version: 66.06
glider: 523
mission: 4
dive: 112
start: 5 6 113 22 4 16
data:
$ID,523
$MISSION,4
$DIVE,112
$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,-38118.785
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,215834,2107.189,-15757.630,31,0.8,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.5
$GPS2,220359,2107.206,-15757.724,13,0.8,13,9.8
$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,86.0,25712,-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,-78.25,0.000,6,0.000,0.000,30,1963,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-5.8,13,118,9.43,2.25,0.00,0.000,4,0.231,0.050,2394,541,3397,0,0,0,0,0,0
$GC,298,-0.74,-146.0,44.5,-16.7,49,303,0.00,2.17,0.00,0.000,6,0.000,0.036,2385,1961,3399,0,0,0,0,0,0
$GC,627,-0.74,-146.0,91.0,-13.7,103,631,0.00,2.22,0.00,0.000,4,0.000,0.055,2386,553,3400,0,0,0,0,0,0
$GC,701,-0.74,-146.0,102.4,-15.3,109,705,0.00,2.15,0.00,0.000,6,0.000,0.037,2376,1962,3399,0,0,0,0,0,0
$GC,1028,-0.74,-146.0,148.0,-13.7,139,1032,0.00,2.22,0.00,0.000,4,0.000,0.058,2366,3369,3400,0,0,0,0,0,0
$GC,1112,-0.74,-146.0,158.3,-11.2,146,1117,0.12,2.22,0.00,0.000,6,0.153,0.045,2399,1958,3401,0,0,0,0,0,0
$GC,1439,-0.74,-146.0,188.9,-9.0,176,1443,0.00,2.20,0.00,0.000,4,0.000,0.056,2399,547,3402,0,0,0,0,0,0
$GC,1637,-0.74,-146.0,211.6,-10.9,189,1641,0.00,2.12,0.00,0.000,6,0.000,0.035,2392,1966,3402,0,0,0,0,0,0
$GC,1961,-0.74,-146.0,239.9,-9.0,205,1966,0.00,2.25,0.00,0.000,4,0.000,0.054,2392,544,3403,0,0,0,0,0,0
$GC,2145,-0.74,-146.0,258.5,-9.2,213,2149,0.00,2.15,0.00,0.000,6,0.000,0.036,2382,1966,3403,0,0,0,0,0,0
$GC,2469,-0.74,-146.0,283.3,-7.4,229,2472,0.00,2.20,0.00,0.000,4,0.000,0.056,2372,3370,3402,0,0,0,0,0,0
$GC,2614,-0.74,-146.0,295.6,-8.1,235,2620,0.10,2.22,0.00,0.000,6,0.156,0.045,2398,1960,3403,0,0,0,0,0,0
$GC,2927,-0.74,-146.0,319.6,-8.1,245,2931,0.00,2.25,0.00,0.000,4,0.000,0.061,2398,544,3402,0,0,0,0,0,0
$GC,2976,-0.74,-146.0,324.5,-9.8,246,2980,0.00,2.15,0.00,0.000,6,0.000,0.038,2390,1968,3402,0,0,0,0,0,0
$GC,3297,-0.74,-146.0,351.6,-8.2,254,3301,0.00,2.25,0.00,0.000,4,0.000,0.060,2390,550,3401,0,0,0,0,0,0
$GC,3375,-0.74,-146.0,359.1,-9.7,255,3380,0.00,2.15,0.00,0.000,6,0.000,0.041,2381,1966,3400,0,0,0,0,0,0
$GC,3707,-0.74,-146.0,386.5,-8.6,264,3711,0.00,2.28,0.00,0.000,4,0.000,0.061,2380,553,3398,0,0,0,0,0,0
$GC,3829,-0.74,-146.0,397.8,-9.6,266,3834,0.12,2.17,0.00,0.000,6,0.173,0.042,2403,1965,3397,0,0,0,0,0,0
$GC,4162,-0.74,-146.0,419.8,-6.4,274,4167,0.00,2.17,0.00,0.000,4,0.000,0.060,2395,3364,3395,0,0,0,0,0,0
$GC,4189,-0.74,-146.0,422.1,-7.8,274,4193,0.00,2.20,0.00,0.000,6,0.000,0.045,2395,1948,3395,0,0,0,0,0,0
$GC,4532,-0.74,-146.0,448.7,-7.6,283,4536,0.00,2.20,0.00,0.000,4,0.000,0.058,2385,3363,3392,0,0,0,0,0,0
$STATE,4547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4547,begin apogee
$GC,4555,-0.17,0.0,450.0,7.4,283,4677,0.57,0.00,118.65,0.788,6,0.122,0.000,2577,1969,2800,0,0,0,0,0,0
