version: 66.06
glider: 523
mission: 4
dive: 108
start: 5 6 113 12 4 1
data:
$ID,523
$MISSION,4
$DIVE,108
$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,-38036.164
$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,36
$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
$GPS1,115504,2107.264,-15801.370,31,1.0,31,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.4
$GPS2,120342,2107.285,-15801.420,15,1.6,15,9.8
$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,85.1,32085,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.80,0.000,6,0.000,0.000,51,1971,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.0,13,118,9.32,2.30,0.00,0.000,4,0.232,0.052,2390,551,3397,0,0,0,0,0,0
$GC,354,-0.74,-146.0,57.9,-18.3,60,362,0.00,2.17,0.00,0.000,6,0.000,0.037,2382,1955,3398,0,0,0,0,0,0
$GC,690,-0.74,-146.0,104.0,-11.5,104,694,0.00,2.28,0.00,0.000,4,0.000,0.054,2382,543,3399,0,0,0,0,0,0
$GC,731,-0.74,-146.0,109.2,-13.4,107,738,0.00,2.15,0.00,0.000,6,0.000,0.035,2372,1967,3399,0,0,0,0,0,0
$GC,1065,-0.74,-146.0,148.6,-12.1,138,1070,0.10,2.20,0.00,0.000,4,0.170,0.056,2389,3369,3400,0,0,0,0,0,0
$GC,1116,-0.74,-146.0,154.4,-11.4,142,1121,0.00,2.20,0.00,0.000,6,0.000,0.044,2389,1956,3400,0,0,0,0,0,0
$GC,1448,-0.74,-146.0,192.4,-11.6,173,1452,0.00,2.20,0.00,0.000,4,0.000,0.052,2389,539,3401,0,0,0,0,0,0
$GC,1553,-0.74,-146.0,204.6,-10.7,181,1557,0.00,2.12,0.00,0.000,6,0.000,0.033,2379,1970,3401,0,0,0,0,0,0
$GC,1884,-0.74,-146.0,238.6,-10.6,197,1888,0.00,2.15,0.00,0.000,4,0.000,0.054,2369,3359,3401,0,0,0,0,0,0
$GC,1998,-0.74,-146.0,250.8,-10.0,202,2002,0.12,2.17,0.00,0.000,6,0.151,0.044,2403,1959,3401,0,0,0,0,0,0
$GC,2318,-0.74,-146.0,278.2,-7.7,218,2323,0.00,2.22,0.00,0.000,4,0.000,0.054,2404,544,3401,0,0,0,0,0,0
$GC,2538,-0.74,-146.0,297.9,-9.1,228,2542,0.00,2.12,0.00,0.000,6,0.000,0.037,2396,1955,3401,0,0,0,0,0,0
$GC,2867,-0.74,-146.0,321.8,-6.7,237,2871,0.00,2.25,0.00,0.000,4,0.000,0.057,2396,548,3401,0,0,0,0,0,0
$GC,3108,-0.74,-146.0,343.7,-9.4,242,3112,0.00,2.15,0.00,0.000,6,0.000,0.038,2386,1962,3399,0,0,0,0,0,0
$GC,3453,-0.74,-146.0,371.7,-7.8,251,3457,0.00,2.20,0.00,0.000,4,0.000,0.057,2376,3370,3397,0,0,0,0,0,0
$GC,3599,-0.74,-146.0,384.9,-8.8,254,3604,0.00,2.20,0.00,0.000,6,0.000,0.042,2376,1952,3396,0,0,0,0,0,0
$GC,3912,-0.74,-146.0,414.3,-10.3,262,3916,0.00,2.20,0.00,0.000,4,0.000,0.064,2376,556,3394,0,0,0,0,0,0
$GC,4075,-0.74,-146.0,430.5,-9.5,265,4079,0.12,2.15,0.00,0.000,6,0.167,0.042,2399,1959,3392,0,0,0,0,0,0
$STATE,4368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4369,begin apogee
$GC,4375,-0.17,0.0,452.7,7.4,273,4496,0.55,0.00,118.65,0.779,6,0.119,0.000,2582,1959,2800,0,0,0,0,0,0
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4497,begin climb
$GC,4500,0.74,146.0,454.8,0.0,276,4630,0.88,0.00,126.00,0.750,6,0.079,0.000,2879,1959,2204,0,0,0,0,0,0
