version: 66.06
glider: 523
mission: 4
dive: 59
start: 5 1 113 7 54 33
data:
$ID,523
$MISSION,4
$DIVE,59
$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,-37059.879
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,074851,2107.140,-15801.670,24,1.7,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-76.5
$GPS2,075417,2107.146,-15801.620,19,1.1,19,9.8
$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,331.0,2329,-18.2,-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,-0.76,-124.0,0.0,0.0,0,93,0.00,0.00,-74.45,0.000,6,0.000,0.000,35,1968,3306,0,0,0,0,0,0
$GC,97,-0.79,-146.0,3.0,-4.4,12,119,9.23,2.35,-2.03,0.000,4,0.229,0.071,2376,553,3397,0,0,0,0,0,0
$GC,228,-0.79,-146.0,29.8,-16.7,35,236,0.00,2.20,0.00,0.000,6,0.000,0.040,2368,1952,3398,0,0,0,0,0,0
$GC,399,-0.79,-146.0,59.7,-17.4,66,407,0.00,2.25,0.00,0.000,4,0.000,0.058,2357,3364,3399,0,0,0,0,0,0
$GC,435,-0.79,-146.0,65.8,-16.5,72,442,0.00,2.25,0.00,0.000,6,0.000,0.046,2357,1963,3399,0,0,0,0,0,0
$GC,766,-0.79,-146.0,114.4,-14.3,111,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1963,3400,0,0,0,0,0,0
$GC,1083,-0.79,-146.0,162.0,-14.4,141,1087,0.00,2.22,0.00,0.000,4,0.000,0.052,2357,538,3401,0,0,0,0,0,0
$GC,1192,-0.79,-146.0,177.2,-13.6,150,1197,0.15,2.17,0.00,0.000,6,0.162,0.035,2387,1974,3401,0,0,0,0,0,0
$GC,1514,-0.79,-146.0,212.8,-11.5,175,1518,0.00,2.12,0.00,0.000,4,0.000,0.055,2378,3358,3401,0,0,0,0,0,0
$GC,1624,-0.79,-146.0,225.2,-11.1,180,1628,0.00,2.20,0.00,0.000,6,0.000,0.043,2378,1944,3401,0,0,0,0,0,0
$GC,1951,-0.79,-146.0,257.8,-8.8,196,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1944,3402,0,0,0,0,0,0
$GC,2261,-0.79,-146.0,284.3,-9.0,211,2265,0.00,2.17,0.00,0.000,4,0.000,0.054,2378,551,3402,0,0,0,0,0,0
$GC,2501,-0.79,-146.0,308.4,-10.2,220,2505,0.00,2.15,0.00,0.000,6,0.000,0.040,2369,1957,3402,0,0,0,0,0,0
$GC,2846,-0.79,-146.0,340.7,-9.1,229,2850,0.00,2.20,0.00,0.000,4,0.000,0.058,2359,3377,3402,0,0,0,0,0,0
$GC,2898,-0.79,-146.0,345.1,-8.3,230,2902,0.00,2.20,0.00,0.000,6,0.000,0.041,2358,1960,3401,0,0,0,0,0,0
$GC,3220,-0.79,-146.0,370.7,-8.1,238,3224,0.00,2.25,0.00,0.000,4,0.000,0.063,2358,547,3401,0,0,0,0,0,0
$GC,3272,-0.79,-146.0,375.4,-8.4,239,3276,0.12,2.17,0.00,0.000,6,0.166,0.044,2381,1960,3400,0,0,0,0,0,0
$GC,3587,-0.79,-146.0,401.4,-9.1,247,3591,0.00,2.28,0.00,0.000,4,0.000,0.061,2382,555,3399,0,0,0,0,0,0
$GC,3770,-0.79,-146.0,419.8,-9.3,251,3775,0.00,2.17,0.00,0.000,6,0.000,0.045,2374,1960,3397,0,0,0,0,0,0
$GC,4091,-0.79,-146.0,444.2,-7.6,259,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1961,3396,0,0,0,0,0,0
$STATE,4168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4168,begin apogee
