version: 66.06
glider: 531
mission: 4
dive: 15
start: 10 20 111 7 31 7
data:
$ID,531
$MISSION,4
$DIVE,15
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,120
$T_BOOST,5
$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,400
$T_MISSION,420
$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,51919
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.5
$TGT_DEFAULT_LON,-12223.5
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5446.9849
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,77
$PITCH_MAX,3834
$C_PITCH,2335
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,487
$VBD_MAX,3960
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-50.899357
$PRESSURE_SLOPE,0.00011662208
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,10
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.039999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$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,0.0043101315
$SEABIRD_T_H,0.00061743415
$SEABIRD_T_I,1.9684006e-05
$SEABIRD_T_J,1.7408523e-06
$SEABIRD_C_G,-10.539966
$SEABIRD_C_H,1.2070903
$SEABIRD_C_I,-0.0018742206
$SEABIRD_C_J,0.00023715722
$GPS1,072119,2739.956,-1809.196,18,1.2,18,-7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.1
$GPS2,073012,2739.959,-1809.262,15,1.0,15,-7.4
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,P1
$TGT_LATLONG,2741.800,-1816.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.242,-0.031
$KALMAN_X,8392.0,854.9,116.9,-21265.6,7620.2
$KALMAN_Y,4717.0,-300.5,-47.4,-4260.0,5871.8
$MHEAD_RNG_PITCHd_Wd,270.0,11877,-14.7,-8.333
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.77,-146.0,0.0,0.0,0,102,0.00,0.00,-85.10,0.000,2,0.000,0.000,78,2901,2805,0,0,0,0,0,0
$GC,104,-0.77,-146.0,3.2,-4.2,13,132,7.85,1.48,-11.48,0.000,4,0.226,0.079,2071,3795,3292,0,0,0,0,0,0
$GC,150,-0.77,-146.0,14.3,-24.4,20,157,0.00,1.40,0.00,0.000,6,0.000,0.039,2074,2891,3292,0,0,0,0,0,0
$GC,226,-0.77,-146.0,40.3,-33.8,33,232,0.00,1.50,0.00,0.000,4,0.000,0.061,2068,3802,3292,0,0,0,0,0,0
$GC,250,-0.77,-146.0,48.9,-35.6,37,256,0.00,1.38,0.00,0.000,6,0.000,0.038,2070,2904,3292,0,0,0,0,0,0
$GC,385,-0.77,-146.0,94.1,-29.1,62,392,0.00,2.15,0.00,0.000,4,0.000,0.042,2079,1506,3292,0,0,0,0,0,0
$GC,437,-0.77,-146.0,107.1,-23.7,71,442,0.00,2.25,0.00,0.000,6,0.000,0.064,2071,2901,3293,0,0,0,0,0,0
$GC,773,-0.77,-146.0,195.3,-26.5,132,781,0.00,1.45,0.00,0.000,4,0.000,0.061,2063,3803,3294,0,0,0,0,0,0
$GC,840,-0.77,-146.0,213.3,-26.7,144,848,0.00,1.38,0.00,0.000,6,0.000,0.038,2063,2897,3294,0,0,0,0,0,0
$GC,1180,-0.77,-146.0,298.6,-24.6,205,1188,0.00,1.48,0.00,0.000,4,0.000,0.064,2057,3802,3296,0,0,0,0,0,0
$GC,1230,-0.77,-146.0,311.4,-27.1,213,1236,0.00,1.38,0.00,0.000,6,0.000,0.038,2056,2897,3296,0,0,0,0,0,0
