version: 66.06
glider: 523
mission: 4
dive: 60
start: 5 1 113 10 15 11
data:
$ID,523
$MISSION,4
$DIVE,60
$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,-37078.297
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,100934,2108.201,-15801.909,32,0.9,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-75.2
$GPS2,101454,2108.163,-15801.872,17,0.9,17,9.8
$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,87.8,33038,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.70,0.000,6,0.000,0.000,32,1960,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.7,13,117,9.25,2.20,0.00,0.000,4,0.225,0.044,2385,3379,3396,0,0,0,0,0,0
$GC,146,-0.74,-146.0,20.6,-34.9,20,154,0.00,2.28,0.00,0.000,6,0.000,0.046,2385,1964,3398,0,0,0,0,0,0
$GC,318,-0.74,-146.0,50.5,-14.3,51,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1963,3399,0,0,0,0,0,0
$GC,647,-0.74,-146.0,95.4,-11.5,100,651,0.00,2.22,0.00,0.000,4,0.000,0.056,2385,537,3400,0,0,0,0,0,0
$GC,829,-0.74,-146.0,119.7,-15.0,116,834,0.00,2.15,0.00,0.000,6,0.000,0.035,2375,1969,3400,0,0,0,0,0,0
$GC,1161,-0.74,-146.0,164.9,-14.0,147,1166,0.00,2.17,0.00,0.000,4,0.000,0.058,2365,3363,3400,0,0,0,0,0,0
$GC,1239,-0.74,-146.0,175.9,-14.6,154,1244,0.12,2.17,0.00,0.000,6,0.150,0.044,2398,1953,3400,0,0,0,0,0,0
$GC,1575,-0.74,-146.0,218.9,-12.9,179,1579,0.00,2.20,0.00,0.000,4,0.000,0.051,2399,541,3402,0,0,0,0,0,0
$GC,1755,-0.74,-146.0,239.1,-10.2,187,1759,0.00,2.12,0.00,0.000,6,0.000,0.036,2391,1960,3402,0,0,0,0,0,0
$GC,2087,-0.74,-146.0,269.5,-8.4,203,2092,0.00,2.28,0.00,0.000,4,0.000,0.054,2391,546,3402,0,0,0,0,0,0
$GC,2212,-0.74,-146.0,281.0,-9.0,208,2216,0.00,2.15,0.00,0.000,6,0.000,0.038,2381,1957,3402,0,0,0,0,0,0
$GC,2555,-0.74,-146.0,311.6,-9.2,222,2559,0.00,2.20,0.00,0.000,4,0.000,0.058,2371,3373,3401,0,0,0,0,0,0
$GC,2661,-0.74,-146.0,322.3,-9.4,224,2665,0.12,2.20,0.00,0.000,6,0.140,0.042,2406,1959,3401,0,0,0,0,0,0
$GC,3005,-0.74,-146.0,349.8,-7.9,233,3009,0.00,2.22,0.00,0.000,4,0.000,0.062,2407,549,3401,0,0,0,0,0,0
$GC,3135,-0.74,-146.0,361.1,-9.1,235,3141,0.00,2.15,0.00,0.000,6,0.000,0.042,2398,1967,3400,0,0,0,0,0,0
$GC,3467,-0.74,-146.0,383.8,-6.1,244,3470,0.00,2.20,0.00,0.000,4,0.000,0.060,2388,3376,3399,0,0,0,0,0,0
$GC,3725,-0.74,-146.0,399.4,-5.9,249,3730,0.00,2.17,0.00,0.000,6,0.000,0.044,2388,1961,3398,0,0,0,0,0,0
$GC,4058,-0.74,-146.0,420.8,-6.9,258,4063,0.00,2.25,0.00,0.000,4,0.000,0.067,2388,547,3396,0,0,0,0,0,0
$GC,4210,-0.74,-146.0,435.3,-9.0,261,4214,0.00,2.17,0.00,0.000,6,0.000,0.045,2378,1966,3394,0,0,0,0,0,0
$STATE,4390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4390,begin apogee
$GC,4396,-0.17,0.0,450.3,8.3,266,4518,0.62,0.00,118.75,0.781,6,0.116,0.000,2586,1966,2799,0,0,0,0,0,0
