version: 66.06
glider: 523
mission: 4
dive: 377
start: 6 3 113 21 45 8
data:
$ID,523
$MISSION,4
$DIVE,377
$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,140
$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,-43357.074
$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,2690
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,213826,2103.189,-15756.852,66,0.7,67,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.3
$GPS2,214451,2103.222,-15756.838,19,1.5,19,9.8
$SPEED_LIMITS,0.157,0.244
$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,306.6,13083,-17.3,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.75,-136.3,0.0,0.0,0,90,0.00,0.00,-69.85,0.000,2,0.000,0.000,51,1939,3404,0,0,0,0,0,0
$GC,93,-0.75,-136.3,3.3,-4.9,11,115,9.73,2.30,-1.08,0.000,4,0.230,0.064,2431,3360,3459,0,0,0,0,0,0
$GC,219,-0.75,-136.3,30.6,-15.1,33,225,0.00,2.22,0.00,0.000,6,0.000,0.044,2432,1962,3460,0,0,0,0,0,0
$GC,548,-0.75,-136.3,76.0,-12.7,94,556,0.00,2.28,0.00,0.000,4,0.000,0.058,2431,547,3462,0,0,0,0,0,0
$GC,804,-0.75,-136.3,109.3,-12.7,120,811,0.00,2.15,0.00,0.000,6,0.000,0.033,2422,1968,3462,0,0,0,0,0,0
$GC,1139,-0.75,-136.3,144.0,-8.4,151,1143,0.00,2.25,0.00,0.000,4,0.000,0.052,2422,543,3463,0,0,0,0,0,0
$GC,1288,-0.75,-136.3,159.8,-10.9,164,1296,0.12,2.15,0.00,0.000,6,0.168,0.033,2446,1965,3463,0,0,0,0,0,0
$GC,1624,-0.75,-136.3,190.7,-9.1,195,1628,0.00,2.28,0.00,0.000,4,0.000,0.051,2446,540,3464,0,0,0,0,0,0
$GC,1761,-0.75,-136.3,204.8,-10.3,205,1766,0.00,2.15,0.00,0.000,6,0.000,0.033,2437,1963,3464,0,0,0,0,0,0
$GC,2086,-0.75,-136.3,232.1,-8.0,221,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1963,3464,0,0,0,0,0,0
$GC,2392,-0.75,-136.3,253.7,-7.3,236,2396,0.00,2.15,0.00,0.000,4,0.000,0.054,2428,3357,3464,0,0,0,0,0,0
$GC,2436,-0.75,-136.3,257.0,-6.5,238,2440,0.00,2.22,0.00,0.000,6,0.000,0.041,2428,1941,3464,0,0,0,0,0,0
$GC,2759,-0.75,-136.3,280.5,-8.5,254,2763,0.00,2.20,0.00,0.000,4,0.000,0.054,2428,542,3464,0,0,0,0,0,0
$GC,2838,-0.75,-136.3,287.8,-8.4,257,2845,0.10,2.15,0.00,0.000,6,0.172,0.035,2444,1962,3464,0,0,0,0,0,0
$GC,3154,-0.75,-136.3,308.0,-5.8,270,3158,0.00,2.28,0.00,0.000,4,0.000,0.053,2445,544,3463,0,0,0,0,0,0
$GC,3413,-0.75,-136.3,325.4,-6.2,275,3418,0.00,2.15,0.00,0.000,6,0.000,0.037,2437,1953,3463,0,0,0,0,0,0
$GC,3744,-0.75,-136.3,345.0,-6.1,284,3749,0.00,2.28,0.00,0.000,4,0.000,0.056,2437,549,3461,0,0,0,0,0,0
$GC,3864,-0.75,-136.3,353.6,-6.9,286,3868,0.00,2.17,0.00,0.000,6,0.000,0.038,2429,1963,3460,0,0,0,0,0,0
$GC,4202,-0.75,-136.3,373.8,-5.9,295,4206,0.00,2.25,0.00,0.000,4,0.000,0.058,2419,3371,3459,0,0,0,0,0,0
$GC,4269,-0.75,-136.3,378.2,-6.4,296,4273,0.10,2.22,0.00,0.000,6,0.153,0.041,2446,1953,3459,0,0,0,0,0,0
$GC,4606,-0.75,-136.3,395.8,-5.1,305,4610,0.00,2.25,0.00,0.000,4,0.000,0.061,2446,547,3456,0,0,0,0,0,0
$GC,4707,-0.75,-136.3,402.1,-6.3,307,4711,0.00,2.17,0.00,0.000,6,0.000,0.041,2439,1953,3456,0,0,0,0,0,0
$GC,5058,-0.75,-136.3,420.8,-5.0,316,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1953,3453,0,0,0,0,0,0
$GC,5382,-0.75,-136.3,434.1,-3.9,324,5386,0.00,2.33,0.00,0.000,4,0.000,0.061,2439,542,3451,0,0,0,0,0,0