$GC,1562,-0.77,-146.0,397.1,-24.7,274,1570,0.12,1.48,0.00,0.000,4,0.187,0.064,2081,3790,3297,0,0,0,0,0,0
$GC,1593,-0.77,-146.0,404.9,-26.0,279,1599,0.00,1.35,0.00,0.000,6,0.000,0.038,2082,2900,3297,0,0,0,0,0,0
$GC,1921,-0.77,-146.0,479.9,-22.4,340,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2898,3298,0,0,0,0,0,0
$GC,2259,-0.77,-146.0,553.8,-22.4,401,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2898,3298,0,0,0,0,0,0
$GC,2589,-0.77,-146.0,626.9,-20.3,462,2597,0.00,1.48,0.00,0.000,4,0.000,0.067,2077,3796,3298,0,0,0,0,0,0
$GC,2644,-0.77,-146.0,638.4,-22.2,471,2650,0.00,1.38,0.00,0.000,6,0.000,0.040,2078,2898,3298,0,0,0,0,0,0
$GC,2980,-0.77,-146.0,710.9,-21.2,532,2988,0.00,2.12,0.00,0.000,4,0.000,0.046,2084,1515,3298,0,0,0,0,0,0
$GC,3022,-0.77,-146.0,718.9,-18.9,539,3027,0.00,2.25,0.00,0.000,6,0.000,0.070,2075,2904,3297,0,0,0,0,0,0
$GC,3353,-0.77,-146.0,784.5,-19.8,600,3361,0.00,1.45,0.00,0.000,4,0.000,0.068,2068,3795,3298,0,0,0,0,0,0
$GC,3485,-0.77,-146.0,813.0,-22.4,623,3490,0.00,1.38,0.00,0.000,6,0.000,0.041,2068,2898,3296,0,0,0,0,0,0
$GC,3818,-0.77,-146.0,881.4,-21.2,684,3826,0.00,1.48,0.00,0.000,4,0.000,0.072,2063,3792,3296,0,0,0,0,0,0
$GC,3960,-0.77,-146.0,913.2,-22.5,709,3966,0.00,1.38,0.00,0.000,6,0.000,0.042,2063,2898,3295,0,0,0,0,0,0
$GC,4296,-0.77,-146.0,987.1,-22.1,770,4304,0.00,1.50,0.00,0.000,4,0.000,0.073,2056,3801,3294,0,0,0,0,0,0
$GC,4338,-0.77,-146.0,996.6,-23.8,777,4344,0.08,1.38,0.00,0.000,6,0.174,0.042,2078,2905,3294,0,0,0,0,0,0
$STATE,4354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4354,begin apogee
$GC,4357,-0.20,0.0,1000.8,23.5,780,4541,0.60,0.00,178.55,0.954,6,0.154,0.000,2265,2905,2698,0,0,0,0,0,0
$STATE,4541,end apogee,CONTROL_FINISHED_OK
$STATE,4541,begin climb
$GC,4543,0.77,146.0,1011.9,0.0,812,4734,0.95,2.33,181.60,0.954,4,0.102,0.051,2585,1508,2097,0,0,0,0,0,0
$GC,4757,0.77,146.0,986.3,18.4,849,4763,0.00,2.40,0.00,0.000,6,0.000,0.074,2585,2895,2091,0,0,0,0,0,0
$GC,5087,0.77,146.0,914.8,22.0,910,5094,0.00,2.22,0.00,0.000,4,0.000,0.053,2596,1516,2088,0,0,0,0,0,0
$GC,5131,0.77,146.0,905.5,20.0,918,5139,0.00,2.35,0.00,0.000,6,0.000,0.074,2596,2905,2088,0,0,0,0,0,0
$GC,5463,0.77,146.0,832.2,22.0,979,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2905,2088,0,0,0,0,0,0
$GC,5789,0.77,146.0,761.8,22.5,1040,5797,0.00,2.20,0.00,0.000,4,0.000,0.050,2607,1515,2087,0,0,0,0,0,0
$GC,5834,0.77,146.0,752.4,20.6,1048,5842,0.00,2.33,0.00,0.000,6,0.000,0.075,2606,2902,2088,0,0,0,0,0,0
$GC,6168,0.77,146.0,680.5,21.8,1109,6173,0.00,2.17,0.00,0.000,4,0.000,0.049,2617,1505,2088,0,0,0,0,0,0
$GC,6202,0.77,146.0,673.5,20.5,1115,6208,0.12,2.30,0.00,0.000,6,0.184,0.071,2587,2910,2088,0,0,0,0,0,0
$GC,6530,0.77,146.0,603.2,22.9,1176,6538,0.00,1.48,0.00,0.000,4,0.000,0.071,2587,3799,2087,0,0,0,0,0,0
