version: 66.06
glider: 523
mission: 4
dive: 61
start: 5 1 113 12 44 34
data:
$ID,523
$MISSION,4
$DIVE,61
$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,-37096.098
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,123848,2107.898,-15800.553,17,1.0,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-74.2
$GPS2,124417,2107.865,-15800.546,16,1.0,16,9.8
$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,87.3,30694,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-77.88,0.000,6,0.000,0.000,39,1986,3395,0,0,0,0,0,0
$GC,102,-0.74,-146.0,3.8,-5.9,13,116,9.20,2.28,0.00,0.000,4,0.225,0.050,2393,547,3397,0,0,0,0,0,0
$GC,236,-0.74,-146.0,35.3,-20.4,37,241,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1968,3398,0,0,0,0,0,0
$GC,574,-0.74,-146.0,90.0,-14.6,93,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1968,3399,0,0,0,0,0,0
$GC,893,-0.74,-146.0,130.9,-11.2,123,897,0.00,2.33,0.00,0.000,4,0.000,0.052,2385,544,3400,0,0,0,0,0,0
$GC,998,-0.74,-146.0,144.6,-12.8,132,1005,0.00,2.12,0.00,0.000,6,0.000,0.035,2375,1963,3400,0,0,0,0,0,0
$GC,1333,-0.74,-146.0,180.6,-11.4,163,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1963,3401,0,0,0,0,0,0
$GC,1664,-0.74,-146.0,219.8,-10.9,187,1671,0.00,2.22,0.00,0.000,4,0.000,0.051,2375,550,3401,0,0,0,0,0,0
$GC,1790,-0.74,-146.0,233.6,-12.0,192,1795,0.12,2.15,0.00,0.000,6,0.166,0.037,2399,1967,3401,0,0,0,0,0,0
$GC,2106,-0.74,-146.0,258.7,-8.1,207,2110,0.00,2.22,0.00,0.000,4,0.000,0.054,2399,549,3401,0,0,0,0,0,0
$GC,2285,-0.74,-146.0,275.4,-9.3,215,2289,0.00,2.12,0.00,0.000,6,0.000,0.038,2391,1959,3402,0,0,0,0,0,0
$GC,2609,-0.74,-146.0,304.4,-10.2,230,2613,0.00,2.22,0.00,0.000,4,0.000,0.056,2392,544,3401,0,0,0,0,0,0
$GC,2715,-0.74,-146.0,315.6,-10.4,232,2719,0.00,2.15,0.00,0.000,6,0.000,0.041,2381,1961,3401,0,0,0,0,0,0
$GC,3066,-0.74,-146.0,345.4,-8.2,241,3070,0.00,2.25,0.00,0.000,4,0.000,0.060,2381,554,3400,0,0,0,0,0,0
$GC,3105,-0.74,-146.0,349.5,-9.6,242,3110,0.10,2.15,0.00,0.000,6,0.173,0.043,2398,1964,3400,0,0,0,0,0,0
$GC,3432,-0.74,-146.0,376.6,-8.5,250,3436,0.00,2.20,0.00,0.000,4,0.000,0.061,2390,3369,3398,0,0,0,0,0,0
$GC,3607,-0.74,-146.0,391.0,-7.9,254,3611,0.00,2.20,0.00,0.000,6,0.000,0.045,2390,1954,3397,0,0,0,0,0,0
$GC,3934,-0.74,-146.0,412.2,-6.1,262,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1954,3395,0,0,0,0,0,0
$GC,4257,-0.74,-146.0,436.3,-8.4,270,4261,0.00,2.22,0.00,0.000,4,0.000,0.066,2390,547,3393,0,0,0,0,0,0
$STATE,4381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4381,begin apogee
$GC,4390,-0.17,0.0,450.1,11.4,272,4515,0.60,0.00,118.53,0.784,6,0.117,0.000,2582,1979,2799,0,0,0,0,0,0
$STATE,4516,end apogee,CONTROL_FINISHED_OK
$STATE,4516,begin climb
