version: 66.06
glider: 523
mission: 4
dive: 374
start: 6 3 113 13 59 3
data:
$ID,523
$MISSION,4
$DIVE,374
$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,-43254.301
$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,23
$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,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
$GPS1,135223,2100.939,-15754.294,41,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.3
$GPS2,135847,2100.975,-15754.290,19,0.9,19,9.8
$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,305.6,19134,-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,-70.03,0.000,2,0.000,0.000,43,1935,3400,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.4,-5.1,11,113,9.65,2.28,-2.00,0.000,4,0.232,0.065,2406,3355,3498,0,0,0,0,0,0
$GC,314,-0.74,-146.0,52.7,-19.3,51,320,0.00,2.22,0.00,0.000,6,0.000,0.042,2406,1948,3500,0,0,0,0,0,0
$GC,643,-0.74,-146.0,96.0,-9.8,98,647,0.00,2.20,0.00,0.000,4,0.000,0.053,2406,544,3501,0,0,0,0,0,0
$GC,805,-0.74,-146.0,116.7,-13.6,112,813,0.00,2.15,0.00,0.000,6,0.000,0.032,2396,1956,3501,0,0,0,0,0,0
$GC,1132,-0.74,-146.0,156.4,-11.9,143,1136,0.00,2.25,0.00,0.000,4,0.000,0.051,2396,546,3502,0,0,0,0,0,0
$GC,1304,-0.74,-146.0,179.7,-12.8,158,1313,0.10,2.15,0.00,0.000,6,0.133,0.032,2419,1958,3502,0,0,0,0,0,0
$GC,1628,-0.74,-146.0,206.5,-9.4,186,1632,0.00,2.25,0.00,0.000,4,0.000,0.051,2420,536,3503,0,0,0,0,0,0
$GC,1713,-0.74,-146.0,215.2,-10.6,190,1717,0.00,2.15,0.00,0.000,6,0.000,0.033,2411,1961,3503,0,0,0,0,0,0
$GC,2039,-0.74,-146.0,244.7,-9.0,206,2044,0.00,2.20,0.00,0.000,4,0.000,0.054,2401,3357,3503,0,0,0,0,0,0
$GC,2084,-0.74,-146.0,249.0,-9.9,208,2088,0.00,2.20,0.00,0.000,6,0.000,0.041,2401,1948,3503,0,0,0,0,0,0
$GC,2412,-0.74,-146.0,280.3,-8.9,224,2416,0.00,2.20,0.00,0.000,4,0.000,0.054,2401,547,3502,0,0,0,0,0,0
$GC,2542,-0.74,-146.0,292.4,-9.5,230,2547,0.12,2.12,0.00,0.000,6,0.156,0.034,2425,1968,3503,0,0,0,0,0,0
$GC,2868,-0.74,-146.0,318.7,-8.3,241,2872,0.00,2.15,0.00,0.000,4,0.000,0.054,2417,3359,3502,0,0,0,0,0,0
$GC,2976,-0.74,-146.0,327.3,-8.0,243,2980,0.00,2.17,0.00,0.000,6,0.000,0.039,2417,1947,3502,0,0,0,0,0,0
$GC,3325,-0.74,-146.0,352.2,-6.7,252,3329,0.00,2.20,0.00,0.000,4,0.000,0.057,2417,545,3501,0,0,0,0,0,0
$GC,3426,-0.74,-146.0,360.2,-8.2,254,3430,0.00,2.15,0.00,0.000,6,0.000,0.036,2407,1958,3500,0,0,0,0,0,0
$GC,3774,-0.74,-146.0,384.7,-6.8,263,3779,0.00,2.28,0.00,0.000,4,0.000,0.057,2407,548,3499,0,0,0,0,0,0
$GC,3907,-0.74,-146.0,396.2,-9.3,265,3912,0.00,2.15,0.00,0.000,6,0.000,0.037,2398,1957,3498,0,0,0,0,0,0
$GC,4238,-0.74,-146.0,424.0,-7.9,274,4242,0.00,2.28,0.00,0.000,4,0.000,0.059,2398,550,3495,0,0,0,0,0,0
$GC,4317,-0.74,-146.0,431.1,-8.9,275,4323,0.12,2.15,0.00,0.000,6,0.159,0.039,2422,1955,3495,0,0,0,0,0,0
$STATE,4646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4646,begin apogee
$GC,4653,-0.17,0.0,450.8,5.7,284,4776,0.55,0.00,119.40,0.768,6,0.111,0.000,2603,1955,2900,0,0,0,0,0,0