$GC,6561,0.77,146.0,596.1,24.3,1181,6567,0.00,1.40,0.00,0.000,6,0.000,0.044,2593,2901,2086,0,0,0,0,0,0
$GC,6888,0.77,146.0,527.9,19.8,1242,6896,0.00,2.17,0.00,0.000,4,0.000,0.048,2603,1506,2087,0,0,0,0,0,0
$GC,6962,0.77,146.0,514.9,17.5,1255,6968,0.00,2.28,0.00,0.000,6,0.000,0.069,2603,2907,2087,0,0,0,0,0,0
$GC,7290,0.77,146.0,444.8,22.7,1316,7297,0.00,1.45,0.00,0.000,4,0.000,0.067,2603,3791,2086,0,0,0,0,0,0
$GC,7399,0.77,146.0,418.1,25.0,1336,7407,0.00,1.38,0.00,0.000,6,0.000,0.042,2610,2901,2086,0,0,0,0,0,0
$GC,7732,0.77,146.0,344.0,22.9,1397,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2901,2086,0,0,0,0,0,0
$GC,8059,0.77,146.0,273.3,22.0,1458,8066,0.00,2.17,0.00,0.000,4,0.000,0.045,2620,1497,2086,0,0,0,0,0,0
$GC,8093,0.77,146.0,266.0,21.4,1464,8101,0.10,2.28,0.00,0.000,6,0.158,0.066,2590,2891,2086,0,0,0,0,0,0
$GC,8427,0.77,146.0,205.7,17.4,1525,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2891,2086,0,0,0,0,0,0
$GC,8753,0.77,146.0,146.8,17.9,1586,8760,0.00,2.15,0.00,0.000,4,0.000,0.044,2599,1504,2087,0,0,0,0,0,0
$GC,8776,0.77,146.0,142.9,17.6,1590,8784,0.00,2.28,0.00,0.000,6,0.000,0.065,2599,2906,2088,0,0,0,0,0,0
$GC,9108,0.77,146.0,78.8,17.3,1651,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2905,2087,0,0,0,0,0,0
$GC,9241,0.77,146.0,56.1,14.6,1676,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2905,2087,0,0,0,0,0,0
$GC,9379,0.77,146.0,36.6,14.4,1701,9384,0.00,2.15,0.00,0.000,4,0.000,0.043,2610,1494,2088,0,0,0,0,0,0
$GC,9445,0.77,146.0,27.6,13.3,1713,9451,0.00,2.25,0.00,0.000,6,0.000,0.064,2610,2902,2088,0,0,0,0,0,0
$GC,9579,0.77,146.0,6.5,16.2,1738,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2902,2088,0,0,0,0,0,0
$STATE,9603,end climb,SURFACE_DEPTH_REACHED
$STATE,9603,begin surface coast
$FINISH,1.0,1.000448
$STATE,9620,end surface coast,CONTROL_FINISHED_OK
$STATE,9620,begin surface
$SM_CCo,9632,153.50,0.615,1,0,862,450.12
$SM_GC,1.76,0.00,0.00,153.50,0.000,0.000,0.615,80,2903,862,-7.05,0.08,450.12
$IRIDIUM_FIX,2729.93,-1810.72,130101,060634
$TT8_MAMPS,0.026845
$HUMID,28.22
$INTERNAL_PRESSURE,9.14981
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,24.3,3.171
$10V_AH,10.3,2.508
$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,16.450,76.150,360.150,153.500,0.000,22.743,20.193,396.262,25.500,0.000,16.157,2652.277,2097.433,555.446,4428.422,604.144,33.318,1977.602,0.000,4362.937,0.000,151.318,0.000
$DEVICE_MAMPS,226.265,79.001,954.148,615.134,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,1187.704,2937.951,1594.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$MEM,356092
$DATA_FILE_SIZE,123419,1745
$CAP_FILE_SIZE,155969,0
$CFSIZE,260165632,257507328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,201011,101530,2739.855,-1810.888,39,1.1,39,-7.4