$STATE,4678,end apogee,CONTROL_FINISHED_OK
$STATE,4678,begin climb
$GC,4680,0.74,146.0,452.1,0.0,286,4818,0.88,2.45,124.95,0.759,4,0.078,0.067,2883,572,2203,0,0,0,0,0,0
$GC,4840,0.74,146.0,436.0,12.8,290,4845,0.00,2.28,0.00,0.000,6,0.000,0.043,2883,1967,2199,0,0,0,0,0,0
$GC,5183,0.74,146.0,385.7,14.5,299,5187,0.00,2.25,0.00,0.000,4,0.000,0.060,2883,3384,2195,0,0,0,0,0,0
$GC,5216,0.74,146.0,380.8,14.8,299,5221,0.00,2.28,0.00,0.000,6,0.000,0.052,2893,1979,2194,0,0,0,0,0,0
$GC,5547,0.74,146.0,334.5,13.3,308,5551,0.00,2.30,0.00,0.000,4,0.000,0.068,2899,555,2192,0,0,0,0,0,0
$GC,5686,0.74,146.0,314.1,14.6,311,5691,0.00,2.22,0.00,0.000,6,0.000,0.043,2899,1981,2191,0,0,0,0,0,0
$GC,6008,0.74,146.0,270.2,13.1,324,6012,0.00,2.22,0.00,0.000,4,0.000,0.061,2899,3395,2190,0,0,0,0,0,0
$GC,6058,0.74,146.0,263.3,13.9,326,6063,0.12,2.22,0.00,0.000,6,0.160,0.042,2876,1963,2189,0,0,0,0,0,0
$GC,6374,0.74,146.0,227.6,10.8,341,6378,0.00,2.17,0.00,0.000,4,0.000,0.060,2885,565,2188,0,0,0,0,0,0
$GC,6463,0.74,146.0,217.1,11.3,345,6467,0.00,2.15,0.00,0.000,6,0.000,0.038,2885,1982,2187,0,0,0,0,0,0
$GC,6792,0.74,146.0,180.8,9.9,369,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1982,2186,0,0,0,0,0,0
$GC,7121,0.74,146.0,145.2,11.6,400,7125,0.00,2.25,0.00,0.000,4,0.000,0.058,2895,571,2186,0,0,0,0,0,0
$GC,7153,0.74,146.0,140.6,12.3,402,7161,0.00,2.17,0.00,0.000,6,0.000,0.038,2895,1971,2186,0,0,0,0,0,0
$GC,7481,0.74,146.0,104.7,12.1,433,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1971,2186,0,0,0,0,0,0
$GC,7801,0.74,146.0,66.8,10.5,473,7807,0.00,2.20,0.00,0.000,4,0.000,0.052,2895,3394,2186,0,0,0,0,0,0
$GC,7934,0.74,146.0,51.9,11.6,497,7940,0.00,2.22,0.00,0.000,6,0.000,0.043,2903,1972,2186,0,0,0,0,0,0
$GC,8263,0.74,146.0,20.3,9.9,558,8270,0.00,2.25,0.00,0.000,4,0.000,0.054,2904,3390,2187,0,0,0,0,0,0
$GC,8311,0.74,146.0,15.1,10.9,566,8320,0.10,2.22,0.00,0.000,6,0.121,0.041,2877,1966,2187,0,0,0,0,0,0
$STATE,8459,end climb,SURFACE_DEPTH_REACHED
$STATE,8459,begin surface coast
$FINISH,0.4,1.000230
$STATE,8502,end surface coast,CONTROL_FINISHED_OK
$STATE,8502,begin surface
$SM_CCo,8520,68.53,0.459,0,0,1576,300.24
$SM_GC,1.32,0.00,0.00,68.53,0.000,0.000,0.459,41,1963,1576,-8.12,0.08,300.24
$IRIDIUM_FIX,2054.83,-15759.05,310702,191957
$TT8_MAMPS,0.028379
$HUMID,61.57
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.6,9.516
$10V_AH,10.4,10.416
$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,18.650,84.300,243.600,68.525,0.000,29.625,35.791,137.982,19.000,0.000,14.398,1111.668,4991.914,395.217,1994.979,420.491,0.000,1081.153,0.000,1947.250,0.000,117.254,0.000
$DEVICE_MAMPS,230.867,68.263,787.709,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.053,333.833,1179.858,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31787,601
$CAP_FILE_SIZE,94045,0
$CFSIZE,260165632,249810944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070513,002818,2107.131,-15757.114,15,1.2,15,9.8