version: 66.06
glider: 523
mission: 4
dive: 439
start: 6 10 113 20 20 21
data:
$ID,523
$MISSION,4
$DIVE,439
$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,-44696.242
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,201405,2108.391,-15757.874,39,0.9,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.5
$GPS2,202005,2108.317,-15757.952,23,0.9,23,9.8
$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,90.3,26387,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.95,0.000,2,0.000,0.000,36,1984,3369,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.3,12,113,9.50,2.33,-0.57,0.000,4,0.225,0.061,2393,541,3396,0,0,0,0,0,0
$GC,169,-0.74,-146.0,20.1,-18.3,24,176,0.00,2.22,0.00,0.000,6,0.000,0.035,2384,1967,3398,0,0,0,0,0,0
$GC,342,-0.74,-146.0,49.3,-16.1,55,347,0.00,2.30,0.00,0.000,4,0.000,0.054,2385,541,3398,0,0,0,0,0,0
$GC,399,-0.74,-146.0,59.7,-18.3,65,405,0.00,2.17,0.00,0.000,6,0.000,0.036,2375,1963,3398,0,0,0,0,0,0
$GC,734,-0.74,-146.0,108.5,-12.4,107,738,0.00,2.30,0.00,0.000,4,0.000,0.053,2375,534,3399,0,0,0,0,0,0
$GC,986,-0.74,-146.0,142.5,-12.3,129,995,0.10,2.20,0.00,0.000,6,0.143,0.034,2397,1962,3399,0,0,0,0,0,0
$GC,1313,-0.74,-146.0,173.5,-9.3,160,1317,0.00,2.28,0.00,0.000,4,0.000,0.050,2397,538,3401,0,0,0,0,0,0
$GC,1531,-0.74,-146.0,194.8,-9.0,179,1535,0.00,2.15,0.00,0.000,6,0.000,0.035,2389,1962,3401,0,0,0,0,0,0
$GC,1864,-0.74,-146.0,226.4,-9.3,198,1868,0.00,2.28,0.00,0.000,4,0.000,0.051,2389,541,3401,0,0,0,0,0,0
$GC,1988,-0.74,-146.0,237.2,-9.1,203,1994,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1969,3401,0,0,0,0,0,0
$GC,2307,-0.74,-146.0,261.6,-7.8,219,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1969,3401,0,0,0,0,0,0
$GC,2614,-0.74,-146.0,281.6,-6.9,234,2618,0.00,2.28,0.00,0.000,4,0.000,0.052,2379,544,3401,0,0,0,0,0,0
$GC,2681,-0.74,-146.0,287.2,-8.2,237,2686,0.12,2.12,0.00,0.000,6,0.165,0.035,2403,1955,3401,0,0,0,0,0,0
$GC,3003,-0.74,-146.0,308.7,-6.8,250,3007,0.00,2.28,0.00,0.000,4,0.000,0.055,2403,547,3401,0,0,0,0,0,0
$GC,3198,-0.74,-146.0,323.0,-7.6,254,3202,0.00,2.15,0.00,0.000,6,0.000,0.038,2395,1962,3401,0,0,0,0,0,0
$GC,3540,-0.74,-146.0,349.0,-7.7,263,3544,0.00,2.30,0.00,0.000,4,0.000,0.055,2395,540,3399,0,0,0,0,0,0
$GC,3800,-0.74,-146.0,369.9,-6.8,268,3807,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1962,3397,0,0,0,0,0,0
$GC,4133,-0.74,-146.0,390.2,-6.2,277,4137,0.00,2.28,0.00,0.000,4,0.000,0.056,2385,547,3396,0,0,0,0,0,0
$GC,4379,-0.74,-146.0,407.4,-7.7,282,4383,0.00,2.20,0.00,0.000,6,0.000,0.040,2376,1963,3394,0,0,0,0,0,0
$GC,4722,-0.74,-146.0,433.8,-7.9,291,4726,0.00,2.22,0.00,0.000,4,0.000,0.059,2366,3368,3392,0,0,0,0,0,0
$STATE,4910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4910,begin apogee
$GC,4920,-0.17,0.0,450.4,8.3,295,5044,0.68,0.00,120.62,0.756,6,0.127,0.000,2581,1971,2800,0,0,0,0,0,0
$STATE,5045,end apogee,CONTROL_FINISHED_OK
