version: 66.06
glider: 523
mission: 4
dive: 62
start: 5 1 113 15 12 5
data:
$ID,523
$MISSION,4
$DIVE,62
$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,-37113.949
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,150604,2107.575,-15759.331,30,1.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.1
$GPS2,151148,2107.549,-15759.334,16,1.2,16,9.8
$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,86.7,28547,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-78.30,0.000,6,0.000,0.000,24,1989,3392,0,0,0,0,0,0
$GC,102,-0.74,-146.0,3.7,-5.9,13,116,9.30,0.00,0.00,0.000,6,0.225,0.000,2396,1988,3393,0,0,0,0,0,0
$GC,277,-0.74,-146.0,38.3,-16.6,45,283,0.00,2.33,0.00,0.000,4,0.000,0.055,2397,547,3395,0,0,0,0,0,0
$GC,359,-0.74,-146.0,52.8,-17.2,60,366,0.00,2.20,0.00,0.000,6,0.000,0.038,2388,1967,3395,0,0,0,0,0,0
$GC,692,-0.74,-146.0,99.9,-12.8,107,699,0.00,2.20,0.00,0.000,4,0.000,0.056,2378,3365,3397,0,0,0,0,0,0
$GC,718,-0.74,-146.0,103.1,-12.2,109,722,0.00,2.20,0.00,0.000,6,0.000,0.044,2378,1949,3397,0,0,0,0,0,0
$GC,1045,-0.74,-146.0,143.5,-11.3,139,1049,0.00,2.22,0.00,0.000,4,0.000,0.053,2378,545,3398,0,0,0,0,0,0
$GC,1252,-0.74,-146.0,168.7,-11.4,157,1259,0.08,2.17,0.00,0.000,6,0.151,0.035,2392,1966,3398,0,0,0,0,0,0
$GC,1587,-0.74,-146.0,202.8,-9.3,188,1591,0.00,2.28,0.00,0.000,4,0.000,0.052,2392,541,3398,0,0,0,0,0,0
$GC,1673,-0.74,-146.0,210.4,-8.7,192,1677,0.00,2.15,0.00,0.000,6,0.000,0.037,2384,1961,3399,0,0,0,0,0,0
$GC,2002,-0.74,-146.0,238.8,-9.1,208,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1961,3399,0,0,0,0,0,0
$GC,2310,-0.74,-146.0,263.3,-7.2,223,2314,0.00,2.28,0.00,0.000,4,0.000,0.054,2384,540,3399,0,0,0,0,0,0
$GC,2422,-0.74,-146.0,273.3,-9.1,228,2426,0.00,2.15,0.00,0.000,6,0.000,0.040,2374,1961,3399,0,0,0,0,0,0
$GC,2763,-0.74,-146.0,304.8,-9.0,244,2768,0.00,2.20,0.00,0.000,4,0.000,0.059,2364,3374,3398,0,0,0,0,0,0
$GC,2936,-0.74,-146.0,319.9,-8.5,247,2945,0.12,2.20,0.00,0.000,6,0.144,0.044,2399,1958,3398,0,0,0,0,0,0
$GC,3268,-0.74,-146.0,342.4,-7.0,256,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1957,3397,0,0,0,0,0,0
$GC,3593,-0.74,-146.0,365.5,-6.2,264,3597,0.00,2.22,0.00,0.000,4,0.000,0.064,2400,553,3394,0,0,0,0,0,0
$GC,3632,-0.74,-146.0,368.3,-7.2,265,3636,0.00,2.17,0.00,0.000,6,0.000,0.043,2391,1966,3394,0,0,0,0,0,0
$GC,3960,-0.74,-146.0,392.2,-7.3,273,3964,0.00,2.25,0.00,0.000,4,0.000,0.063,2392,546,3393,0,0,0,0,0,0
$GC,4162,-0.74,-146.0,410.1,-8.2,277,4166,0.00,2.17,0.00,0.000,6,0.000,0.045,2382,1968,3391,0,0,0,0,0,0
$GC,4500,-0.74,-146.0,436.0,-7.6,286,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1969,3389,0,0,0,0,0,0
$STATE,4660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4660,begin apogee
$GC,4666,-0.17,0.0,450.2,8.7,290,4787,0.60,0.00,118.03,0.785,6,0.118,0.000,2580,1968,2799,0,0,0,0,0,0
