version: 66.06
glider: 523
mission: 4
dive: 64
start: 5 1 113 20 15 29
data:
$ID,523
$MISSION,4
$DIVE,64
$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,-37155.969
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,200534,2107.533,-15758.195,36,0.8,36,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.7
$GPS2,201511,2107.654,-15758.334,20,0.9,20,9.8
$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,87.5,26853,-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,-77.70,0.000,6,0.000,0.000,32,1944,3392,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.6,-5.6,13,118,9.18,2.20,0.00,0.000,4,0.223,0.053,2392,552,3393,0,0,0,0,0,0
$GC,137,-0.74,-146.0,16.0,-33.3,18,145,0.00,2.22,0.00,0.000,6,0.000,0.041,2383,1959,3395,0,0,0,0,0,0
$GC,308,-0.74,-146.0,44.2,-15.8,49,314,0.00,2.25,0.00,0.000,4,0.000,0.059,2373,3379,3396,0,0,0,0,0,0
$GC,444,-0.74,-146.0,63.6,-14.6,74,452,0.00,2.25,0.00,0.000,6,0.000,0.044,2373,1972,3396,0,0,0,0,0,0
$GC,781,-0.74,-146.0,110.1,-13.4,115,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1971,3398,0,0,0,0,0,0
$GC,1108,-0.74,-146.0,152.6,-12.7,146,1113,0.10,2.25,0.00,0.000,4,0.174,0.053,2398,542,3399,0,0,0,0,0,0
$GC,1130,-0.74,-146.0,156.0,-12.7,147,1138,0.00,2.17,0.00,0.000,6,0.000,0.035,2390,1963,3399,0,0,0,0,0,0
$GC,1457,-0.74,-146.0,193.5,-11.3,178,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1964,3399,0,0,0,0,0,0
$GC,1770,-0.74,-146.0,222.2,-7.9,196,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1964,3399,0,0,0,0,0,0
$GC,2075,-0.74,-146.0,248.7,-9.4,211,2079,0.00,2.30,0.00,0.000,4,0.000,0.052,2391,535,3399,0,0,0,0,0,0
$GC,2188,-0.74,-146.0,259.0,-8.8,216,2192,0.00,2.17,0.00,0.000,6,0.000,0.038,2380,1964,3399,0,0,0,0,0,0
$GC,2518,-0.74,-146.0,290.3,-10.8,232,2522,0.00,2.17,0.00,0.000,4,0.000,0.057,2370,3363,3399,0,0,0,0,0,0
$GC,2644,-0.74,-146.0,304.3,-10.8,236,2650,0.12,2.20,0.00,0.000,6,0.145,0.043,2405,1943,3399,0,0,0,0,0,0
$GC,2978,-0.74,-146.0,330.2,-6.7,245,2982,0.00,2.17,0.00,0.000,4,0.000,0.059,2405,543,3399,0,0,0,0,0,0
$GC,3139,-0.74,-146.0,340.3,-6.6,248,3143,0.00,2.15,0.00,0.000,6,0.000,0.041,2397,1957,3397,0,0,0,0,0,0
$GC,3481,-0.74,-146.0,364.0,-7.5,257,3485,0.00,2.20,0.00,0.000,4,0.000,0.060,2387,3373,3396,0,0,0,0,0,0
$GC,3677,-0.74,-146.0,379.9,-8.0,261,3682,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,1951,3395,0,0,0,0,0,0
$GC,4028,-0.74,-146.0,407.3,-7.9,270,4032,0.00,2.20,0.00,0.000,4,0.000,0.064,2387,553,3393,0,0,0,0,0,0
$GC,4218,-0.74,-146.0,423.2,-8.1,274,4222,0.00,2.17,0.00,0.000,6,0.000,0.045,2377,1959,3391,0,0,0,0,0,0
$GC,4569,-0.74,-146.0,449.8,-8.2,283,4573,0.00,2.20,0.00,0.000,4,0.000,0.063,2367,3365,3389,0,0,0,0,0,0
$STATE,4578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4578,begin apogee
$GC,4586,-0.17,0.0,450.9,8.2,283,4707,0.62,0.00,117.68,0.783,6,0.122,0.000,2576,1978,2799,0,0,0,0,0,0