$GC,4936,0.74,146.0,400.8,13.9,287,4940,0.00,2.28,0.00,0.000,4,0.000,0.060,2879,3378,2196,0,0,0,0,0,0
$GC,4952,0.74,146.0,398.5,13.4,287,4956,0.00,2.25,0.00,0.000,6,0.000,0.049,2888,1984,2195,0,0,0,0,0,0
$GC,5294,0.74,146.0,347.4,15.0,296,5298,0.00,2.33,0.00,0.000,4,0.000,0.072,2898,561,2192,0,0,0,0,0,0
$GC,5343,0.74,146.0,339.7,14.6,297,5348,0.00,2.17,0.00,0.000,6,0.000,0.043,2898,1970,2191,0,0,0,0,0,0
$GC,5656,0.74,146.0,294.5,14.2,305,5660,0.00,2.17,0.00,0.000,4,0.000,0.054,2899,3383,2190,0,0,0,0,0,0
$GC,5689,0.74,146.0,289.4,15.2,306,5695,0.00,2.20,0.00,0.000,6,0.000,0.044,2907,1965,2189,0,0,0,0,0,0
$GC,6005,0.74,146.0,247.4,12.6,322,6009,0.00,2.20,0.00,0.000,4,0.000,0.060,2917,568,2189,0,0,0,0,0,0
$GC,6100,0.74,146.0,234.5,13.9,326,6105,0.15,2.15,0.00,0.000,6,0.145,0.040,2875,1981,2188,0,0,0,0,0,0
$GC,6421,0.74,146.0,199.0,11.1,342,6425,0.00,2.17,0.00,0.000,4,0.000,0.054,2875,3390,2187,0,0,0,0,0,0
$GC,6485,0.74,146.0,191.2,12.6,347,6493,0.00,2.22,0.00,0.000,6,0.000,0.042,2883,1974,2187,0,0,0,0,0,0
$GC,6812,0.74,146.0,150.9,12.7,378,6816,0.00,2.22,0.00,0.000,4,0.000,0.058,2893,555,2186,0,0,0,0,0,0
$GC,6906,0.74,146.0,138.4,13.4,386,6910,0.00,2.17,0.00,0.000,6,0.000,0.038,2893,1978,2185,0,0,0,0,0,0
$GC,7234,0.74,146.0,98.7,11.0,416,7238,0.00,2.15,0.00,0.000,4,0.000,0.053,2893,3386,2185,0,0,0,0,0,0
$GC,7286,0.74,146.0,92.8,11.1,420,7290,0.00,2.17,0.00,0.000,6,0.000,0.041,2901,1966,2185,0,0,0,0,0,0
$GC,7618,0.77,171.8,61.5,8.0,469,7643,0.00,2.30,20.00,0.505,4,0.000,0.055,2901,3378,2098,0,0,0,0,0,0
$GC,7668,0.77,171.8,57.2,9.1,477,7673,0.00,2.17,0.00,0.000,6,0.000,0.046,2909,1977,2097,0,0,0,0,0,0
$GC,7999,0.77,171.8,25.4,9.3,538,8006,0.00,2.22,0.00,0.000,4,0.000,0.055,2920,571,2097,0,0,0,0,0,0
$GC,8107,0.77,171.8,14.8,10.5,558,8116,0.08,2.17,0.00,0.000,6,0.120,0.041,2892,1968,2096,0,0,0,0,0,0
$STATE,8231,end climb,SURFACE_DEPTH_REACHED
$STATE,8231,begin surface coast
$FINISH,0.5,1.023385
$STATE,8258,end surface coast,CONTROL_FINISHED_OK
$STATE,8259,begin surface
$SM_CCo,8276,56.35,0.450,0,0,1574,300.24
$SM_GC,1.29,0.00,0.00,56.35,0.000,0.000,0.450,51,1974,1574,-8.09,0.40,300.24
$IRIDIUM_FIX,2104.07,-15758.18,310702,121245
$TT8_MAMPS,0.028379
$HUMID,60.90
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.6,9.203
$10V_AH,10.5,10.068
$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,18.475,79.200,264.650,56.350,0.000,55.325,67.061,206.231,19.000,0.000,16.107,1084.874,4862.466,409.732,1946.089,550.600,0.000,1075.089,0.000,1900.010,0.000,119.314,0.000
$DEVICE_MAMPS,231.634,72.098,778.505,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,398.500,328.072,1143.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31822,586
$CAP_FILE_SIZE,94442,0
$CFSIZE,260165632,249987072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060513,142348,2107.306,-15800.862,15,1.3,15,9.8