version: 66.06
glider: 523
mission: 4
dive: 427
start: 6 9 113 11 38 44
data:
$ID,523
$MISSION,4
$DIVE,427
$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,-44455.316
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,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
$GPS1,113135,2102.625,-15757.259,14,0.9,14,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.8
$GPS2,113826,2102.585,-15757.299,19,1.1,19,9.8
$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,312.5,13457,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.65,0.000,6,0.000,0.000,45,1962,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.7,13,118,9.52,2.17,0.00,0.000,4,0.226,0.044,2382,3366,3396,0,0,0,0,0,0
$GC,215,-0.74,-146.0,32.5,-17.9,34,223,0.00,2.25,0.00,0.000,6,0.000,0.041,2382,1964,3398,0,0,0,0,0,0
$GC,556,-0.74,-146.0,86.1,-15.1,92,560,0.00,2.22,0.00,0.000,4,0.000,0.052,2373,3367,3399,0,0,0,0,0,0
$GC,586,-0.74,-146.0,90.3,-13.4,94,590,0.00,2.22,0.00,0.000,6,0.000,0.046,2373,1955,3399,0,0,0,0,0,0
$GC,919,-0.74,-146.0,132.0,-12.8,125,923,0.00,2.22,0.00,0.000,4,0.000,0.054,2373,546,3400,0,0,0,0,0,0
$GC,1171,-0.74,-146.0,163.3,-11.0,147,1179,0.10,2.17,0.00,0.000,6,0.143,0.032,2394,1965,3401,0,0,0,0,0,0
$GC,1498,-0.74,-146.0,194.4,-10.0,178,1503,0.00,2.25,0.00,0.000,4,0.000,0.051,2395,544,3401,0,0,0,0,0,0
$GC,1598,-0.74,-146.0,204.9,-9.3,185,1602,0.00,2.15,0.00,0.000,6,0.000,0.033,2387,1962,3401,0,0,0,0,0,0
$GC,1923,-0.74,-146.0,233.1,-9.0,201,1927,0.00,2.28,0.00,0.000,4,0.000,0.051,2387,544,3402,0,0,0,0,0,0
$GC,2158,-0.74,-146.0,251.9,-7.3,211,2164,0.00,2.15,0.00,0.000,6,0.000,0.034,2377,1959,3402,0,0,0,0,0,0
$GC,2477,-0.74,-146.0,275.6,-7.3,227,2481,0.00,2.22,0.00,0.000,4,0.000,0.054,2367,3359,3402,0,0,0,0,0,0
$GC,2572,-0.74,-146.0,281.5,-5.9,231,2577,0.12,2.22,0.00,0.000,6,0.149,0.041,2400,1944,3402,0,0,0,0,0,0
$GC,2919,-0.74,-146.0,303.1,-6.9,247,2923,0.00,2.22,0.00,0.000,4,0.000,0.054,2400,539,3401,0,0,0,0,0,0
$GC,3176,-0.74,-146.0,324.8,-8.0,252,3185,0.00,2.15,0.00,0.000,6,0.000,0.035,2392,1959,3401,0,0,0,0,0,0
$GC,3509,-0.74,-146.0,352.3,-8.4,261,3513,0.00,2.28,0.00,0.000,4,0.000,0.054,2392,548,3400,0,0,0,0,0,0
$GC,3716,-0.74,-146.0,369.2,-8.2,265,3720,0.00,2.15,0.00,0.000,6,0.000,0.037,2382,1961,3398,0,0,0,0,0,0
$GC,4050,-0.74,-146.0,391.8,-7.0,273,4054,0.00,2.28,0.00,0.000,4,0.000,0.055,2382,544,3396,0,0,0,0,0,0
$GC,4310,-0.74,-146.0,411.4,-7.5,278,4316,0.00,2.20,0.00,0.000,6,0.000,0.039,2373,1965,3395,0,0,0,0,0,0
$GC,4642,-0.74,-146.0,435.6,-7.3,287,4647,0.10,2.33,0.00,0.000,4,0.168,0.058,2398,548,3392,0,0,0,0,0,0
$STATE,4826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4826,begin apogee
$GC,4835,-0.17,0.0,450.4,8.8,291,4959,0.57,0.00,120.32,0.765,6,0.120,0.000,2578,1983,2800,0,0,0,0,0,0
$STATE,4960,end apogee,CONTROL_FINISHED_OK
$STATE,4960,begin climb
$GC,4963,0.74,146.0,452.7,0.0,294,5100,0.85,2.45,126.62,0.741,4,0.081,0.058,2880,583,2203,0,0,0,0,0,0