$STATE,4519,end apogee,CONTROL_FINISHED_OK
$STATE,4519,begin climb
$GC,4522,0.74,146.0,452.3,0.0,269,4653,0.82,0.00,125.30,0.751,6,0.072,0.000,2876,1966,2203,0,0,0,0,0,0
$GC,4969,0.74,146.0,395.6,14.6,280,4973,0.00,2.33,0.00,0.000,4,0.000,0.067,2886,565,2195,0,0,0,0,0,0
$GC,5041,0.74,146.0,384.5,14.8,281,5045,0.00,2.25,0.00,0.000,6,0.000,0.046,2886,1983,2194,0,0,0,0,0,0
$GC,5377,0.74,146.0,337.9,13.0,290,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1983,2192,0,0,0,0,0,0
$GC,5682,0.74,146.0,296.2,14.4,298,5686,0.00,2.33,0.00,0.000,4,0.000,0.068,2895,564,2190,0,0,0,0,0,0
$GC,5749,0.74,146.0,286.4,14.1,301,5753,0.00,2.22,0.00,0.000,6,0.000,0.047,2895,1977,2189,0,0,0,0,0,0
$GC,6075,0.74,146.0,242.0,13.8,317,6079,0.00,2.28,0.00,0.000,4,0.000,0.067,2905,571,2189,0,0,0,0,0,0
$GC,6148,0.74,146.0,232.3,12.0,320,6152,0.00,2.22,0.00,0.000,6,0.000,0.047,2905,1988,2189,0,0,0,0,0,0
$GC,6471,0.74,146.0,196.2,10.5,337,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1988,2188,0,0,0,0,0,0
$GC,6791,0.74,146.0,159.7,12.4,367,6796,0.00,2.28,0.00,0.000,4,0.000,0.065,2913,565,2187,0,0,0,0,0,0
$GC,6889,0.74,146.0,148.1,9.7,375,6897,0.10,2.22,0.00,0.000,6,0.120,0.045,2878,1978,2186,0,0,0,0,0,0
$GC,7217,0.74,147.8,120.6,9.0,406,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1978,2186,0,0,0,0,0,0
$GC,7546,0.74,147.8,87.6,9.1,437,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1978,2186,0,0,0,0,0,0
$GC,7872,0.79,189.1,58.5,7.3,490,7914,0.00,0.00,33.80,0.507,6,0.000,0.000,2878,1978,2027,0,0,0,0,0,0
$GC,8243,0.80,197.4,24.1,8.7,557,8257,0.00,2.30,8.32,0.425,4,0.000,0.060,2885,569,1995,0,0,0,0,0,0
$GC,8314,0.80,197.4,16.9,9.8,569,8321,0.00,2.20,0.00,0.000,6,0.000,0.039,2885,1972,1994,0,0,0,0,0,0
$STATE,8465,end climb,SURFACE_DEPTH_REACHED
$STATE,8465,begin surface coast
$FINISH,0.4,1.023644
$STATE,8498,end surface coast,CONTROL_FINISHED_OK
$STATE,8498,begin surface
$SM_CCo,8516,45.45,0.446,0,0,1576,300.24
$SM_GC,1.19,0.00,0.00,45.45,0.000,0.000,0.446,39,1986,1576,-8.13,0.74,300.24
$IRIDIUM_FIX,2101.76,-15800.33,260702,080833
$TT8_MAMPS,0.028379
$HUMID,61.06
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.6,5.343
$10V_AH,10.5,5.834
$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,18.225,62.150,286.175,45.450,0.000,26.088,33.452,139.286,19.000,0.000,17.789,1089.625,4963.200,373.504,2036.374,420.955,0.000,1089.316,0.000,1990.724,0.000,117.269,0.000
$DEVICE_MAMPS,225.498,68.263,780.806,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.524,330.983,1192.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31697,603
$CAP_FILE_SIZE,89901,0
$CFSIZE,260165632,252264448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010513,123848,2107.898,-15800.553,17,1.0,17,9.8