$GC,4519,0.74,146.0,454.3,0.0,276,4649,0.82,0.00,125.72,0.755,6,0.073,0.000,2874,1978,2203,0,0,0,0,0,0
$GC,4965,0.74,146.0,398.4,14.6,287,4969,0.00,2.33,0.00,0.000,4,0.000,0.066,2883,571,2195,0,0,0,0,0,0
$GC,5015,0.74,146.0,390.5,15.6,288,5019,0.00,2.22,0.00,0.000,6,0.000,0.047,2883,1971,2194,0,0,0,0,0,0
$GC,5328,0.74,146.0,346.1,13.6,296,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1972,2193,0,0,0,0,0,0
$GC,5653,0.74,146.0,304.0,12.6,304,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1972,2190,0,0,0,0,0,0
$GC,5962,0.74,146.0,264.6,13.9,318,5966,0.00,2.28,0.00,0.000,4,0.000,0.068,2893,571,2189,0,0,0,0,0,0
$GC,5994,0.74,146.0,259.9,14.5,319,6000,0.00,2.20,0.00,0.000,6,0.000,0.047,2893,1977,2189,0,0,0,0,0,0
$GC,6310,0.74,146.0,214.8,13.7,335,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1977,2188,0,0,0,0,0,0
$GC,6627,0.74,146.0,175.9,11.6,359,6631,0.00,2.30,0.00,0.000,4,0.000,0.065,2901,563,2187,0,0,0,0,0,0
$GC,6679,0.74,146.0,169.5,12.1,363,6683,0.00,2.17,0.00,0.000,6,0.000,0.044,2901,1977,2186,0,0,0,0,0,0
$GC,7006,0.74,146.0,131.1,11.8,393,7010,0.00,2.28,0.00,0.000,4,0.000,0.064,2910,565,2186,0,0,0,0,0,0
$GC,7100,0.74,146.0,120.0,11.6,401,7105,0.12,2.17,0.00,0.000,6,0.143,0.044,2875,1978,2186,0,0,0,0,0,0
$GC,7427,0.74,146.0,86.8,10.6,431,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1979,2186,0,0,0,0,0,0
$GC,7749,0.74,146.0,54.0,9.7,484,7756,0.00,2.22,0.00,0.000,4,0.000,0.058,2875,3381,2186,0,0,0,0,0,0
$GC,7792,0.74,146.0,50.0,9.3,491,7797,0.00,2.20,0.00,0.000,6,0.000,0.045,2881,1977,2186,0,0,0,0,0,0
$GC,8119,0.80,193.9,22.0,7.0,552,8166,0.00,2.33,37.92,0.482,4,0.000,0.064,2892,565,2008,0,0,0,0,0,0
$GC,8235,0.81,203.6,12.9,8.6,571,8250,0.00,2.22,9.43,0.426,6,0.000,0.041,2891,1979,1968,0,0,0,0,0,0
$STATE,8328,end climb,SURFACE_DEPTH_REACHED
$STATE,8329,begin surface coast
$FINISH,0.5,1.023611
$STATE,8359,end surface coast,CONTROL_FINISHED_OK
$STATE,8359,begin surface
$SM_CCo,8376,44.08,0.450,0,0,1575,300.24
$SM_GC,1.35,0.00,0.00,44.08,0.000,0.000,0.450,24,1989,1575,-8.18,0.82,300.24
$IRIDIUM_FIX,2104.07,-15805.48,260702,101010
$TT8_MAMPS,0.028379
$HUMID,62.28
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.6,5.422
$10V_AH,10.5,5.920
$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,18.250,62.200,291.600,44.075,0.000,28.441,37.915,139.335,18.750,0.000,17.172,1070.165,4966.820,385.280,1907.151,421.560,0.000,1046.056,0.000,1862.522,0.000,117.261,0.000
$DEVICE_MAMPS,224.731,68.263,783.874,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.098,344.158,1175.336,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,31820,593
$CAP_FILE_SIZE,87215,0
$CFSIZE,260165632,252219392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010513,150604,2107.575,-15759.331,30,1.0,30,9.8