$GC,5117,0.74,146.0,438.2,12.0,297,5121,0.00,2.28,0.00,0.000,6,0.000,0.040,2880,1982,2200,0,0,0,0,0,0
$GC,5448,0.74,146.0,391.7,14.2,305,5452,0.00,2.25,0.00,0.000,4,0.000,0.052,2880,3397,2196,0,0,0,0,0,0
$GC,5482,0.74,146.0,386.6,15.6,305,5487,0.00,2.30,0.00,0.000,6,0.000,0.048,2890,1977,2195,0,0,0,0,0,0
$GC,5813,0.74,146.0,339.0,13.8,314,5817,0.00,2.30,0.00,0.000,4,0.000,0.057,2890,3390,2194,0,0,0,0,0,0
$GC,5829,0.74,146.0,336.9,13.5,314,5833,0.00,2.28,0.00,0.000,6,0.000,0.048,2899,1977,2193,0,0,0,0,0,0
$GC,6158,0.74,146.0,290.5,13.9,324,6162,0.00,2.28,0.00,0.000,4,0.000,0.060,2910,568,2192,0,0,0,0,0,0
$GC,6219,0.74,146.0,281.7,14.3,327,6224,0.12,2.22,0.00,0.000,6,0.146,0.044,2876,1984,2191,0,0,0,0,0,0
$GC,6546,0.74,146.0,245.2,11.6,343,6550,0.00,2.20,0.00,0.000,4,0.000,0.051,2876,3396,2190,0,0,0,0,0,0
$GC,6630,0.74,146.0,234.7,12.8,346,6635,0.00,2.25,0.00,0.000,6,0.000,0.041,2884,1973,2190,0,0,0,0,0,0
$GC,6945,0.74,146.0,201.5,10.5,362,6949,0.00,2.22,0.00,0.000,4,0.000,0.060,2895,572,2189,0,0,0,0,0,0
$GC,6963,0.74,146.0,199.6,10.9,363,6967,0.00,2.20,0.00,0.000,6,0.000,0.039,2894,1994,2188,0,0,0,0,0,0
$GC,7290,0.74,146.0,165.0,10.6,393,7294,0.00,2.15,0.00,0.000,4,0.000,0.052,2894,3384,2188,0,0,0,0,0,0
$GC,7397,0.74,146.0,151.5,13.0,402,7405,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,1980,2187,0,0,0,0,0,0
$GC,7724,0.74,146.0,116.2,9.8,433,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1980,2188,0,0,0,0,0,0
$GC,8045,0.74,146.0,82.6,9.3,463,8049,0.00,2.25,0.00,0.000,4,0.000,0.058,2910,564,2187,0,0,0,0,0,0
$GC,8066,0.76,164.4,80.5,8.3,464,8085,0.00,2.20,14.43,0.496,6,0.000,0.037,2910,1976,2128,0,0,0,0,0,0
$GC,8416,0.77,175.8,51.1,8.6,527,8434,0.00,2.22,10.98,0.456,4,0.000,0.051,2910,3386,2082,0,0,0,0,0,0
$GC,8555,0.82,216.9,37.7,7.3,552,8598,0.00,2.28,35.62,0.473,6,0.000,0.046,2919,1984,1913,0,0,0,0,0,0
$STATE,8912,end climb,SURFACE_DEPTH_REACHED
$STATE,8912,begin surface coast
$FINISH,0.6,1.023479
$STATE,8939,end surface coast,CONTROL_FINISHED_OK
$STATE,8939,begin surface
$SM_CCo,8957,38.20,0.432,0,0,1575,300.24
$SM_GC,1.51,0.00,0.00,38.20,0.000,0.000,0.432,46,1977,1575,-8.11,0.57,300.24
$IRIDIUM_FIX,2057.14,-15756.91,030902,090932
$TT8_MAMPS,0.028379
$HUMID,65.63
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.5,35.208
$10V_AH,10.4,38.669
$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,18.750,84.975,307.975,38.200,0.000,34.065,42.154,197.974,19.250,0.000,19.864,1156.270,5172.859,394.333,2161.734,519.662,0.000,1167.246,0.000,2104.150,0.000,119.156,0.000
$DEVICE_MAMPS,226.265,59.826,765.466,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,423.020,350.508,1196.172,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,34982,623
$CAP_FILE_SIZE,100895,0
$CFSIZE,260165632,234770432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090613,140959,2103.127,-15758.820,40,1.0,40,9.8