$STATE,5045,begin climb
$GC,5048,0.74,146.0,452.4,0.0,298,5183,0.85,2.45,126.70,0.735,4,0.086,0.056,2869,3388,2203,0,0,0,0,0,0
$GC,5222,0.74,146.0,433.3,14.3,302,5226,0.00,2.33,0.00,0.000,6,0.000,0.044,2878,1980,2200,0,0,0,0,0,0
$GC,5534,0.74,146.0,391.2,13.5,310,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1980,2197,0,0,0,0,0,0
$GC,5859,0.74,146.0,345.9,13.6,318,5863,0.00,2.30,0.00,0.000,4,0.000,0.067,2888,570,2195,0,0,0,0,0,0
$GC,5904,0.74,146.0,339.6,13.9,319,5908,0.00,2.22,0.00,0.000,6,0.000,0.041,2888,1981,2194,0,0,0,0,0,0
$GC,6223,0.74,146.0,294.1,14.5,328,6227,0.00,2.25,0.00,0.000,4,0.000,0.058,2889,3397,2192,0,0,0,0,0,0
$GC,6250,0.74,146.0,290.2,13.8,329,6254,0.00,2.30,0.00,0.000,6,0.000,0.050,2898,1969,2191,0,0,0,0,0,0
$GC,6566,0.74,146.0,246.3,14.4,344,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1969,2191,0,0,0,0,0,0
$GC,6875,0.74,146.0,206.2,11.5,359,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1969,2190,0,0,0,0,0,0
$GC,7194,0.74,146.0,175.4,9.4,386,7198,0.00,2.30,0.00,0.000,4,0.000,0.059,2898,3392,2189,0,0,0,0,0,0
$GC,7267,0.74,146.0,167.8,10.4,392,7271,0.00,2.28,0.00,0.000,6,0.000,0.051,2906,1980,2188,0,0,0,0,0,0
$GC,7594,0.74,146.0,135.2,10.3,422,7598,0.00,2.25,0.00,0.000,4,0.000,0.058,2912,558,2187,0,0,0,0,0,0
$GC,7645,0.74,146.0,129.7,10.6,426,7650,0.12,2.22,0.00,0.000,6,0.137,0.041,2877,1983,2187,0,0,0,0,0,0
$GC,7973,0.74,146.0,95.3,9.5,456,7977,0.00,2.17,0.00,0.000,4,0.000,0.051,2877,3393,2188,0,0,0,0,0,0
$GC,8091,0.74,146.0,83.2,9.7,466,8098,0.00,2.25,0.00,0.000,6,0.000,0.045,2884,1980,2188,0,0,0,0,0,0
$GC,8421,0.79,190.3,56.2,7.2,524,8463,0.00,2.25,35.60,0.487,4,0.000,0.056,2894,569,2023,0,0,0,0,0,0
$GC,8537,0.81,205.0,46.7,8.4,544,8557,0.00,2.22,13.73,0.451,6,0.000,0.039,2894,1978,1963,0,0,0,0,0,0
$GC,8881,0.87,254.7,16.6,7.0,607,8934,0.00,2.28,42.95,0.450,4,0.000,0.053,2894,3387,1759,0,0,0,0,0,0
$STATE,9018,end climb,SURFACE_DEPTH_REACHED
$STATE,9018,begin surface coast
$FINISH,0.9,1.023202
$STATE,9036,end surface coast,CONTROL_FINISHED_OK
$STATE,9036,begin surface
$SM_CCo,9056,22.80,0.420,0,0,1576,300.24
$SM_GC,1.66,0.00,0.00,22.80,0.000,0.000,0.420,50,1939,1576,-8.10,-0.51,300.24
$IRIDIUM_FIX,2057.14,-15734.18,040902,171753
$TT8_MAMPS,0.028379
$HUMID,64.29
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.5,36.199
$10V_AH,10.5,39.815
$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,18.700,81.000,339.600,22.800,0.000,30.283,36.230,153.236,19.250,0.000,23.878,1159.032,5248.635,400.907,2165.289,462.215,0.000,1170.137,0.000,2108.287,0.000,121.857,0.000
$DEVICE_MAMPS,224.731,66.729,756.262,419.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,429.613,365.308,1245.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34986,634
$CAP_FILE_SIZE,98680,0
$CFSIZE,260165632,234180608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100613,225243,2108.282,-15756.597,23,1.8,23,9.8