version: 66.06
glider: 523
mission: 4
dive: 84
start: 5 3 113 22 51 35
data:
$ID,523
$MISSION,4
$DIVE,84
$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,-37537.32
$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,30
$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
$GPS1,223813,2105.547,-15744.342,14,0.8,14,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-75.8
$GPS2,225118,2105.604,-15744.362,15,0.8,15,9.8
$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,71.4,2525,-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,-76.20,0.000,2,0.000,0.000,36,1977,3374,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.4,12,113,9.35,2.17,-0.45,0.000,4,0.229,0.061,2386,3367,3396,0,0,0,0,0,0
$GC,322,-0.74,-146.0,44.4,-14.1,53,327,0.00,2.20,0.00,0.000,6,0.000,0.043,2386,1962,3398,0,0,0,0,0,0
$GC,654,-0.74,-146.0,93.5,-15.8,106,658,0.00,2.22,0.00,0.000,4,0.000,0.057,2386,547,3399,0,0,0,0,0,0
$GC,868,-0.74,-146.0,125.8,-12.7,125,872,0.00,2.12,0.00,0.000,6,0.000,0.034,2376,1969,3399,0,0,0,0,0,0
$GC,1196,-0.74,-146.0,166.0,-12.2,155,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1970,3399,0,0,0,0,0,0
$GC,1524,-0.74,-146.0,200.5,-9.7,186,1528,0.00,2.25,0.00,0.000,4,0.000,0.049,2376,542,3400,0,0,0,0,0,0
$GC,1565,-0.74,-146.0,204.4,-9.0,188,1570,0.12,2.15,0.00,0.000,6,0.170,0.035,2399,1968,3400,0,0,0,0,0,0
$GC,1897,-0.74,-146.0,232.4,-8.9,204,1901,0.00,2.28,0.00,0.000,4,0.000,0.054,2400,545,3400,0,0,0,0,0,0
$GC,2029,-0.74,-146.0,244.7,-10.3,210,2034,0.00,2.12,0.00,0.000,6,0.000,0.038,2392,1957,3400,0,0,0,0,0,0
$GC,2362,-0.74,-146.0,275.0,-9.1,226,2366,0.00,2.28,0.00,0.000,4,0.000,0.058,2392,543,3400,0,0,0,0,0,0
$GC,2412,-0.74,-146.0,279.9,-10.1,228,2419,0.00,2.15,0.00,0.000,6,0.000,0.040,2381,1968,3400,0,0,0,0,0,0
$GC,2756,-0.74,-146.0,312.1,-9.9,242,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1968,3399,0,0,0,0,0,0
$GC,3079,-0.74,-146.0,339.8,-8.5,250,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1968,3397,0,0,0,0,0,0
$GC,3404,-0.74,-146.0,365.8,-8.0,258,3408,0.00,2.20,0.00,0.000,4,0.000,0.061,2372,3365,3394,0,0,0,0,0,0
$GC,3561,-0.74,-146.0,378.7,-7.9,261,3566,0.10,2.20,0.00,0.000,6,0.155,0.046,2398,1949,3394,0,0,0,0,0,0
$GC,3900,-0.74,-146.0,401.7,-7.1,270,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1948,3392,0,0,0,0,0,0
$GC,4225,-0.74,-146.0,428.4,-8.3,278,4229,0.00,2.20,0.00,0.000,4,0.000,0.061,2398,550,3388,0,0,0,0,0,0
$GC,4258,-0.74,-146.0,431.5,-8.3,278,4264,0.00,2.17,0.00,0.000,6,0.000,0.047,2390,1966,3388,0,0,0,0,0,0
$STATE,4507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4508,begin apogee
$GC,4514,-0.17,0.0,451.2,7.5,285,4635,0.60,0.00,117.75,0.788,6,0.122,0.000,2586,1967,2800,0,0,0,0,0,0
$STATE,4635,end apogee,CONTROL_FINISHED_OK
$STATE,4635,begin climb
$GC,4638,0.74,146.0,452.8,0.0,288,4770,0.82,0.00,125.50,0.755,6,0.077,0.000,2872,1967,2203,0,0,0,0,0,0
