version: 66.06
glider: 523
mission: 4
dive: 66
start: 5 2 113 1 15 52
data:
$ID,523
$MISSION,4
$DIVE,66
$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,-37189.008
$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,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
$GPS1,010834,2107.479,-15756.434,33,0.7,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.6
$GPS2,011535,2107.491,-15756.423,15,0.9,15,9.8
$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,87.8,23541,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.03,0.000,2,0.000,0.000,28,1969,3364,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-4.6,12,115,9.23,2.28,-0.68,0.000,4,0.225,0.061,2393,549,3395,0,0,0,0,0,0
$GC,143,-0.74,-146.0,15.5,-24.7,19,151,0.00,2.22,0.00,0.000,6,0.000,0.042,2385,1959,3396,0,0,0,0,0,0
$GC,313,-0.74,-146.0,44.3,-17.4,50,320,0.00,2.28,0.00,0.000,4,0.000,0.060,2374,3374,3397,0,0,0,0,0,0
$GC,360,-0.74,-146.0,52.8,-18.0,58,367,0.00,2.28,0.00,0.000,6,0.000,0.048,2374,1968,3398,0,0,0,0,0,0
$GC,697,-0.74,-146.0,103.2,-14.0,105,701,0.00,2.28,0.00,0.000,4,0.000,0.058,2374,545,3398,0,0,0,0,0,0
$GC,946,-0.74,-146.0,141.0,-14.3,127,953,0.10,2.17,0.00,0.000,6,0.151,0.036,2396,1968,3399,0,0,0,0,0,0
$GC,1273,-0.74,-146.0,177.7,-12.0,158,1277,0.00,2.25,0.00,0.000,4,0.000,0.053,2396,544,3400,0,0,0,0,0,0
$GC,1369,-0.74,-146.0,189.1,-12.0,166,1376,0.00,2.15,0.00,0.000,6,0.000,0.036,2388,1964,3400,0,0,0,0,0,0
$GC,1695,-0.74,-146.0,225.4,-11.0,186,1699,0.00,2.25,0.00,0.000,4,0.000,0.054,2388,540,3400,0,0,0,0,0,0
$GC,1837,-0.74,-146.0,240.2,-9.9,192,1841,0.00,2.12,0.00,0.000,6,0.000,0.037,2378,1960,3400,0,0,0,0,0,0
$GC,2161,-0.74,-146.0,265.5,-8.3,208,2165,0.00,2.17,0.00,0.000,4,0.000,0.056,2368,3361,3400,0,0,0,0,0,0
$GC,2315,-0.74,-146.0,280.4,-10.6,215,2320,0.12,2.17,0.00,0.000,6,0.149,0.044,2402,1949,3400,0,0,0,0,0,0
$GC,2641,-0.74,-146.0,307.5,-7.9,229,2645,0.00,2.17,0.00,0.000,4,0.000,0.057,2403,554,3399,0,0,0,0,0,0
$GC,2883,-0.74,-146.0,326.3,-7.5,234,2887,0.00,2.15,0.00,0.000,6,0.000,0.041,2394,1958,3400,0,0,0,0,0,0
$GC,3226,-0.74,-146.0,349.6,-7.0,243,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1959,3398,0,0,0,0,0,0
$GC,3550,-0.74,-146.0,373.1,-7.5,251,3554,0.00,2.25,0.00,0.000,4,0.000,0.061,2395,557,3397,0,0,0,0,0,0
$GC,3572,-0.74,-146.0,375.0,-8.1,251,3576,0.00,2.17,0.00,0.000,6,0.000,0.044,2385,1962,3396,0,0,0,0,0,0
$GC,3915,-0.74,-146.0,399.6,-6.9,260,3920,0.00,2.28,0.00,0.000,4,0.000,0.064,2385,550,3394,0,0,0,0,0,0
$GC,4034,-0.74,-146.0,408.9,-8.7,262,4038,0.00,2.20,0.00,0.000,6,0.000,0.047,2375,1966,3393,0,0,0,0,0,0
$GC,4371,-0.74,-146.0,434.4,-8.0,271,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1966,3391,0,0,0,0,0,0
$STATE,4574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4574,begin apogee