$STATE,5406,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5407,begin apogee
$GC,5416,-0.17,0.0,435.4,4.6,324,5530,0.60,0.00,111.28,0.765,6,0.110,0.000,2630,1981,2900,0,0,0,0,0,0
$STATE,5531,end apogee,CONTROL_FINISHED_OK
$STATE,5531,begin climb
$GC,5534,0.75,136.3,434.7,0.0,327,5662,0.82,2.38,117.15,0.736,4,0.057,0.053,2933,3389,2343,0,0,0,0,0,0
$GC,5696,0.75,136.3,411.8,19.2,330,5701,0.00,2.30,0.00,0.000,6,0.000,0.044,2943,1980,2340,0,0,0,0,0,0
$GC,6027,0.75,136.3,347.3,18.8,339,6031,0.00,2.28,0.00,0.000,4,0.000,0.058,2943,3393,2335,0,0,0,0,0,0
$GC,6093,0.75,136.3,335.4,17.8,340,6097,0.00,2.25,0.00,0.000,6,0.000,0.042,2953,1966,2334,0,0,0,0,0,0
$GC,6417,0.75,136.3,283.1,15.1,351,6421,0.00,2.22,0.00,0.000,4,0.000,0.060,2964,566,2331,0,0,0,0,0,0
$GC,6445,0.75,136.3,278.5,15.4,352,6450,0.12,2.22,0.00,0.000,6,0.164,0.044,2933,1983,2330,0,0,0,0,0,0
$GC,6766,0.75,136.3,236.5,12.3,368,6769,0.00,2.20,0.00,0.000,4,0.000,0.053,2933,3390,2329,0,0,0,0,0,0
$GC,6883,0.75,136.3,220.7,14.8,373,6887,0.00,2.20,0.00,0.000,6,0.000,0.041,2941,1978,2329,0,0,0,0,0,0
$GC,7211,0.75,136.3,178.6,11.6,397,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1978,2328,0,0,0,0,0,0
$GC,7532,0.75,136.3,142.8,10.8,427,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1978,2327,0,0,0,0,0,0
$GC,7861,0.75,136.3,105.0,10.7,458,7865,0.00,2.22,0.00,0.000,4,0.000,0.051,2941,3392,2327,0,0,0,0,0,0
$GC,7894,0.75,136.3,100.7,11.5,460,7902,0.00,2.22,0.00,0.000,6,0.000,0.041,2951,1979,2328,0,0,0,0,0,0
$GC,8223,0.75,136.3,66.0,11.1,503,8229,0.00,2.20,0.00,0.000,4,0.000,0.053,2962,572,2327,0,0,0,0,0,0
$GC,8259,0.75,136.3,62.6,9.9,509,8265,0.12,2.17,0.00,0.000,6,0.150,0.035,2928,1999,2327,0,0,0,0,0,0
$GC,8589,0.82,195.0,37.9,6.4,570,8642,0.00,2.33,47.30,0.479,4,0.000,0.058,2937,569,2103,0,0,0,0,0,0
$GC,8702,0.84,209.8,29.6,8.4,589,8723,0.00,2.22,13.73,0.438,6,0.000,0.040,2936,1977,2043,0,0,0,0,0,0
$GC,8883,0.84,209.8,11.8,11.0,622,8891,0.00,2.25,0.00,0.000,4,0.000,0.051,2936,3390,2041,0,0,0,0,0,0
$GC,8927,0.84,209.8,6.7,11.9,629,8934,0.00,2.28,0.00,0.000,6,0.000,0.044,2945,1977,2041,0,0,0,0,0,0
$STATE,8960,end climb,SURFACE_DEPTH_REACHED
$STATE,8961,begin surface coast
$FINISH,0.6,1.010167
$STATE,8989,end surface coast,CONTROL_FINISHED_OK
$STATE,8989,begin surface
$SM_CCo,9007,33.92,0.432,0,0,1738,285.03
$SM_GC,1.27,0.00,0.00,33.92,0.000,0.000,0.432,33,1962,1738,-8.31,0.14,285.03
$IRIDIUM_FIX,2050.21,-15752.63,280802,191901
$TT8_MAMPS,0.028379
$HUMID,64.37
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.6,30.973
$10V_AH,10.4,33.949
$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,19.200,84.850,289.450,33.925,0.000,24.975,42.451,183.914,18.500,0.000,19.461,1166.397,5293.956,373.603,2091.167,499.163,0.000,1124.294,0.000,2044.662,0.000,116.766,0.000
$DEVICE_MAMPS,230.100,64.428,765.466,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,434.399,362.657,1232.616,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34885,640
$CAP_FILE_SIZE,99942,0
$CFSIZE,260165632,237228032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040613,001704,2104.122,-15757.924,35,0.9,35,9.8