version: 66.06
glider: 523
mission: 4
dive: 65
start: 5 1 113 22 43 10
data:
$ID,523
$MISSION,4
$DIVE,65
$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,-37172.48
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,223737,2107.502,-15757.554,22,1.3,22,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-74.3
$GPS2,224253,2107.570,-15757.631,15,0.9,15,9.8
$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,87.5,25628,-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,-78.00,0.000,6,0.000,0.000,52,1958,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.4,13,118,9.18,2.25,0.00,0.000,4,0.226,0.049,2393,546,3398,0,0,0,0,0,0
$GC,133,-0.74,-146.0,14.8,-33.4,17,140,0.00,2.22,0.00,0.000,6,0.000,0.041,2385,1960,3399,0,0,0,0,0,0
$GC,304,-0.74,-146.0,45.2,-16.5,48,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1960,3400,0,0,0,0,0,0
$GC,635,-0.74,-146.0,100.9,-14.7,97,639,0.00,2.22,0.00,0.000,4,0.000,0.057,2375,3370,3401,0,0,0,0,0,0
$GC,774,-0.74,-146.0,120.2,-12.7,109,778,0.00,2.22,0.00,0.000,6,0.000,0.044,2375,1963,3401,0,0,0,0,0,0
$GC,1106,-0.74,-146.0,161.9,-11.7,140,1110,0.00,2.22,0.00,0.000,4,0.000,0.051,2375,540,3403,0,0,0,0,0,0
$GC,1258,-0.74,-146.0,181.5,-13.3,153,1263,0.12,2.15,0.00,0.000,6,0.172,0.035,2397,1976,3403,0,0,0,0,0,0
$GC,1589,-0.74,-146.0,215.4,-10.7,177,1593,0.00,2.15,0.00,0.000,4,0.000,0.054,2389,3367,3403,0,0,0,0,0,0
$GC,1656,-0.74,-146.0,222.4,-10.0,180,1660,0.00,2.17,0.00,0.000,6,0.000,0.044,2388,1956,3403,0,0,0,0,0,0
$GC,1980,-0.74,-146.0,250.6,-9.2,196,1984,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,555,3404,0,0,0,0,0,0
$GC,2026,-0.74,-146.0,255.1,-9.6,198,2030,0.00,2.12,0.00,0.000,6,0.000,0.038,2379,1957,3404,0,0,0,0,0,0
$GC,2349,-0.74,-146.0,285.3,-10.7,214,2353,0.00,2.15,0.00,0.000,4,0.000,0.056,2368,3366,3404,0,0,0,0,0,0
$GC,2450,-0.74,-146.0,296.3,-10.0,218,2456,0.12,2.15,0.00,0.000,6,0.152,0.042,2402,1962,3404,0,0,0,0,0,0
$GC,2785,-0.74,-146.0,322.9,-7.4,228,2789,0.00,2.22,0.00,0.000,4,0.000,0.061,2402,544,3404,0,0,0,0,0,0
$GC,3043,-0.74,-146.0,343.7,-7.2,233,3048,0.00,2.15,0.00,0.000,6,0.000,0.041,2394,1968,3403,0,0,0,0,0,0
$GC,3376,-0.74,-146.0,365.9,-7.1,242,3381,0.00,2.25,0.00,0.000,4,0.000,0.061,2394,549,3401,0,0,0,0,0,0
$GC,3477,-0.74,-146.0,375.7,-9.7,244,3481,0.00,2.17,0.00,0.000,6,0.000,0.044,2385,1960,3401,0,0,0,0,0,0
$GC,3829,-0.74,-146.0,405.3,-8.2,253,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1961,3399,0,0,0,0,0,0
$GC,4150,-0.74,-146.0,429.3,-7.2,261,4154,0.00,2.25,0.00,0.000,4,0.000,0.064,2384,553,3396,0,0,0,0,0,0
$GC,4276,-0.74,-146.0,438.1,-7.9,263,4282,0.00,2.17,0.00,0.000,6,0.000,0.046,2375,1962,3396,0,0,0,0,0,0
$STATE,4443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4443,begin apogee
$GC,4449,-0.17,0.0,451.4,7.7,268,4571,0.62,0.00,118.80,0.784,6,0.120,0.000,2580,1961,2800,0,0,0,0,0,0
$STATE,4572,end apogee,CONTROL_FINISHED_OK
$STATE,4572,begin climb