$STATE,4708,end apogee,CONTROL_FINISHED_OK
$STATE,4708,begin climb
$GC,4711,0.74,146.0,451.8,0.0,286,4846,0.85,2.42,124.95,0.752,4,0.077,0.065,2882,561,2203,0,0,0,0,0,0
$GC,4915,0.74,146.0,427.2,15.0,290,4920,0.00,2.28,0.00,0.000,6,0.000,0.043,2882,1983,2199,0,0,0,0,0,0
$GC,5246,0.74,146.0,381.6,13.2,299,5250,0.00,2.33,0.00,0.000,4,0.000,0.066,2891,567,2195,0,0,0,0,0,0
$GC,5352,0.74,146.0,367.1,13.8,301,5356,0.00,2.22,0.00,0.000,6,0.000,0.044,2891,1977,2194,0,0,0,0,0,0
$GC,5694,0.74,146.0,321.1,13.6,310,5698,0.00,2.22,0.00,0.000,4,0.000,0.060,2891,3388,2193,0,0,0,0,0,0
$GC,5716,0.74,146.0,317.6,15.2,310,5720,0.00,2.22,0.00,0.000,6,0.000,0.044,2901,1969,2191,0,0,0,0,0,0
$GC,6040,0.74,146.0,270.9,14.4,323,6044,0.00,2.22,0.00,0.000,4,0.000,0.061,2912,568,2190,0,0,0,0,0,0
$GC,6085,0.74,146.0,263.5,17.2,325,6090,0.12,2.20,0.00,0.000,6,0.152,0.048,2879,1985,2189,0,0,0,0,0,0
$GC,6406,0.74,146.0,219.9,13.7,341,6410,0.00,2.30,0.00,0.000,4,0.000,0.067,2886,560,2189,0,0,0,0,0,0
$GC,6484,0.74,146.0,209.7,12.6,344,6489,0.00,2.20,0.00,0.000,6,0.000,0.046,2886,1981,2188,0,0,0,0,0,0
$GC,6810,0.74,146.0,172.7,10.7,371,6814,0.00,2.20,0.00,0.000,4,0.000,0.054,2886,3393,2188,0,0,0,0,0,0
$GC,6885,0.74,146.0,163.3,12.4,377,6893,0.00,2.22,0.00,0.000,6,0.000,0.043,2895,1977,2187,0,0,0,0,0,0
$GC,7213,0.74,146.0,121.0,12.4,408,7217,0.00,2.22,0.00,0.000,4,0.000,0.059,2906,561,2188,0,0,0,0,0,0
$GC,7264,0.74,146.0,113.9,13.3,412,7268,0.00,2.17,0.00,0.000,6,0.000,0.038,2906,1986,2186,0,0,0,0,0,0
$GC,7592,0.74,146.0,74.9,10.2,446,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1987,2186,0,0,0,0,0,0
$GC,7925,0.77,170.0,46.9,8.0,507,7950,0.00,2.17,18.30,0.495,4,0.000,0.052,2906,3384,2107,0,0,0,0,0,0
$GC,8044,0.77,170.0,35.7,10.5,528,8052,0.00,2.25,0.00,0.000,6,0.000,0.046,2915,1969,2106,0,0,0,0,0,0
$STATE,8357,end climb,SURFACE_DEPTH_REACHED
$STATE,8357,begin surface coast
$FINISH,0.3,1.010478
$STATE,8391,end surface coast,CONTROL_FINISHED_OK
$STATE,8391,begin surface
$SM_CCo,8409,58.20,0.456,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,58.20,0.000,0.000,0.456,52,1958,1575,-8.09,-0.06,300.24
$IRIDIUM_FIX,2057.14,-15759.05,260702,202017
$TT8_MAMPS,0.028379
$HUMID,61.45
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,24.6,5.662
$10V_AH,10.5,6.186
$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,18.300,75.550,260.925,58.200,0.000,55.602,67.943,247.178,19.000,0.000,21.162,1086.304,4991.935,374.423,1971.318,622.000,0.000,1076.417,0.000,1922.382,0.000,117.256,0.000
$DEVICE_MAMPS,223.197,66.729,783.107,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.000,325.419,1143.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,31828,593
$CAP_FILE_SIZE,95533,0
$CFSIZE,260165632,252071936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010513,223737,2107.502,-15757.554,22,1.3,22,9.8