version: 66.06
glider: 523
mission: 4
dive: 81
start: 5 3 113 15 16 4
data:
$ID,523
$MISSION,4
$DIVE,81
$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,-37485.008
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,151004,2105.180,-15746.350,39,0.8,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-75.2
$GPS2,151548,2105.201,-15746.312,18,1.0,18,9.8
$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,69.2,5975,-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,-76.25,0.000,2,0.000,0.000,25,1963,3361,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.4,12,113,9.38,2.25,-0.73,0.000,4,0.229,0.065,2391,549,3395,0,0,0,0,0,0
$GC,158,-0.74,-146.0,19.9,-22.6,22,166,0.00,2.20,0.00,0.000,6,0.000,0.040,2382,1952,3397,0,0,0,0,0,0
$GC,333,-0.74,-146.0,54.7,-18.8,53,339,0.00,2.25,0.00,0.000,4,0.000,0.060,2372,3365,3397,0,0,0,0,0,0
$GC,423,-0.74,-146.0,71.1,-17.2,69,429,0.10,2.22,0.00,0.000,6,0.162,0.046,2397,1962,3398,0,0,0,0,0,0
$GC,757,-0.74,-146.0,117.3,-14.7,106,761,0.00,2.25,0.00,0.000,4,0.000,0.056,2398,547,3399,0,0,0,0,0,0
$GC,820,-0.74,-146.0,126.1,-13.8,111,824,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1969,3399,0,0,0,0,0,0
$GC,1153,-0.74,-146.0,165.7,-10.8,142,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1968,3400,0,0,0,0,0,0
$GC,1487,-0.74,-146.0,204.6,-10.3,172,1492,0.00,2.25,0.00,0.000,4,0.000,0.051,2389,547,3401,0,0,0,0,0,0
$GC,1537,-0.74,-146.0,210.3,-11.1,174,1541,0.00,2.12,0.00,0.000,6,0.000,0.035,2379,1965,3400,0,0,0,0,0,0
$GC,1858,-0.74,-146.0,242.3,-9.4,190,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1966,3400,0,0,0,0,0,0
$GC,2168,-0.74,-146.0,268.5,-9.8,205,2172,0.00,2.30,0.00,0.000,4,0.000,0.056,2379,546,3401,0,0,0,0,0,0
$GC,2335,-0.74,-146.0,287.4,-11.4,212,2340,0.12,2.15,0.00,0.000,6,0.169,0.040,2404,1965,3400,0,0,0,0,0,0
$GC,2651,-0.74,-146.0,315.9,-8.8,223,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1965,3400,0,0,0,0,0,0
$GC,2975,-0.74,-146.0,340.2,-7.3,231,2979,0.00,2.30,0.00,0.000,4,0.000,0.062,2404,546,3400,0,0,0,0,0,0
$GC,3167,-0.74,-146.0,355.3,-6.8,235,3171,0.00,2.17,0.00,0.000,6,0.000,0.043,2396,1964,3399,0,0,0,0,0,0
$GC,3481,-0.74,-146.0,377.6,-7.2,243,3485,0.00,2.20,0.00,0.000,4,0.000,0.058,2386,3370,3396,0,0,0,0,0,0
$GC,3677,-0.74,-146.0,394.5,-7.8,247,3681,0.00,2.20,0.00,0.000,6,0.000,0.047,2386,1954,3396,0,0,0,0,0,0
$GC,4022,-0.74,-146.0,420.3,-7.9,256,4026,0.00,2.20,0.00,0.000,4,0.000,0.059,2386,543,3393,0,0,0,0,0,0
$GC,4122,-0.74,-146.0,429.9,-9.1,258,4127,0.00,2.17,0.00,0.000,6,0.000,0.044,2376,1972,3392,0,0,0,0,0,0
$STATE,4393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4393,begin apogee
$GC,4400,-0.17,0.0,451.9,7.8,265,4521,0.62,0.00,118.12,0.788,6,0.123,0.000,2580,1974,2800,0,0,0,0,0,0
$STATE,4522,end apogee,CONTROL_FINISHED_OK
$STATE,4522,begin climb
