version: 66.06
glider: 523
mission: 4
dive: 121
start: 5 7 113 20 51 11
data:
$ID,523
$MISSION,4
$DIVE,121
$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,-38309.055
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,204533,2106.638,-15751.529,24,1.2,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-75.3
$GPS2,205054,2106.612,-15751.537,18,1.1,18,9.8
$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,85.9,14965,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.85,0.000,6,0.000,0.000,50,1959,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.4,13,118,9.45,2.25,0.00,0.000,4,0.235,0.049,2393,549,3397,0,0,0,0,0,0
$GC,240,-0.74,-146.0,39.2,-20.3,37,245,0.00,2.17,0.00,0.000,6,0.000,0.037,2384,1961,3398,0,0,0,0,0,0
$GC,570,-0.74,-146.0,95.3,-13.9,88,574,0.00,2.22,0.00,0.000,4,0.000,0.053,2384,553,3399,0,0,0,0,0,0
$GC,589,-0.74,-146.0,98.2,-14.3,89,593,0.00,2.17,0.00,0.000,6,0.000,0.036,2375,1972,3399,0,0,0,0,0,0
$GC,916,-0.74,-146.0,138.8,-11.6,119,920,0.00,2.17,0.00,0.000,4,0.000,0.057,2365,3366,3401,0,0,0,0,0,0
$GC,989,-0.74,-146.0,147.2,-11.3,125,993,0.12,2.20,0.00,0.000,6,0.155,0.042,2398,1958,3401,0,0,0,0,0,0
$GC,1316,-0.74,-146.0,177.0,-8.1,155,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1957,3402,0,0,0,0,0,0
$GC,1631,-0.74,-146.0,206.4,-9.2,182,1635,0.00,2.17,0.00,0.000,4,0.000,0.054,2398,551,3402,0,0,0,0,0,0
$GC,1889,-0.74,-146.0,232.9,-9.5,193,1895,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1971,3402,0,0,0,0,0,0
$GC,2209,-0.74,-146.0,258.2,-7.8,209,2213,0.00,2.25,0.00,0.000,4,0.000,0.055,2390,553,3403,0,0,0,0,0,0
$GC,2253,-0.74,-146.0,262.1,-8.1,211,2257,0.00,2.12,0.00,0.000,6,0.000,0.038,2381,1965,3402,0,0,0,0,0,0
$GC,2578,-0.74,-146.0,283.8,-6.5,227,2582,0.00,2.28,0.00,0.000,4,0.000,0.058,2380,554,3402,0,0,0,0,0,0
$GC,2697,-0.74,-146.0,292.6,-7.3,232,2702,0.12,2.15,0.00,0.000,6,0.166,0.041,2405,1962,3402,0,0,0,0,0,0
$GC,3034,-0.74,-146.0,315.5,-7.4,243,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1962,3401,0,0,0,0,0,0
$GC,3357,-0.74,-146.0,344.6,-9.4,251,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1962,3399,0,0,0,0,0,0
$GC,3681,-0.74,-146.0,374.2,-8.6,259,3685,0.00,2.20,0.00,0.000,4,0.000,0.059,2396,3369,3398,0,0,0,0,0,0
$GC,3882,-0.74,-146.0,390.5,-8.2,263,3886,0.00,2.22,0.00,0.000,6,0.000,0.045,2396,1953,3397,0,0,0,0,0,0
$GC,4219,-0.74,-146.0,418.1,-8.1,272,4223,0.00,2.22,0.00,0.000,4,0.000,0.060,2396,550,3394,0,0,0,0,0,0
$GC,4399,-0.74,-146.0,432.1,-7.6,276,4403,0.00,2.15,0.00,0.000,6,0.000,0.044,2386,1959,3393,0,0,0,0,0,0
$STATE,4715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4715,begin apogee
$GC,4722,-0.17,0.0,450.6,5.5,284,4843,0.60,0.00,118.47,0.789,6,0.126,0.000,2580,1960,2800,0,0,0,0,0,0