$GC,4174,-0.17,0.0,450.4,7.6,261,4296,0.62,0.00,118.95,0.780,6,0.116,0.000,2581,1961,2799,0,0,0,0,0,0
$STATE,4297,end apogee,CONTROL_FINISHED_OK
$STATE,4297,begin climb
$GC,4300,0.79,146.0,451.9,0.0,264,4430,0.90,0.00,126.38,0.748,6,0.072,0.000,2890,1960,2204,0,0,0,0,0,0
$GC,4735,0.79,146.0,393.5,14.0,275,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1960,2196,0,0,0,0,0,0
$GC,5060,0.79,146.0,350.2,13.6,283,5064,0.00,2.25,0.00,0.000,4,0.000,0.067,2899,575,2193,0,0,0,0,0,0
$GC,5132,0.79,146.0,339.8,14.6,284,5136,0.00,2.20,0.00,0.000,6,0.000,0.045,2899,1986,2192,0,0,0,0,0,0
$GC,5443,0.79,146.0,295.6,14.4,292,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1987,2191,0,0,0,0,0,0
$GC,5752,0.79,146.0,252.7,14.9,307,5756,0.00,2.33,0.00,0.000,4,0.000,0.068,2909,564,2189,0,0,0,0,0,0
$GC,5819,0.79,146.0,242.4,14.5,310,5823,0.00,2.22,0.00,0.000,6,0.000,0.046,2909,1982,2189,0,0,0,0,0,0
$GC,6140,0.79,146.0,200.7,11.8,326,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1982,2188,0,0,0,0,0,0
$GC,6462,0.79,146.0,160.6,12.5,355,6466,0.00,2.17,0.00,0.000,4,0.000,0.061,2909,3385,2187,0,0,0,0,0,0
$GC,6537,0.79,146.0,150.8,12.0,361,6544,0.00,2.22,0.00,0.000,6,0.000,0.048,2919,1980,2186,0,0,0,0,0,0
$GC,6864,0.79,146.0,112.6,12.6,392,6868,0.00,2.25,0.00,0.000,4,0.000,0.067,2929,566,2186,0,0,0,0,0,0
$GC,6915,0.79,146.0,106.4,11.8,396,6920,0.12,2.20,0.00,0.000,6,0.145,0.043,2894,1991,2186,0,0,0,0,0,0
$GC,7245,0.79,146.0,68.0,11.7,435,7250,0.00,2.17,0.00,0.000,4,0.000,0.058,2894,3384,2186,0,0,0,0,0,0
$GC,7302,0.79,146.0,61.4,12.1,445,7307,0.00,2.22,0.00,0.000,6,0.000,0.046,2901,1966,2187,0,0,0,0,0,0
$GC,7633,0.79,146.0,30.4,10.0,506,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1965,2187,0,0,0,0,0,0
$STATE,7907,end climb,SURFACE_DEPTH_REACHED
$STATE,7907,begin surface coast
$FINISH,0.5,1.010219
$STATE,7945,end surface coast,CONTROL_FINISHED_OK
$STATE,7945,begin surface
$SM_CCo,7962,67.18,0.456,0,0,1574,300.24
$SM_GC,1.29,0.00,0.00,67.18,0.000,0.000,0.456,32,1962,1574,-8.15,0.06,300.24
$IRIDIUM_FIX,2104.07,-15817.92,260702,050547
$TT8_MAMPS,0.028379
$HUMID,61.89
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,24.6,5.265
$10V_AH,10.6,5.745
$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,18.275,57.625,245.325,67.175,0.000,27.810,37.191,135.239,19.250,0.000,19.851,1036.545,4709.070,401.934,1793.991,413.683,0.000,993.008,0.000,1753.130,0.000,117.258,0.000
$DEVICE_MAMPS,228.566,71.331,780.039,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,384.754,323.342,1110.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31855,565
$CAP_FILE_SIZE,83042,0
$CFSIZE,260165632,252313600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010513,100934,2108.201,-15801.909,32,0.9,32,9.8