version: 66.06
glider: 523
mission: 4
dive: 74
start: 5 2 113 21 37 39
data:
$ID,523
$MISSION,4
$DIVE,74
$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,-37344.109
$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,26
$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
$GPS1,213135,2106.326,-15750.706,31,0.7,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-75.8
$GPS2,213723,2106.374,-15750.750,20,0.9,20,9.8
$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,84.6,13573,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.18,0.000,2,0.000,0.000,33,1986,3365,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.1,12,112,9.25,0.00,-0.68,0.000,6,0.225,0.000,2391,1984,3396,0,0,0,0,0,0
$GC,270,-0.74,-146.0,41.1,-18.7,44,278,0.00,2.38,0.00,0.000,4,0.000,0.057,2391,553,3398,0,0,0,0,0,0
$GC,357,-0.74,-146.0,55.9,-16.8,59,362,0.00,2.15,0.00,0.000,6,0.000,0.040,2383,1954,3398,0,0,0,0,0,0
$GC,685,-0.74,-146.0,107.9,-14.8,103,689,0.00,2.20,0.00,0.000,4,0.000,0.059,2373,3367,3399,0,0,0,0,0,0
$GC,858,-0.74,-146.0,131.3,-12.5,118,862,0.00,2.22,0.00,0.000,6,0.000,0.045,2372,1953,3400,0,0,0,0,0,0
$GC,1185,-0.74,-146.0,169.1,-11.1,148,1189,0.00,2.20,0.00,0.000,4,0.000,0.054,2373,545,3401,0,0,0,0,0,0
$GC,1345,-0.74,-146.0,187.3,-10.9,162,1350,0.15,2.15,0.00,0.000,6,0.163,0.035,2404,1972,3401,0,0,0,0,0,0
$GC,1676,-0.74,-146.0,216.2,-8.9,184,1680,0.00,2.12,0.00,0.000,4,0.000,0.055,2395,3357,3401,0,0,0,0,0,0
$GC,1731,-0.74,-146.0,221.3,-9.4,186,1736,0.00,2.17,0.00,0.000,6,0.000,0.044,2395,1959,3401,0,0,0,0,0,0
$GC,2049,-0.74,-146.0,248.9,-8.8,202,2053,0.00,2.22,0.00,0.000,4,0.000,0.055,2395,549,3402,0,0,0,0,0,0
$GC,2211,-0.74,-146.0,265.4,-9.0,209,2215,0.00,2.15,0.00,0.000,6,0.000,0.038,2385,1963,3402,0,0,0,0,0,0
$GC,2529,-0.74,-146.0,290.3,-7.9,224,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1963,3401,0,0,0,0,0,0
$GC,2855,-0.74,-146.0,318.2,-8.9,235,2859,0.00,2.22,0.00,0.000,4,0.000,0.059,2376,3374,3400,0,0,0,0,0,0
$GC,3018,-0.74,-146.0,333.7,-9.6,238,3023,0.00,2.20,0.00,0.000,6,0.000,0.045,2376,1962,3401,0,0,0,0,0,0
$GC,3354,-0.74,-146.0,365.4,-9.9,246,3358,0.00,2.25,0.00,0.000,4,0.000,0.064,2376,543,3399,0,0,0,0,0,0
$GC,3491,-0.74,-146.0,379.7,-9.7,249,3497,0.12,2.15,0.00,0.000,6,0.165,0.045,2400,1957,3398,0,0,0,0,0,0
$GC,3818,-0.74,-146.0,404.6,-7.3,257,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1957,3396,0,0,0,0,0,0
$GC,4141,-0.74,-146.0,424.3,-5.8,265,4145,0.00,2.20,0.00,0.000,4,0.000,0.058,2391,3374,3394,0,0,0,0,0,0
$GC,4191,-0.74,-146.0,427.7,-7.0,266,4195,0.00,2.22,0.00,0.000,6,0.000,0.048,2391,1954,3394,0,0,0,0,0,0
$GC,4505,-0.74,-146.0,446.2,-5.7,274,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1953,3392,0,0,0,0,0,0
$STATE,4583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4583,begin apogee
$GC,4589,-0.17,0.0,450.8,5.6,276,4711,0.57,0.00,118.40,0.788,6,0.118,0.000,2580,1953,2799,0,0,0,0,0,0