$STATE,4788,end apogee,CONTROL_FINISHED_OK
$STATE,4788,begin climb
$GC,4791,0.74,146.0,452.9,0.0,293,4921,0.85,0.00,126.12,0.755,6,0.075,0.000,2877,1969,2203,0,0,0,0,0,0
$GC,5237,0.74,146.0,399.7,12.9,304,5242,0.00,2.35,0.00,0.000,4,0.000,0.066,2885,569,2195,0,0,0,0,0,0
$GC,5265,0.74,146.0,395.9,13.6,304,5269,0.00,2.25,0.00,0.000,6,0.000,0.046,2885,1981,2195,0,0,0,0,0,0
$GC,5596,0.74,146.0,350.8,13.5,312,5600,0.00,2.33,0.00,0.000,4,0.000,0.067,2895,565,2192,0,0,0,0,0,0
$GC,5668,0.74,146.0,340.5,14.4,313,5672,0.00,2.20,0.00,0.000,6,0.000,0.046,2895,1978,2192,0,0,0,0,0,0
$GC,5979,0.74,146.0,292.1,15.6,321,5983,0.00,2.22,0.00,0.000,4,0.000,0.066,2895,3389,2190,0,0,0,0,0,0
$GC,6045,0.74,146.0,281.7,14.8,324,6049,0.00,2.22,0.00,0.000,6,0.000,0.051,2905,1978,2189,0,0,0,0,0,0
$GC,6372,0.74,146.0,237.7,13.3,340,6376,0.00,2.25,0.00,0.000,4,0.000,0.070,2915,567,2189,0,0,0,0,0,0
$GC,6525,0.74,146.0,216.5,13.5,346,6531,0.12,2.20,0.00,0.000,6,0.151,0.046,2881,1982,2188,0,0,0,0,0,0
$GC,6849,0.74,146.0,182.5,12.1,369,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1983,2187,0,0,0,0,0,0
$GC,7179,0.74,146.0,141.8,11.8,400,7183,0.00,2.20,0.00,0.000,4,0.000,0.060,2881,3393,2186,0,0,0,0,0,0
$GC,7210,0.74,146.0,137.2,12.9,402,7218,0.00,2.25,0.00,0.000,6,0.000,0.048,2888,1973,2186,0,0,0,0,0,0
$GC,7537,0.74,146.0,101.2,10.8,433,7541,0.00,2.22,0.00,0.000,4,0.000,0.061,2899,550,2186,0,0,0,0,0,0
$GC,7710,0.74,146.0,82.7,11.6,448,7714,0.00,2.20,0.00,0.000,6,0.000,0.041,2899,1983,2186,0,0,0,0,0,0
$GC,8041,0.74,146.0,46.5,9.8,506,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1984,2186,0,0,0,0,0,0
$GC,8370,0.74,147.4,17.0,9.0,567,8378,0.00,2.17,0.00,0.000,4,0.000,0.053,2899,3378,2187,0,0,0,0,0,0
$STATE,8514,end climb,SURFACE_DEPTH_REACHED
$STATE,8514,begin surface coast
$FINISH,0.4,1.010899
$STATE,8546,end surface coast,CONTROL_FINISHED_OK
$STATE,8546,begin surface
$SM_CCo,8566,65.93,0.462,0,0,1575,300.24
$SM_GC,1.35,0.00,0.00,65.93,0.000,0.000,0.462,25,1935,1575,-8.17,-0.68,300.24
$IRIDIUM_FIX,2101.76,-15803.33,260702,121233
$TT8_MAMPS,0.027612
$HUMID,62.60
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,24.6,5.498
$10V_AH,10.4,6.008
$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,18.250,66.725,244.150,65.925,0.000,38.483,35.704,146.978,19.000,0.000,17.222,1090.193,5086.113,390.489,1968.781,442.196,0.000,1055.652,0.000,1924.603,0.000,117.251,0.000
$DEVICE_MAMPS,225.498,69.797,785.408,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.916,337.933,1180.610,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31848,600
$CAP_FILE_SIZE,89487,0
$CFSIZE,260165632,252174336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010513,173653,2107.422,-15758.660,17,1.1,17,9.8