version: 66.06
glider: 523
mission: 4
dive: 440
start: 6 10 113 22 58 58
data:
$ID,523
$MISSION,4
$DIVE,440
$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,-44715.223
$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,35
$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,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
$GPS1,225243,2108.282,-15756.597,23,1.8,23,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.9
$GPS2,225841,2108.221,-15756.679,17,1.8,17,9.8
$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,90.8,24190,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.10,0.000,2,0.000,0.000,50,1939,3341,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.9,12,120,9.48,2.28,-1.17,0.000,4,0.225,0.067,2389,550,3398,0,0,0,0,0,0
$GC,273,-0.74,-146.0,38.8,-15.1,43,279,0.00,2.17,0.00,0.000,6,0.000,0.035,2381,1965,3399,0,0,0,0,0,0
$GC,607,-0.74,-146.0,85.9,-12.9,100,611,0.00,2.28,0.00,0.000,4,0.000,0.054,2381,548,3399,0,0,0,0,0,0
$GC,859,-0.74,-146.0,120.7,-14.1,122,866,0.00,2.15,0.00,0.000,6,0.000,0.034,2372,1949,3400,0,0,0,0,0,0
$GC,1186,-0.74,-146.0,158.6,-10.5,153,1191,0.12,2.28,0.00,0.000,4,0.163,0.051,2405,551,3401,0,0,0,0,0,0
$GC,1382,-0.74,-146.0,178.2,-9.5,170,1386,0.00,2.12,0.00,0.000,6,0.000,0.033,2397,1970,3402,0,0,0,0,0,0
$GC,1705,-0.74,-146.0,211.5,-11.0,195,1709,0.00,2.20,0.00,0.000,4,0.000,0.053,2387,3364,3402,0,0,0,0,0,0
$GC,1754,-0.74,-146.0,216.7,-9.3,197,1758,0.00,2.22,0.00,0.000,6,0.000,0.043,2386,1958,3402,0,0,0,0,0,0
$GC,2073,-0.74,-146.0,242.2,-7.4,212,2077,0.00,2.25,0.00,0.000,4,0.000,0.053,2387,544,3402,0,0,0,0,0,0
$GC,2226,-0.74,-146.0,255.9,-8.6,219,2230,0.00,2.12,0.00,0.000,6,0.000,0.033,2377,1955,3402,0,0,0,0,0,0
$GC,2560,-0.74,-146.0,281.8,-6.6,235,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1955,3402,0,0,0,0,0,0
$GC,2870,-0.74,-146.0,300.2,-5.7,250,2874,0.00,2.30,0.00,0.000,4,0.000,0.054,2377,538,3402,0,0,0,0,0,0
$GC,3128,-0.74,-146.0,318.8,-8.3,255,3134,0.12,2.17,0.00,0.000,6,0.164,0.036,2398,1965,3402,0,0,0,0,0,0
$GC,3460,-0.74,-146.0,343.7,-7.6,264,3464,0.00,2.33,0.00,0.000,4,0.000,0.056,2400,538,3401,0,0,0,0,0,0
$GC,3556,-0.74,-146.0,351.1,-7.4,266,3560,0.00,2.15,0.00,0.000,6,0.000,0.037,2392,1954,3401,0,0,0,0,0,0
$GC,3870,-0.74,-146.0,370.7,-6.2,274,3874,0.00,2.28,0.00,0.000,4,0.000,0.057,2392,548,3399,0,0,0,0,0,0
$GC,4016,-0.74,-146.0,381.9,-8.2,277,4020,0.00,2.17,0.00,0.000,6,0.000,0.039,2382,1954,3398,0,0,0,0,0,0
$GC,4366,-0.74,-146.0,404.2,-6.3,286,4370,0.00,2.30,0.00,0.000,4,0.000,0.058,2382,543,3396,0,0,0,0,0,0
$GC,4438,-0.74,-146.0,409.4,-6.9,287,4442,0.00,2.20,0.00,0.000,6,0.000,0.041,2373,1961,3395,0,0,0,0,0,0
$GC,4772,-0.74,-146.0,431.7,-6.8,295,4776,0.00,2.28,0.00,0.000,4,0.000,0.058,2373,549,3393,0,0,0,0,0,0
$STATE,5012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5012,begin apogee
$GC,5021,-0.17,0.0,450.3,7.6,300,5146,0.68,0.00,121.07,0.766,6,0.124,0.000,2579,1981,2800,0,0,0,0,0,0
$STATE,5146,end apogee,CONTROL_FINISHED_OK
$STATE,5146,begin climb