$STATE,4711,end apogee,CONTROL_FINISHED_OK
$STATE,4711,begin climb
$GC,4714,0.74,146.0,450.6,0.0,279,4846,0.85,0.00,125.05,0.755,6,0.076,0.000,2875,1953,2204,0,0,0,0,0,0
$GC,5161,0.74,146.0,390.8,14.4,290,5165,0.00,2.28,0.00,0.000,4,0.000,0.062,2885,554,2195,0,0,0,0,0,0
$GC,5217,0.74,146.0,382.4,14.9,291,5221,0.00,2.25,0.00,0.000,6,0.000,0.044,2885,1978,2194,0,0,0,0,0,0
$GC,5564,0.74,146.0,332.2,13.7,300,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1979,2193,0,0,0,0,0,0
$GC,5869,0.74,146.0,294.9,12.3,308,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1980,2191,0,0,0,0,0,0
$GC,6179,0.74,146.0,252.4,14.2,323,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1980,2190,0,0,0,0,0,0
$GC,6488,0.74,146.0,211.6,13.1,338,6492,0.00,2.33,0.00,0.000,4,0.000,0.061,2894,564,2189,0,0,0,0,0,0
$GC,6543,0.74,146.0,204.2,12.8,340,6549,0.00,2.17,0.00,0.000,6,0.000,0.041,2894,1980,2188,0,0,0,0,0,0
$GC,6871,0.74,146.0,166.9,11.6,369,6875,0.00,2.17,0.00,0.000,4,0.000,0.055,2895,3377,2187,0,0,0,0,0,0
$GC,7008,0.74,146.0,148.9,13.1,381,7012,0.00,2.20,0.00,0.000,6,0.000,0.049,2904,1966,2187,0,0,0,0,0,0
$GC,7335,0.74,146.0,109.5,11.3,411,7339,0.00,2.22,0.00,0.000,4,0.000,0.060,2913,554,2187,0,0,0,0,0,0
$GC,7356,0.74,146.0,106.9,10.7,412,7364,0.10,2.20,0.00,0.000,6,0.118,0.038,2879,1980,2186,0,0,0,0,0,0
$GC,7683,0.74,149.9,77.5,8.9,445,7689,0.00,2.17,0.00,0.000,4,0.000,0.054,2879,3388,2186,0,0,0,0,0,0
$GC,7740,0.74,149.9,72.0,10.2,455,7746,0.00,2.20,0.00,0.000,6,0.000,0.044,2885,1974,2186,0,0,0,0,0,0
$GC,8072,0.74,149.9,40.8,10.0,516,8079,0.00,2.22,0.00,0.000,4,0.000,0.058,2895,565,2187,0,0,0,0,0,0
$GC,8159,0.76,163.1,33.6,8.5,531,8176,0.00,2.15,12.90,0.469,6,0.000,0.040,2895,1975,2134,0,0,0,0,0,0
$GC,8491,0.76,163.1,4.0,9.4,594,8498,0.00,2.30,0.00,0.000,4,0.000,0.059,2905,563,2133,0,0,0,0,0,0
$STATE,8504,end climb,SURFACE_DEPTH_REACHED
$STATE,8504,begin surface coast
$FINISH,1.2,1.023282
$STATE,8515,end surface coast,CONTROL_FINISHED_OK
$STATE,8516,begin surface
$SM_CCo,8536,61.45,0.455,0,0,1576,300.24
$SM_GC,1.23,0.00,0.00,61.45,0.000,0.000,0.455,25,1973,1576,-8.17,0.37,300.24
$IRIDIUM_FIX,2054.83,-15753.90,270702,191928
$TT8_MAMPS,0.028379
$HUMID,61.53
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.6,6.473
$10V_AH,10.5,7.069
$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,18.275,66.275,256.350,61.450,0.000,32.765,35.409,150.657,19.000,0.000,21.160,1083.353,5120.625,376.871,1928.846,434.936,0.000,1031.626,0.000,1876.864,0.000,117.247,0.000
$DEVICE_MAMPS,225.498,64.428,788.476,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.279,335.839,1166.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31840,598
$CAP_FILE_SIZE,89448,0
$CFSIZE,260165632,251596800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030513,000154,2106.313,-15750.104,19,1.5,19,9.8