$GC,4525,0.74,146.0,453.5,0.0,268,4654,0.85,0.00,125.70,0.755,6,0.078,0.000,2874,1974,2204,0,0,0,0,0,0
$GC,4972,0.74,146.0,401.4,12.7,279,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1974,2196,0,0,0,0,0,0
$GC,5296,0.74,146.0,361.0,12.3,287,5300,0.00,2.22,0.00,0.000,4,0.000,0.057,2874,3377,2194,0,0,0,0,0,0
$GC,5357,0.74,146.0,352.7,13.4,288,5362,0.00,2.25,0.00,0.000,6,0.000,0.050,2883,1978,2192,0,0,0,0,0,0
$GC,5700,0.74,146.0,309.7,12.2,297,5704,0.00,2.28,0.00,0.000,4,0.000,0.061,2893,554,2191,0,0,0,0,0,0
$GC,5811,0.74,146.0,296.6,11.3,300,5815,0.00,2.22,0.00,0.000,6,0.000,0.044,2894,1984,2189,0,0,0,0,0,0
$GC,6132,0.74,146.0,262.7,11.4,316,6136,0.00,2.28,0.00,0.000,4,0.000,0.059,2902,561,2189,0,0,0,0,0,0
$GC,6222,0.74,146.0,250.7,13.6,320,6226,0.00,2.17,0.00,0.000,6,0.000,0.039,2902,1976,2188,0,0,0,0,0,0
$GC,6543,0.74,146.0,207.8,13.1,336,6547,0.00,2.17,0.00,0.000,4,0.000,0.054,2902,3377,2187,0,0,0,0,0,0
$GC,6609,0.74,146.0,198.0,14.3,339,6617,0.10,2.25,0.00,0.000,6,0.130,0.050,2878,1975,2187,0,0,0,0,0,0
$GC,6937,0.74,148.3,164.4,8.9,370,6940,0.00,2.22,0.00,0.000,4,0.000,0.060,2887,561,2186,0,0,0,0,0,0
$GC,7031,0.74,148.3,154.5,10.7,378,7035,0.00,2.17,0.00,0.000,6,0.000,0.039,2887,1982,2186,0,0,0,0,0,0
$GC,7360,0.74,148.3,117.1,12.6,408,7364,0.00,2.28,0.00,0.000,4,0.000,0.062,2895,558,2186,0,0,0,0,0,0
$GC,7381,0.74,148.3,113.8,13.1,409,7389,0.00,2.20,0.00,0.000,6,0.000,0.041,2896,1969,2186,0,0,0,0,0,0
$GC,7708,0.74,148.3,77.3,10.8,442,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1970,2186,0,0,0,0,0,0
$GC,8044,0.74,148.3,40.6,9.7,503,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1969,2186,0,0,0,0,0,0
$GC,8373,0.74,148.3,12.4,9.4,564,8380,0.00,2.22,0.00,0.000,4,0.000,0.054,2896,3378,2187,0,0,0,0,0,0
$GC,8409,0.74,148.3,8.9,10.0,570,8417,0.00,2.22,0.00,0.000,6,0.000,0.041,2904,1968,2188,0,0,0,0,0,0
$STATE,8470,end climb,SURFACE_DEPTH_REACHED
$STATE,8470,begin surface coast
$FINISH,0.6,1.023121
$STATE,8503,end surface coast,CONTROL_FINISHED_OK
$STATE,8503,begin surface
$SM_CCo,8521,67.68,0.455,0,0,1574,300.24
$SM_GC,1.21,0.00,0.00,67.68,0.000,0.000,0.455,33,1962,1574,-8.15,0.06,300.24
$IRIDIUM_FIX,2059.45,-15750.89,280702,121247
$TT8_MAMPS,0.028379
$HUMID,61.61
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,7.021
$10V_AH,10.4,7.676
$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,18.425,66.575,243.825,67.675,0.000,33.092,35.213,146.352,19.250,0.000,19.339,1069.265,5115.277,386.773,1930.454,430.248,0.000,1043.666,0.000,1881.407,0.000,121.026,0.000
$DEVICE_MAMPS,228.566,65.195,787.709,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.851,329.064,1153.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31769,587
$CAP_FILE_SIZE,88626,0
$CFSIZE,260165632,251281408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030513,174009,2105.309,-15745.359,17,1.7,17,9.8