version: 66.06
glider: 523
mission: 4
dive: 487
start: 6 16 113 10 2 35
data:
$ID,523
$MISSION,4
$DIVE,487
$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,-45727.973
$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,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
$GPS1,095622,2108.262,-15758.951,67,0.9,67,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.5
$GPS2,100218,2108.248,-15758.991,17,1.0,17,9.8
$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,89.4,28135,-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,-75.95,0.000,2,0.000,0.000,36,1983,3350,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-4.1,12,119,9.62,2.40,-1.02,0.000,4,0.230,0.063,2392,542,3398,0,0,0,0,0,0
$GC,185,-0.74,-146.0,24.2,-21.5,27,192,0.00,2.22,0.00,0.000,6,0.000,0.035,2384,1966,3399,0,0,0,0,0,0
$GC,355,-0.74,-146.0,53.6,-16.1,58,363,0.00,2.35,0.00,0.000,4,0.000,0.053,2384,554,3400,0,0,0,0,0,0
$GC,391,-0.74,-146.0,60.1,-17.5,64,398,0.00,2.20,0.00,0.000,6,0.000,0.036,2375,1959,3399,0,0,0,0,0,0
$GC,723,-0.74,-146.0,101.5,-11.2,108,727,0.00,2.28,0.00,0.000,4,0.000,0.052,2375,543,3400,0,0,0,0,0,0
$GC,971,-0.74,-146.0,133.5,-12.7,130,976,0.15,2.17,0.00,0.000,6,0.163,0.033,2404,1972,3401,0,0,0,0,0,0
$GC,1298,-0.74,-146.0,168.1,-9.9,160,1302,0.00,2.28,0.00,0.000,4,0.000,0.051,2404,545,3402,0,0,0,0,0,0
$GC,1473,-0.74,-146.0,185.0,-8.7,175,1477,0.00,2.15,0.00,0.000,6,0.000,0.033,2396,1966,3402,0,0,0,0,0,0
$GC,1810,-0.74,-146.0,209.7,-6.7,200,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1966,3403,0,0,0,0,0,0
$GC,2120,-0.74,-146.0,234.0,-8.2,215,2124,0.00,2.28,0.00,0.000,4,0.000,0.051,2396,541,3403,0,0,0,0,0,0
$GC,2363,-0.74,-146.0,256.9,-9.2,226,2367,0.00,2.17,0.00,0.000,6,0.000,0.034,2386,1966,3403,0,0,0,0,0,0
$GC,2692,-0.74,-146.0,281.3,-6.8,242,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1966,3403,0,0,0,0,0,0
$GC,2999,-0.74,-146.0,302.7,-5.9,256,3003,0.00,2.30,0.00,0.000,4,0.000,0.053,2385,545,3403,0,0,0,0,0,0
$GC,3144,-0.74,-146.0,312.7,-8.3,259,3148,0.00,2.15,0.00,0.000,6,0.000,0.035,2377,1963,3402,0,0,0,0,0,0
$GC,3495,-0.74,-146.0,342.0,-8.0,268,3499,0.00,2.25,0.00,0.000,4,0.000,0.058,2366,3358,3401,0,0,0,0,0,0
$GC,3590,-0.74,-146.0,348.8,-6.9,270,3595,0.12,2.22,0.00,0.000,6,0.146,0.043,2399,1951,3402,0,0,0,0,0,0
$GC,3905,-0.74,-146.0,369.9,-7.1,278,3910,0.00,2.25,0.00,0.000,4,0.000,0.058,2399,547,3399,0,0,0,0,0,0
$GC,4127,-0.74,-146.0,387.5,-8.0,282,4132,0.00,2.15,0.00,0.000,6,0.000,0.037,2391,1958,3398,0,0,0,0,0,0
$GC,4458,-0.74,-146.0,410.8,-7.4,291,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1958,3396,0,0,0,0,0,0
$GC,4783,-0.74,-146.0,435.0,-6.9,299,4787,0.00,2.30,0.00,0.000,4,0.000,0.058,2391,542,3394,0,0,0,0,0,0
$GC,4906,-0.74,-146.0,444.2,-7.1,301,4912,0.00,2.20,0.00,0.000,6,0.000,0.039,2381,1960,3393,0,0,0,0,0,0
$STATE,5235,end dive,NO_VERTICAL_VELOCITY
$STATE,5235,begin apogee
