,0.050,2907,3389,2287,0,0,0,0,0,0
$GC,7257,0.74,146.0,125.6,10.6,403,7264,0.00,2.22,0.00,0.000,6,0.000,0.041,2916,1974,2287,0,0,0,0,0,0
$GC,7584,0.74,146.0,92.9,10.4,434,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1975,2287,0,0,0,0,0,0
$GC,7909,0.75,157.2,62.8,8.6,481,7922,0.00,2.22,7.90,0.441,4,0.000,0.050,2915,3393,2258,0,0,0,0,0,0
$GC,7969,0.75,157.2,57.1,9.6,491,7976,0.00,2.20,0.00,0.000,6,0.000,0.039,2925,1971,2258,0,0,0,0,0,0
$GC,8302,0.78,181.0,30.3,8.0,552,8329,0.00,2.25,21.90,0.459,4,0.000,0.047,2925,3384,2160,0,0,0,0,0,0
$GC,8378,0.78,181.0,22.7,10.4,565,8386,0.00,2.22,0.00,0.000,6,0.000,0.039,2935,1982,2159,0,0,0,0,0,0
$GC,8545,0.78,181.0,5.8,11.0,596,8552,0.00,2.25,0.00,0.000,4,0.000,0.054,2945,577,2158,0,0,0,0,0,0
$STATE,8568,end climb,SURFACE_DEPTH_REACHED
$STATE,8568,begin surface coast
$FINISH,2.6,1.023053
$STATE,8576,end surface coast,CONTROL_FINISHED_OK
$STATE,8577,begin surface
$SM_CCo,8597,49.65,0.439,0,0,1736,285.03
$SM_GC,1.51,0.00,0.00,49.65,0.000,0.000,0.439,40,1965,1736,-8.19,0.23,285.03
$IRIDIUM_FIX,2101.76,-15740.59,260802,101039
$TT8_MAMPS,0.028379
$HUMID,63.07
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.6,29.075
$10V_AH,10.4,31.933
$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,19.175,79.825,275.000,49.650,0.000,29.451,33.453,150.479,19.000,0.000,19.047,1108.704,5043.372,384.412,1998.620,456.410,0.000,1089.254,0.000,1954.241,0.000,119.522,0.000
$DEVICE_MAMPS,230.100,65.195,767.767,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.916,335.606,1169.599,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31836,601
$CAP_FILE_SIZE,94351,0
$CFSIZE,260165632,238309376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010613,153605,2107.098,-15744.636,39,0.9,39,9.8