version: 66.06
glider: 523
mission: 4
dive: 528
start: 6 21 113 11 6 10
data:
$ID,523
$MISSION,4
$DIVE,528
$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,-46524.367
$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,23
$R_STBD_OVSHOOT,30
$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
$GPS1,105235,2104.556,-15800.462,40,0.8,40,9.8
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.1
$GPS2,110553,2104.696,-15800.647,14,1.0,14,9.8
$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,330.2,7169,-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,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.78,0.000,2,0.000,0.000,37,1969,3370,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.5,12,113,9.68,2.25,-0.57,0.000,4,0.225,0.061,2382,3364,3396,0,0,0,0,0,0
$GC,212,-0.74,-146.0,23.5,-14.2,32,219,0.00,2.25,0.00,0.000,6,0.000,0.042,2382,1954,3398,0,0,0,0,0,0
$GC,384,-0.74,-146.0,49.3,-13.4,63,390,0.00,2.25,0.00,0.000,4,0.000,0.058,2382,545,3398,0,0,0,0,0,0
$GC,565,-0.74,-146.0,75.1,-12.6,96,572,0.00,2.20,0.00,0.000,6,0.000,0.035,2373,1956,3398,0,0,0,0,0,0
$GC,895,-0.74,-146.0,113.3,-11.2,130,899,0.00,2.22,0.00,0.000,4,0.000,0.054,2373,546,3399,0,0,0,0,0,0
$GC,1091,-0.74,-146.0,136.7,-12.2,147,1096,0.15,2.17,0.00,0.000,6,0.160,0.035,2402,1968,3399,0,0,0,0,0,0
$GC,1418,-0.74,-146.0,166.4,-8.0,177,1422,0.00,2.28,0.00,0.000,4,0.000,0.053,2402,544,3400,0,0,0,0,0,0
$GC,1503,-0.74,-146.0,173.9,-8.8,184,1507,0.00,2.15,0.00,0.000,6,0.000,0.035,2394,1961,3400,0,0,0,0,0,0
$GC,1831,-0.74,-146.0,200.4,-7.6,214,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1961,3400,0,0,0,0,0,0
$GC,2138,-0.74,-146.0,224.9,-8.2,229,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1961,3400,0,0,0,0,0,0
$GC,2449,-0.74,-146.0,252.1,-8.3,244,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1961,3400,0,0,0,0,0,0
$GC,2758,-0.74,-146.0,273.0,-5.5,259,2762,0.00,2.30,0.00,0.000,4,0.000,0.052,2394,545,3400,0,0,0,0,0,0
$GC,3016,-0.74,-146.0,288.0,-6.0,270,3022,0.00,2.17,0.00,0.000,6,0.000,0.035,2385,1961,3399,0,0,0,0,0,0
$GC,3353,-0.74,-146.0,313.3,-7.8,283,3357,0.00,2.30,0.00,0.000,4,0.000,0.054,2385,544,3398,0,0,0,0,0,0
$GC,3610,-0.74,-146.0,334.0,-6.6,288,3616,0.00,2.17,0.00,0.000,6,0.000,0.037,2375,1956,3397,0,0,0,0,0,0
$GC,3944,-0.74,-146.0,352.8,-5.1,297,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3395,0,0,0,0,0,0
$GC,4267,-0.74,-146.0,371.0,-6.1,305,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3393,0,0,0,0,0,0
$GC,4592,-0.74,-146.0,391.3,-6.0,313,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3391,0,0,0,0,0,0
$GC,4919,-0.74,-146.0,417.9,-8.9,321,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1956,3389,0,0,0,0,0,0
$GC,5242,-0.74,-146.0,445.7,-8.4,329,5246,0.00,2.30,0.00,0.000,4,0.000,0.059,2375,536,3387,0,0,0,0,0,0
$STATE,5296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5296,begin apogee
$GC,5306,-0.17,0.0,450.3,8.1,330,5431,0.68,0.00,121.32,0.757,6,0.123,0.000,2581,1984,2800,0,0,0,0,0,0
$STATE,5431,end apogee,CONTROL_FINISHED_OK
$STATE,5432,begin climb
$GC,5434,0.74,146.0,452.8,0.0,333,5573,0.85,2.38,127.10,0.734,4,0.077,0.054,2876,3389,2203,0,0,0,0,0,0
