version: 66.06
glider: 523
mission: 4
dive: 113
start: 5 7 113 0 34 28
data:
$ID,523
$MISSION,4
$DIVE,113
$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,-38139.117
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,002818,2107.131,-15757.114,15,1.2,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.4
$GPS2,003412,2107.207,-15757.188,19,0.8,19,9.8
$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,86.2,24790,-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,-78.28,0.000,6,0.000,0.000,41,1963,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.7,-6.2,13,118,9.43,2.22,0.00,0.000,4,0.233,0.051,2390,557,3396,0,0,0,0,0,0
$GC,355,-0.74,-146.0,57.5,-13.3,60,362,0.00,2.20,0.00,0.000,6,0.000,0.038,2381,1970,3398,0,0,0,0,0,0
$GC,693,-0.74,-146.0,105.1,-16.0,107,697,0.00,2.25,0.00,0.000,4,0.000,0.054,2381,553,3399,0,0,0,0,0,0
$GC,941,-0.74,-146.0,147.3,-15.3,129,949,0.00,2.17,0.00,0.000,6,0.000,0.035,2372,1967,3400,0,0,0,0,0,0
$GC,1269,-0.74,-146.0,184.7,-11.5,160,1274,0.10,2.28,0.00,0.000,4,0.173,0.053,2399,549,3400,0,0,0,0,0,0
$GC,1413,-0.74,-146.0,200.7,-10.9,173,1417,0.00,2.12,0.00,0.000,6,0.000,0.035,2391,1972,3401,0,0,0,0,0,0
$GC,1729,-0.74,-146.0,234.3,-9.5,188,1733,0.00,2.17,0.00,0.000,4,0.000,0.055,2380,3357,3402,0,0,0,0,0,0
$GC,1746,-0.74,-146.0,235.9,-8.9,189,1750,0.00,2.20,0.00,0.000,6,0.000,0.045,2380,1962,3402,0,0,0,0,0,0
$GC,2073,-0.74,-146.0,264.5,-8.2,205,2078,0.00,2.22,0.00,0.000,4,0.000,0.054,2380,550,3401,0,0,0,0,0,0
$GC,2141,-0.74,-146.0,271.4,-10.5,208,2145,0.12,2.12,0.00,0.000,6,0.173,0.038,2403,1957,3402,0,0,0,0,0,0
$GC,2473,-0.74,-146.0,293.9,-7.6,224,2477,0.00,2.17,0.00,0.000,4,0.000,0.057,2395,3366,3401,0,0,0,0,0,0
$GC,2646,-0.74,-146.0,308.9,-8.0,229,2651,0.00,2.17,0.00,0.000,6,0.000,0.045,2395,1961,3401,0,0,0,0,0,0
$GC,2978,-0.74,-146.0,333.4,-7.4,238,2982,0.00,2.22,0.00,0.000,4,0.000,0.061,2395,553,3401,0,0,0,0,0,0
$GC,3124,-0.74,-146.0,347.1,-9.7,241,3128,0.00,2.15,0.00,0.000,6,0.000,0.038,2385,1963,3399,0,0,0,0,0,0
$GC,3475,-0.74,-146.0,378.2,-8.8,250,3479,0.00,2.20,0.00,0.000,4,0.000,0.059,2376,3366,3398,0,0,0,0,0,0
$GC,3499,-0.74,-146.0,380.0,-7.3,250,3503,0.00,2.15,0.00,0.000,6,0.000,0.043,2376,1959,3398,0,0,0,0,0,0
$GC,3836,-0.74,-146.0,403.4,-6.9,259,3840,0.00,2.22,0.00,0.000,4,0.000,0.064,2376,555,3396,0,0,0,0,0,0
$GC,3967,-0.74,-146.0,414.3,-9.3,262,3971,0.12,2.15,0.00,0.000,6,0.170,0.043,2399,1966,3394,0,0,0,0,0,0
$GC,4293,-0.74,-146.0,441.8,-9.1,270,4297,0.00,2.20,0.00,0.000,4,0.000,0.062,2390,3370,3392,0,0,0,0,0,0
$STATE,4376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4376,begin apogee
$GC,4385,-0.17,0.0,450.4,9.4,272,4506,0.60,0.00,118.55,0.780,6,0.120,0.000,2587,1976,2800,0,0,0,0,0,0
$STATE,4507,end apogee,CONTROL_FINISHED_OK
$STATE,4507,begin climb
$GC,4510,0.74,146.0,454.0,0.0,275,4642,0.85,2.42,125.15,0.752,4,0.095,0.069,2887,568,2204,0,0,0,0,0,0