$GC,4575,0.74,146.0,451.1,0.0,271,4709,0.82,2.35,124.60,0.752,4,0.074,0.054,2871,3381,2206,0,0,0,0,0,0
$GC,4742,0.74,146.0,430.9,14.4,275,4747,0.00,2.33,0.00,0.000,6,0.000,0.051,2880,1983,2203,0,0,0,0,0,0
$GC,5061,0.74,146.0,384.8,14.3,283,5065,0.00,2.28,0.00,0.000,4,0.000,0.064,2890,561,2198,0,0,0,0,0,0
$GC,5196,0.74,146.0,365.2,14.9,286,5200,0.00,2.20,0.00,0.000,6,0.000,0.044,2890,1979,2196,0,0,0,0,0,0
$GC,5515,0.74,146.0,323.4,12.5,294,5519,0.00,2.30,0.00,0.000,4,0.000,0.067,2899,555,2195,0,0,0,0,0,0
$GC,5564,0.74,146.0,316.4,14.8,295,5568,0.00,2.20,0.00,0.000,6,0.000,0.046,2900,1971,2194,0,0,0,0,0,0
$GC,5880,0.74,146.0,275.0,13.3,307,5884,0.00,2.28,0.00,0.000,4,0.000,0.067,2909,556,2193,0,0,0,0,0,0
$GC,5901,0.74,146.0,272.3,12.7,308,5906,0.12,2.20,0.00,0.000,6,0.153,0.047,2875,1975,2192,0,0,0,0,0,0
$GC,6222,0.74,146.0,236.9,10.8,324,6226,0.00,2.20,0.00,0.000,4,0.000,0.056,2875,3383,2191,0,0,0,0,0,0
$GC,6346,0.74,146.0,221.9,12.6,329,6352,0.00,2.22,0.00,0.000,6,0.000,0.051,2882,1970,2191,0,0,0,0,0,0
$GC,6667,0.74,146.0,186.6,10.7,350,6671,0.00,2.20,0.00,0.000,4,0.000,0.061,2892,562,2190,0,0,0,0,0,0
$GC,6806,0.74,146.0,171.7,10.4,362,6810,0.00,2.20,0.00,0.000,6,0.000,0.043,2892,1986,2189,0,0,0,0,0,0
$GC,7134,0.74,146.0,134.9,11.0,392,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1986,2189,0,0,0,0,0,0
$GC,7463,0.74,146.0,100.7,10.7,423,7467,0.00,2.15,0.00,0.000,4,0.000,0.054,2892,3383,2189,0,0,0,0,0,0
$GC,7546,0.74,146.0,90.8,12.4,430,7550,0.00,2.22,0.00,0.000,6,0.000,0.046,2902,1964,2190,0,0,0,0,0,0
$GC,7876,0.74,146.0,56.9,9.4,481,7881,0.00,2.20,0.00,0.000,4,0.000,0.058,2912,565,2190,0,0,0,0,0,0
$GC,7957,0.74,148.8,49.4,8.9,496,7964,0.10,2.20,0.00,0.000,6,0.113,0.041,2876,1982,2190,0,0,0,0,0,0
$GC,8289,0.78,183.1,25.9,7.6,557,8329,0.00,2.25,29.95,0.477,4,0.000,0.051,2876,3385,2052,0,0,0,0,0,0
$GC,8437,0.78,183.1,12.9,9.7,583,8444,0.00,2.22,0.00,0.000,6,0.000,0.042,2882,1977,2050,0,0,0,0,0,0
$STATE,8548,end climb,SURFACE_DEPTH_REACHED
$STATE,8548,begin surface coast
$FINISH,0.5,1.011652
$STATE,8582,end surface coast,CONTROL_FINISHED_OK
$STATE,8582,begin surface
$SM_CCo,8600,51.97,0.448,0,0,1575,300.24
$SM_GC,1.17,0.00,0.00,51.97,0.000,0.000,0.448,29,1972,1575,-8.16,0.34,300.24
$IRIDIUM_FIX,2054.83,-15804.20,260702,202010
$TT8_MAMPS,0.028379
$HUMID,60.59
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.7,5.739
$10V_AH,10.5,6.275
$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,18.300,79.675,273.350,51.975,0.000,25.536,31.461,137.000,19.000,0.000,15.883,1125.780,4998.792,381.557,2042.468,420.421,0.000,1113.713,0.000,1997.038,0.000,117.242,0.000
$DEVICE_MAMPS,226.265,67.496,783.874,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,414.476,341.546,1178.627,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34973,610
$CAP_FILE_SIZE,95952,0
$CFSIZE,260165632,252018688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020513,010834,2107.479,-15756.434,33,0.7,33,9.8