$GC,5647,0.74,146.0,430.8,13.5,338,5651,0.00,2.30,0.00,0.000,6,0.000,0.047,2884,1979,2199,0,0,0,0,0,0
$GC,5971,0.74,146.0,388.5,13.3,346,5975,0.00,2.28,0.00,0.000,4,0.000,0.059,2894,563,2196,0,0,0,0,0,0
$GC,5999,0.74,146.0,384.5,14.4,346,6003,0.00,2.25,0.00,0.000,6,0.000,0.041,2894,1987,2196,0,0,0,0,0,0
$GC,6330,0.74,146.0,344.2,11.3,354,6334,0.00,2.20,0.00,0.000,4,0.000,0.053,2895,3387,2194,0,0,0,0,0,0
$GC,6453,0.74,146.0,330.4,11.4,356,6457,0.00,2.25,0.00,0.000,6,0.000,0.047,2904,1978,2192,0,0,0,0,0,0
$GC,6764,0.74,146.0,294.8,12.2,364,6768,0.00,2.25,0.00,0.000,4,0.000,0.059,2914,571,2192,0,0,0,0,0,0
$GC,6826,0.74,146.0,286.4,13.3,366,6832,0.12,2.20,0.00,0.000,6,0.144,0.040,2880,1983,2192,0,0,0,0,0,0
$GC,7142,0.74,146.0,247.9,12.1,382,7146,0.00,2.20,0.00,0.000,4,0.000,0.052,2880,3386,2190,0,0,0,0,0,0
$GC,7208,0.74,146.0,239.7,11.6,385,7213,0.00,2.20,0.00,0.000,6,0.000,0.041,2888,1978,2190,0,0,0,0,0,0
$GC,7530,0.74,146.0,207.0,10.2,401,7534,0.00,2.25,0.00,0.000,4,0.000,0.051,2888,3390,2189,0,0,0,0,0,0
$GC,7592,0.74,146.0,200.6,10.8,404,7596,0.00,2.20,0.00,0.000,6,0.000,0.041,2897,1978,2189,0,0,0,0,0,0
$GC,7926,0.76,165.3,173.0,8.2,434,7950,0.00,2.28,15.52,0.568,4,0.000,0.060,2907,576,2124,0,0,0,0,0,0
$GC,7978,0.76,166.5,168.6,9.0,438,7985,0.00,2.22,0.00,0.000,6,0.000,0.044,2907,1969,2123,0,0,0,0,0,0
$GC,8305,0.76,166.5,135.1,11.9,469,8309,0.00,2.25,0.00,0.000,4,0.000,0.052,2908,3402,2122,0,0,0,0,0,0
$GC,8358,0.76,166.5,128.0,13.3,473,8365,0.10,2.25,0.00,0.000,6,0.121,0.042,2883,1986,2122,0,0,0,0,0,0
$GC,8685,0.76,166.5,99.7,9.3,504,8689,0.00,2.28,0.00,0.000,4,0.000,0.059,2883,3393,2121,0,0,0,0,0,0
$GC,8750,0.76,166.5,92.7,10.2,509,8757,0.00,2.22,0.00,0.000,6,0.000,0.040,2891,1974,2121,0,0,0,0,0,0
$GC,9079,0.79,192.0,67.9,8.0,555,9106,0.00,0.00,23.65,0.488,6,0.000,0.000,2891,1974,2016,0,0,0,0,0,0
$GC,9433,0.84,233.7,39.2,7.3,620,9475,0.00,2.28,36.03,0.467,4,0.000,0.049,2891,3397,1847,0,0,0,0,0,0
$GC,9550,0.84,233.7,29.2,10.5,640,9558,0.00,2.28,0.00,0.000,6,0.000,0.048,2892,1989,1845,0,0,0,0,0,0
$GC,9722,0.93,305.6,14.7,6.0,671,9788,0.12,0.00,61.83,0.445,6,0.073,0.000,2987,1989,1553,0,0,0,0,0,0
$STATE,9837,end climb,SURFACE_DEPTH_REACHED
$STATE,9837,begin surface coast
$FINISH,0.5,1.011195
$STATE,9864,end surface coast,CONTROL_FINISHED_OK
$STATE,9864,begin surface
$SM_CCo,9943,0.00,0.000,0,0,1548,306.87
$SM_GC,1.58,7.68,0.00,0.00,0.030,0.000,0.000,55,1930,1548,-7.99,-0.74,306.87
$IRIDIUM_FIX,2057.14,-15753.90,150902,111156
$TT8_MAMPS,0.028379
$HUMID,65.23
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.4,44.840
$10V_AH,10.3,48.800
$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,19.375,76.350,385.450,0.000,0.000,82.208,115.079,323.248,19.000,0.000,15.354,1227.075,6071.674,383.065,2248.669,803.167,0.000,1198.191,0.000,2200.281,0.000,117.248,0.000
$DEVICE_MAMPS,225.498,214.760,757.029,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,470.776,401.126,1366.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,38218,695
$CAP_FILE_SIZE,110526,0
$CFSIZE,260165632,229646336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210613,135242,2105.639,-15801.945,13,1.5,13,9.8