$STATE,4776,end apogee,CONTROL_FINISHED_OK
$STATE,4776,begin climb
$GC,4779,0.74,146.0,451.0,0.0,287,4912,0.85,2.40,125.97,0.741,4,0.068,0.059,2899,3383,2303,0,0,0,0,0,0
$GC,4935,0.74,146.0,432.9,14.8,291,4939,0.00,2.28,0.00,0.000,6,0.000,0.046,2908,1988,2301,0,0,0,0,0,0
$GC,5253,0.74,146.0,382.2,15.4,299,5257,0.00,2.30,0.00,0.000,4,0.000,0.062,2919,567,2296,0,0,0,0,0,0
$GC,5308,0.74,146.0,373.8,15.6,300,5312,0.00,2.22,0.00,0.000,6,0.000,0.043,2919,1972,2294,0,0,0,0,0,0
$GC,5656,0.74,146.0,321.4,14.8,309,5660,0.00,2.22,0.00,0.000,4,0.000,0.053,2919,3392,2293,0,0,0,0,0,0
$GC,5717,0.74,146.0,312.1,14.9,310,5721,0.12,2.28,0.00,0.000,6,0.157,0.051,2895,1976,2292,0,0,0,0,0,0
$GC,6048,0.74,146.0,271.9,12.6,324,6052,0.00,2.22,0.00,0.000,4,0.000,0.060,2903,568,2290,0,0,0,0,0,0
$GC,6097,0.74,146.0,264.9,13.8,326,6101,0.00,2.20,0.00,0.000,6,0.000,0.040,2903,1987,2289,0,0,0,0,0,0
$GC,6413,0.74,146.0,225.8,11.9,341,6417,0.00,2.20,0.00,0.000,4,0.000,0.052,2903,3395,2288,0,0,0,0,0,0
$GC,6536,0.74,146.0,209.9,14.1,346,6542,0.00,2.22,0.00,0.000,6,0.000,0.041,2913,1975,2288,0,0,0,0,0,0
$GC,6863,0.74,146.0,172.9,10.3,373,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1974,2287,0,0,0,0,0,0
$GC,7192,0.74,146.0,134.6,11.4,404,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1974,2287,0,0,0,0,0,0
$GC,7522,0.74,146.0,101.7,10.2,435,7526,0.00,2.22,0.00,0.000,4,0.000,0.058,2924,565,2287,0,0,0,0,0,0
$GC,7661,0.74,146.0,87.6,10.2,447,7665,0.00,2.17,0.00,0.000,6,0.000,0.037,2924,1981,2287,0,0,0,0,0,0
$GC,7992,0.74,146.0,57.4,9.1,500,8000,0.00,2.33,0.00,0.000,4,0.000,0.061,2934,565,2287,0,0,0,0,0,0
$GC,8103,0.81,202.5,50.0,6.7,520,8157,0.00,2.20,45.35,0.489,6,0.000,0.039,2933,1978,2073,0,0,0,0,0,0
$GC,8481,0.81,202.5,13.7,11.5,589,8488,0.00,2.25,0.00,0.000,4,0.000,0.058,2933,3383,2071,0,0,0,0,0,0
$GC,8507,0.81,202.5,10.3,13.0,593,8515,0.00,2.25,0.00,0.000,6,0.000,0.044,2943,1983,2071,0,0,0,0,0,0
$STATE,8568,end climb,SURFACE_DEPTH_REACHED
$STATE,8568,begin surface coast
$FINISH,0.8,1.023037
$STATE,8595,end surface coast,CONTROL_FINISHED_OK
$STATE,8596,begin surface
$SM_CCo,8613,35.60,0.431,0,0,1737,285.03
$SM_GC,1.29,0.00,0.00,35.60,0.000,0.000,0.431,26,1973,1737,-8.23,0.42,285.03
$IRIDIUM_FIX,2054.83,-15753.90,280802,111159
$TT8_MAMPS,0.028379
$HUMID,63.86
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.6,30.732
$10V_AH,10.5,33.672
$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,18.925,79.875,290.725,35.600,0.000,32.754,49.757,166.649,19.250,0.000,20.437,1113.197,5018.425,404.427,2007.492,487.571,0.000,1099.967,0.000,1959.589,0.000,117.281,0.000
$DEVICE_MAMPS,232.401,65.195,767.767,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,413.323,344.075,1189.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,34915,609
$CAP_FILE_SIZE,93991,0
$CFSIZE,260165632,237383680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030613,162406,2101.720,-15755.009,15,1.8,15,9.8