$GC,5085,0.74,146.0,397.0,13.7,299,5089,0.00,2.25,0.00,0.000,4,0.000,0.055,2872,3387,2195,0,0,0,0,0,0
$GC,5113,0.74,146.0,392.6,15.5,299,5117,0.00,2.25,0.00,0.000,6,0.000,0.044,2881,1965,2194,0,0,0,0,0,0
$GC,5444,0.74,146.0,344.3,14.1,307,5448,0.00,2.22,0.00,0.000,4,0.000,0.061,2892,567,2193,0,0,0,0,0,0
$GC,5471,0.74,146.0,340.2,14.5,307,5475,0.00,2.17,0.00,0.000,6,0.000,0.040,2892,1982,2192,0,0,0,0,0,0
$GC,5782,0.74,146.0,294.5,13.9,315,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1982,2190,0,0,0,0,0,0
$GC,6091,0.74,146.0,253.8,12.4,330,6095,0.00,2.15,0.00,0.000,4,0.000,0.054,2892,3381,2189,0,0,0,0,0,0
$GC,6131,0.74,146.0,248.6,13.5,332,6135,0.00,2.17,0.00,0.000,6,0.000,0.042,2901,1971,2188,0,0,0,0,0,0
$GC,6457,0.74,146.0,206.3,12.7,348,6461,0.00,2.22,0.00,0.000,4,0.000,0.061,2912,561,2188,0,0,0,0,0,0
$GC,6664,0.74,146.0,183.7,12.5,364,6669,0.12,2.17,0.00,0.000,6,0.146,0.039,2877,1979,2186,0,0,0,0,0,0
$GC,6991,0.74,146.0,149.1,10.6,394,6995,0.00,2.17,0.00,0.000,4,0.000,0.053,2877,3386,2186,0,0,0,0,0,0
$GC,7042,0.74,146.0,143.0,11.7,398,7047,0.00,2.17,0.00,0.000,6,0.000,0.041,2885,1962,2186,0,0,0,0,0,0
$GC,7369,0.74,146.0,108.0,9.1,428,7373,0.00,2.17,0.00,0.000,4,0.000,0.058,2895,562,2186,0,0,0,0,0,0
$GC,7388,0.74,146.0,106.2,9.7,429,7392,0.00,2.15,0.00,0.000,6,0.000,0.038,2895,1976,2185,0,0,0,0,0,0
$GC,7718,0.74,146.0,75.3,9.6,463,7724,0.00,2.22,0.00,0.000,4,0.000,0.064,2905,572,2186,0,0,0,0,0,0
$GC,7775,0.74,146.0,69.5,10.7,473,7781,0.00,2.12,0.00,0.000,6,0.000,0.041,2905,1969,2186,0,0,0,0,0,0
$GC,8107,0.74,146.0,32.5,11.0,534,8114,0.00,2.20,0.00,0.000,4,0.000,0.051,2905,3385,2186,0,0,0,0,0,0
$GC,8212,0.74,146.0,21.0,10.9,553,8220,0.10,2.17,0.00,0.000,6,0.123,0.038,2878,1981,2187,0,0,0,0,0,0
$GC,8381,0.79,187.3,7.4,7.3,584,8421,0.00,2.28,32.47,0.466,4,0.000,0.055,2887,564,2035,0,0,0,0,0,0
$STATE,8437,end climb,SURFACE_DEPTH_REACHED
$STATE,8437,begin surface coast
$FINISH,1.4,1.023181
$STATE,8455,end surface coast,CONTROL_FINISHED_OK
$STATE,8457,begin surface
$SM_CCo,8477,55.03,0.453,0,0,1575,300.24
$SM_GC,1.13,0.00,0.00,55.03,0.000,0.000,0.453,51,1975,1575,-8.09,0.42,300.24
$IRIDIUM_FIX,2054.83,-15759.05,280702,222257
$TT8_MAMPS,0.028379
$HUMID,61.45
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.6,7.265
$10V_AH,10.5,7.938
$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,18.525,70.200,275.725,55.025,0.000,123.616,140.240,210.655,19.250,0.000,16.153,1067.492,5295.961,378.198,1873.824,703.239,0.000,1029.337,0.000,1833.227,0.000,121.028,0.000
$DEVICE_MAMPS,229.333,63.661,787.709,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,405.540,348.642,1176.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,31857,596
$CAP_FILE_SIZE,93036,0
$CFSIZE,260165632,251138048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,011504,2106.065,-15743.511,38,0.8,38,9.8