$GC,5149,0.74,146.0,451.8,0.0,303,5286,0.88,2.38,126.43,0.739,4,0.077,0.058,2875,3393,2203,0,0,0,0,0,0
$GC,5314,0.74,146.0,433.7,12.8,307,5319,0.00,2.35,0.00,0.000,6,0.000,0.048,2884,1976,2200,0,0,0,0,0,0
$GC,5651,0.74,146.0,391.9,12.8,316,5655,0.00,2.33,0.00,0.000,4,0.000,0.067,2894,561,2196,0,0,0,0,0,0
$GC,5678,0.74,146.0,388.2,13.1,316,5682,0.00,2.25,0.00,0.000,6,0.000,0.043,2895,1980,2196,0,0,0,0,0,0
$GC,6010,0.74,146.0,339.5,14.8,324,6014,0.00,2.25,0.00,0.000,4,0.000,0.059,2895,3389,2194,0,0,0,0,0,0
$GC,6099,0.74,146.0,325.5,15.9,326,6103,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,1969,2192,0,0,0,0,0,0
$GC,6419,0.74,146.0,281.3,13.2,337,6423,0.00,2.25,0.00,0.000,4,0.000,0.060,2914,573,2192,0,0,0,0,0,0
$GC,6497,0.74,146.0,271.7,12.7,340,6504,0.12,2.17,0.00,0.000,6,0.145,0.038,2881,1987,2191,0,0,0,0,0,0
$GC,6813,0.74,146.0,236.7,10.0,356,6817,0.00,2.17,0.00,0.000,4,0.000,0.052,2881,3388,2190,0,0,0,0,0,0
$GC,6953,0.74,146.0,220.0,11.6,362,6958,0.00,2.20,0.00,0.000,6,0.000,0.039,2889,1969,2189,0,0,0,0,0,0
$GC,7275,0.74,146.0,186.7,11.1,382,7279,0.00,2.22,0.00,0.000,4,0.000,0.058,2899,575,2188,0,0,0,0,0,0
$GC,7315,0.74,146.0,182.3,10.9,385,7319,0.00,2.17,0.00,0.000,6,0.000,0.038,2899,1994,2188,0,0,0,0,0,0
$GC,7642,0.74,146.0,142.5,12.7,415,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1994,2188,0,0,0,0,0,0
$GC,7963,0.74,146.0,101.9,12.7,445,7967,0.00,2.20,0.00,0.000,4,0.000,0.051,2900,3389,2188,0,0,0,0,0,0
$GC,8048,0.74,146.0,91.1,11.4,452,8056,0.08,2.22,0.00,0.000,6,0.131,0.039,2882,1991,2187,0,0,0,0,0,0
$GC,8382,0.79,191.2,61.5,7.2,501,8429,0.00,2.33,36.47,0.501,4,0.000,0.057,2881,3387,2018,0,0,0,0,0,0
$GC,8530,0.79,191.2,47.8,9.8,527,8535,0.00,2.20,0.00,0.000,6,0.000,0.038,2889,1975,2016,0,0,0,0,0,0
$GC,8857,0.83,223.9,23.1,7.7,588,8890,0.00,2.22,28.05,0.458,4,0.000,0.051,2898,573,1888,0,0,0,0,0,0
$GC,8919,0.85,236.1,17.5,8.5,598,8940,0.00,2.20,11.93,0.423,6,0.000,0.033,2898,1984,1837,0,0,0,0,0,0
$STATE,9081,end climb,SURFACE_DEPTH_REACHED
$STATE,9081,begin surface coast
$FINISH,0.5,1.023220
$STATE,9114,end surface coast,CONTROL_FINISHED_OK
$STATE,9114,begin surface
$SM_CCo,9132,31.38,0.431,0,0,1576,300.24
$SM_GC,1.05,0.00,0.00,31.38,0.000,0.000,0.431,29,1985,1576,-8.16,0.79,300.24
$IRIDIUM_FIX,2057.14,-15756.91,040902,202058
$TT8_MAMPS,0.028379
$HUMID,65.31
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,4
$24V_AH,24.5,36.281
$10V_AH,10.4,39.908
$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,18.775,84.875,323.950,31.375,0.000,26.410,34.239,161.782,19.750,0.000,18.351,1170.086,5309.000,387.510,2181.076,472.421,0.000,1181.496,0.000,2130.935,0.000,117.248,0.000
$DEVICE_MAMPS,225.498,67.496,766.233,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,429.972,360.166,1214.224,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34986,634
$CAP_FILE_SIZE,101735,0
$CFSIZE,260165632,234131456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110613,013258,2108.036,-15755.565,37,0.8,37,9.8