$GC,4580,-0.17,0.0,450.3,7.8,276,4701,0.62,0.00,117.95,0.785,6,0.120,0.000,2580,1966,2799,0,0,0,0,0,0
$STATE,4702,end apogee,CONTROL_FINISHED_OK
$STATE,4702,begin climb
$GC,4705,0.74,146.0,451.4,0.0,279,4835,0.85,0.00,125.70,0.751,6,0.076,0.000,2876,1965,2204,0,0,0,0,0,0
$GC,5151,0.74,146.0,392.8,14.4,290,5156,0.00,2.33,0.00,0.000,4,0.000,0.068,2885,568,2195,0,0,0,0,0,0
$GC,5213,0.74,146.0,384.0,15.0,291,5217,0.00,2.25,0.00,0.000,6,0.000,0.046,2886,1985,2195,0,0,0,0,0,0
$GC,5555,0.74,146.0,335.2,14.0,300,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1984,2192,0,0,0,0,0,0
$GC,5860,0.74,146.0,293.1,13.2,308,5864,0.00,2.30,0.00,0.000,4,0.000,0.068,2895,563,2190,0,0,0,0,0,0
$GC,5960,0.74,146.0,280.3,13.2,312,5965,0.00,2.22,0.00,0.000,6,0.000,0.046,2895,1981,2190,0,0,0,0,0,0
$GC,6275,0.74,146.0,240.2,12.7,328,6279,0.00,2.22,0.00,0.000,4,0.000,0.061,2895,3392,2189,0,0,0,0,0,0
$GC,6348,0.74,146.0,230.2,14.9,331,6352,0.00,2.22,0.00,0.000,6,0.000,0.051,2905,1978,2188,0,0,0,0,0,0
$GC,6668,0.74,146.0,187.0,13.8,350,6672,0.00,2.22,0.00,0.000,4,0.000,0.061,2915,554,2188,0,0,0,0,0,0
$GC,6785,0.74,146.0,171.6,12.6,360,6789,0.12,2.17,0.00,0.000,6,0.145,0.042,2880,1982,2187,0,0,0,0,0,0
$GC,7111,0.74,146.0,135.4,10.2,390,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1982,2187,0,0,0,0,0,0
$GC,7432,0.75,156.3,105.8,8.6,420,7445,0.00,2.17,7.30,0.488,4,0.000,0.051,2880,3390,2161,0,0,0,0,0,0
$GC,7480,0.75,156.3,100.8,10.1,424,7484,0.00,2.22,0.00,0.000,6,0.000,0.045,2887,1969,2161,0,0,0,0,0,0
$GC,7808,0.75,156.3,65.8,10.7,466,7815,0.00,2.22,0.00,0.000,4,0.000,0.058,2897,572,2161,0,0,0,0,0,0
$GC,7974,0.75,156.3,48.5,10.1,496,7982,0.00,2.17,0.00,0.000,6,0.000,0.040,2897,1972,2161,0,0,0,0,0,0
$GC,8306,0.75,156.3,17.2,9.2,557,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1973,2161,0,0,0,0,0,0
$STATE,8452,end climb,SURFACE_DEPTH_REACHED
$STATE,8452,begin surface coast
$FINISH,0.6,1.023459
$STATE,8481,end surface coast,CONTROL_FINISHED_OK
$STATE,8481,begin surface
$SM_CCo,8499,62.50,0.453,0,0,1576,300.24
$SM_GC,1.14,0.00,0.00,62.50,0.000,0.000,0.453,41,1980,1576,-8.12,0.59,300.24
$IRIDIUM_FIX,2057.14,-15759.05,260702,222214
$TT8_MAMPS,0.028379
$HUMID,61.14
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,5.820
$10V_AH,10.6,6.362
$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,18.175,66.600,250.950,62.500,0.000,25.713,41.824,230.005,19.250,0.000,15.898,1082.197,5069.718,384.434,1928.935,517.681,0.000,1044.041,0.000,1888.342,0.000,117.263,0.000
$DEVICE_MAMPS,225.498,68.263,784.641,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,401.837,334.129,1151.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31775,590
$CAP_FILE_SIZE,90049,0
$CFSIZE,260165632,251977728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020513,033930,2107.320,-15755.253,18,0.8,18,9.8