$GC,4655,0.74,146.0,441.1,11.3,278,4661,0.00,2.30,0.00,0.000,6,0.000,0.041,2886,1977,2201,0,0,0,0,0,0
$GC,4986,0.74,146.0,396.8,13.3,287,4991,0.00,2.30,0.00,0.000,4,0.000,0.065,2895,569,2196,0,0,0,0,0,0
$GC,5014,0.74,146.0,392.9,13.4,287,5018,0.00,2.22,0.00,0.000,6,0.000,0.044,2896,1977,2195,0,0,0,0,0,0
$GC,5350,0.74,146.0,343.7,15.3,296,5354,0.00,2.30,0.00,0.000,4,0.000,0.065,2905,567,2193,0,0,0,0,0,0
$GC,5371,0.74,146.0,340.2,15.9,296,5375,0.00,2.20,0.00,0.000,6,0.000,0.045,2905,1979,2192,0,0,0,0,0,0
$GC,5694,0.74,146.0,290.5,13.1,306,5699,0.00,2.30,0.00,0.000,4,0.000,0.067,2914,568,2191,0,0,0,0,0,0
$GC,5728,0.74,146.0,286.2,12.8,307,5734,0.12,2.20,0.00,0.000,6,0.156,0.045,2881,1985,2190,0,0,0,0,0,0
$GC,6043,0.74,146.0,248.5,11.4,323,6047,0.00,2.20,0.00,0.000,4,0.000,0.064,2882,3386,2189,0,0,0,0,0,0
$GC,6183,0.74,146.0,229.2,14.1,329,6187,0.00,2.22,0.00,0.000,6,0.000,0.051,2889,1979,2188,0,0,0,0,0,0
$GC,6509,0.74,146.0,188.1,12.1,349,6513,0.00,2.22,0.00,0.000,4,0.000,0.060,2899,553,2188,0,0,0,0,0,0
$GC,6649,0.74,146.0,171.9,11.4,361,6654,0.00,2.20,0.00,0.000,6,0.000,0.042,2900,1982,2186,0,0,0,0,0,0
$GC,6976,0.74,146.0,134.3,9.9,391,6980,0.00,2.15,0.00,0.000,4,0.000,0.052,2900,3380,2186,0,0,0,0,0,0
$GC,6997,0.74,146.0,132.3,10.1,392,7001,0.00,2.22,0.00,0.000,6,0.000,0.046,2908,1957,2187,0,0,0,0,0,0
$GC,7324,0.74,146.0,98.0,11.0,422,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1957,2186,0,0,0,0,0,0
$GC,7641,0.74,146.0,60.7,12.2,466,7649,0.12,2.20,0.00,0.000,4,0.153,0.057,2881,564,2186,0,0,0,0,0,0
$GC,7684,0.74,146.0,56.0,10.5,473,7690,0.00,2.15,0.00,0.000,6,0.000,0.038,2881,1975,2186,0,0,0,0,0,0
$GC,8013,0.76,165.8,26.5,8.2,534,8034,0.00,2.17,15.32,0.467,4,0.000,0.050,2882,3387,2122,0,0,0,0,0,0
$GC,8133,0.76,165.8,15.4,10.7,555,8140,0.00,2.22,0.00,0.000,6,0.000,0.044,2890,1977,2121,0,0,0,0,0,0
$STATE,8264,end climb,SURFACE_DEPTH_REACHED
$STATE,8264,begin surface coast
$FINISH,0.6,1.023099
$STATE,8300,end surface coast,CONTROL_FINISHED_OK
$STATE,8300,begin surface
$SM_CCo,8318,60.28,0.453,0,0,1576,300.24
$SM_GC,1.26,0.00,0.00,60.28,0.000,0.000,0.453,38,1971,1576,-8.13,0.31,300.24
$IRIDIUM_FIX,2057.14,-15759.05,310702,222217
$TT8_MAMPS,0.028379
$HUMID,62.67
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.6,9.594
$10V_AH,10.5,10.501
$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,18.750,84.050,259.025,60.275,0.000,30.641,48.278,147.523,19.250,0.000,19.702,1093.772,4873.671,394.740,1922.853,447.037,0.000,1067.145,0.000,1870.086,0.000,125.005,0.000
$DEVICE_MAMPS,233.168,69.030,780.039,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,398.560,337.226,1130.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31835,586
$CAP_FILE_SIZE,92267,0
$CFSIZE,260165632,249761792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070513,025523,2107.277,-15756.654,38,1.1,38,9.8