$GC,5241,-0.17,0.0,447.7,0.0,310,5365,0.57,0.00,120.75,0.759,6,0.064,0.000,2597,1961,2800,0,0,0,0,0,0
$STATE,5366,end apogee,CONTROL_FINISHED_OK
$STATE,5366,begin climb
$GC,5369,0.74,146.0,446.8,0.0,313,5507,0.80,2.45,126.50,0.734,4,0.072,0.058,2888,575,2203,0,0,0,0,0,0
$GC,5671,0.74,146.0,409.3,15.8,320,5675,0.00,2.22,0.00,0.000,6,0.000,0.037,2888,1982,2198,0,0,0,0,0,0
$GC,5995,0.74,146.0,365.3,13.6,328,5999,0.00,2.25,0.00,0.000,4,0.000,0.058,2888,3386,2195,0,0,0,0,0,0
$GC,6135,0.74,146.0,345.0,13.3,331,6139,0.00,2.22,0.00,0.000,6,0.000,0.042,2897,1978,2193,0,0,0,0,0,0
$GC,6447,0.74,146.0,300.3,14.9,339,6451,0.00,2.25,0.00,0.000,4,0.000,0.054,2897,3392,2193,0,0,0,0,0,0
$GC,6489,0.74,146.0,294.5,14.8,340,6493,0.00,2.30,0.00,0.000,6,0.000,0.051,2906,1976,2192,0,0,0,0,0,0
$GC,6816,0.74,146.0,251.8,13.0,356,6820,0.00,2.25,0.00,0.000,4,0.000,0.061,2916,569,2191,0,0,0,0,0,0
$GC,6900,0.74,146.0,240.8,12.2,360,6905,0.15,2.20,0.00,0.000,6,0.131,0.041,2873,1989,2190,0,0,0,0,0,0
$GC,7232,0.74,146.0,207.8,9.4,376,7236,0.00,2.17,0.00,0.000,4,0.000,0.052,2873,3386,2189,0,0,0,0,0,0
$GC,7327,0.74,146.0,197.5,11.5,380,7335,0.00,2.25,0.00,0.000,6,0.000,0.041,2881,1976,2189,0,0,0,0,0,0
$GC,7655,0.74,146.0,165.2,9.5,411,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1976,2188,0,0,0,0,0,0
$GC,7975,0.74,146.0,132.6,11.1,441,7979,0.00,2.25,0.00,0.000,4,0.000,0.058,2891,566,2189,0,0,0,0,0,0
$GC,8038,0.74,146.0,125.4,10.7,446,8042,0.00,2.20,0.00,0.000,6,0.000,0.038,2891,1988,2188,0,0,0,0,0,0
$GC,8365,0.74,146.0,92.5,9.4,476,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1988,2188,0,0,0,0,0,0
$GC,8683,0.81,206.9,65.8,6.5,522,8741,0.00,2.25,49.55,0.498,4,0.000,0.052,2891,3383,1954,0,0,0,0,0,0
$GC,8943,0.81,206.9,43.6,9.6,569,8949,0.00,2.25,0.00,0.000,6,0.000,0.044,2893,1974,1952,0,0,0,0,0,0
$GC,9271,0.84,228.8,16.7,8.1,630,9298,0.00,0.00,19.58,0.436,6,0.000,0.000,2893,1975,1866,0,0,0,0,0,0
$STATE,9431,end climb,SURFACE_DEPTH_REACHED
$STATE,9431,begin surface coast
$FINISH,0.8,1.023155
$STATE,9463,end surface coast,CONTROL_FINISHED_OK
$STATE,9463,begin surface
$SM_CCo,9481,33.92,0.425,0,0,1576,300.24
$SM_GC,1.40,0.00,0.00,33.92,0.000,0.000,0.425,46,1970,1576,-8.11,0.37,300.24
$IRIDIUM_FIX,2101.76,-15756.04,100902,070712
$TT8_MAMPS,0.028379
$HUMID,64.80
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,380.1,59.4
$24V_AH,24.5,40.422
$10V_AH,10.4,44.519
$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,18.850,71.850,316.375,33.925,0.000,28.826,40.470,150.349,16.000,0.000,18.232,1206.705,5546.829,382.729,2262.762,469.654,0.000,1180.831,0.000,2215.886,0.000,102.441,0.000
$DEVICE_MAMPS,230.100,62.894,759.330,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,451.328,376.847,1305.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38142,665
$CAP_FILE_SIZE,98773,0
$CFSIZE,260165632,231751680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,124228,2108.502,-15758.091,37,0.8,37,9.8