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$GC,4847,0.74,146.0,449.9,0.0,287,4981,0.85,2.38,125.12,0.758,4,0.081,0.055,2880,566,2204,0,0,0,0,0,0
$GC,5010,0.74,146.0,430.6,15.3,291,5014,0.00,2.28,0.00,0.000,6,0.000,0.039,2880,1976,2200,0,0,0,0,0,0
$GC,5334,0.74,146.0,381.0,15.3,299,5338,0.00,2.28,0.00,0.000,4,0.000,0.057,2890,568,2195,0,0,0,0,0,0
$GC,5355,0.74,146.0,377.5,15.3,299,5359,0.00,2.20,0.00,0.000,6,0.000,0.039,2890,1985,2195,0,0,0,0,0,0
$GC,5692,0.74,146.0,328.1,14.3,308,5696,0.00,2.20,0.00,0.000,4,0.000,0.052,2890,3387,2193,0,0,0,0,0,0
$GC,5736,0.74,146.0,321.2,16.0,309,5740,0.00,2.22,0.00,0.000,6,0.000,0.042,2899,1976,2192,0,0,0,0,0,0
$GC,6056,0.74,146.0,274.2,14.0,321,6060,0.00,2.25,0.00,0.000,4,0.000,0.060,2909,565,2191,0,0,0,0,0,0
$GC,6147,0.74,146.0,261.7,14.4,325,6152,0.12,2.17,0.00,0.000,6,0.148,0.039,2876,1978,2190,0,0,0,0,0,0
$GC,6473,0.74,146.0,226.2,11.9,341,6477,0.00,2.15,0.00,0.000,4,0.000,0.052,2875,3380,2189,0,0,0,0,0,0
$GC,6523,0.74,146.0,219.6,13.0,343,6528,0.00,2.15,0.00,0.000,6,0.000,0.040,2884,1972,2189,0,0,0,0,0,0
$GC,6848,0.74,146.0,180.1,13.3,365,6852,0.00,2.20,0.00,0.000,4,0.000,0.058,2895,558,2188,0,0,0,0,0,0
$GC,7042,0.74,146.0,158.4,12.3,382,7049,0.00,2.20,0.00,0.000,6,0.000,0.038,2894,1979,2187,0,0,0,0,0,0
$GC,7370,0.74,146.0,114.3,14.6,413,7374,0.00,2.12,0.00,0.000,4,0.000,0.051,2894,3382,2187,0,0,0,0,0,0
$GC,7443,0.74,146.0,102.8,15.2,419,7447,0.00,2.17,0.00,0.000,6,0.000,0.039,2904,1968,2186,0,0,0,0,0,0
$GC,7772,0.74,146.0,58.8,9.5,464,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1968,2187,0,0,0,0,0,0
$GC,8109,0.75,156.9,31.5,8.6,525,8121,0.00,0.00,7.78,0.442,6,0.000,0.000,2904,1968,2159,0,0,0,0,0,0
$STATE,8432,end climb,SURFACE_DEPTH_REACHED
$STATE,8432,begin surface coast
$FINISH,0.4,1.022886
$STATE,8461,end surface coast,CONTROL_FINISHED_OK
$STATE,8461,begin surface
$SM_CCo,8479,65.12,0.460,0,0,1575,300.24
$SM_GC,1.39,0.00,0.00,65.12,0.000,0.000,0.460,42,1964,1575,-8.12,0.11,300.24
$IRIDIUM_FIX,2057.14,-15734.18,010802,181850
$TT8_MAMPS,0.028379
$HUMID,61.85
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.6,10.228
$10V_AH,10.6,11.197
$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,18.550,66.100,251.375,65.125,0.000,28.019,31.745,135.737,19.000,0.000,18.850,1087.777,5023.081,380.379,1956.568,418.697,0.000,1044.891,0.000,1914.337,0.000,117.234,0.000
$DEVICE_MAMPS,234.702,59.826,789.243,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.365,338.255,1143.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31800,591
$CAP_FILE_SIZE,89842,0
$CFSIZE,260165632,249393152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070513,231430,2106.323,-15751.013,16,1.3,16,9.8