version: 66.06
glider: 523
mission: 4
dive: 124
start: 5 8 113 4 22 40
data:
$ID,523
$MISSION,4
$DIVE,124
$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,-38366.035
$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,27
$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
$GPS1,041700,2106.178,-15750.239,16,1.2,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.6
$GPS2,042224,2106.176,-15750.221,18,1.2,18,9.8
$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,83.2,12635,-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,-76.22,0.000,2,0.000,0.000,32,1970,3362,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.9,12,113,9.45,2.25,-0.77,0.000,4,0.232,0.063,2383,3376,3397,0,0,0,0,0,0
$GC,354,-0.74,-146.0,50.9,-16.0,59,360,0.00,2.22,0.00,0.000,6,0.000,0.041,2383,1962,3399,0,0,0,0,0,0
$GC,685,-0.74,-146.0,103.9,-14.3,106,692,0.00,2.22,0.00,0.000,4,0.000,0.054,2383,543,3401,0,0,0,0,0,0
$GC,786,-0.74,-146.0,119.0,-14.3,115,793,0.00,2.12,0.00,0.000,6,0.000,0.034,2373,1972,3401,0,0,0,0,0,0
$GC,1122,-0.74,-146.0,165.0,-13.4,146,1126,0.00,2.25,0.00,0.000,4,0.000,0.051,2373,549,3402,0,0,0,0,0,0
$GC,1196,-0.74,-146.0,175.5,-13.2,152,1201,0.15,2.12,0.00,0.000,6,0.161,0.035,2404,1969,3402,0,0,0,0,0,0
$GC,1520,-0.74,-146.0,206.4,-9.5,179,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1970,3402,0,0,0,0,0,0
$GC,1829,-0.74,-146.0,234.7,-7.5,194,1834,0.00,2.15,0.00,0.000,4,0.000,0.055,2396,3360,3403,0,0,0,0,0,0
$GC,1897,-0.74,-146.0,239.3,-7.1,197,1901,0.00,2.20,0.00,0.000,6,0.000,0.042,2396,1946,3402,0,0,0,0,0,0
$GC,2224,-0.74,-146.0,267.4,-9.3,213,2228,0.00,2.17,0.00,0.000,4,0.000,0.055,2396,549,3402,0,0,0,0,0,0
$GC,2296,-0.74,-146.0,274.9,-10.7,216,2300,0.00,2.12,0.00,0.000,6,0.000,0.037,2386,1964,3402,0,0,0,0,0,0
$GC,2620,-0.74,-146.0,305.0,-9.6,231,2624,0.00,2.20,0.00,0.000,4,0.000,0.058,2376,3368,3402,0,0,0,0,0,0
$GC,2692,-0.74,-146.0,312.2,-9.4,232,2696,0.00,2.15,0.00,0.000,6,0.000,0.040,2376,1960,3402,0,0,0,0,0,0
$GC,3026,-0.74,-146.0,336.6,-7.1,240,3030,0.00,2.22,0.00,0.000,4,0.000,0.055,2367,3369,3401,0,0,0,0,0,0
$GC,3126,-0.74,-146.0,344.6,-7.7,242,3131,0.12,2.20,0.00,0.000,6,0.152,0.044,2400,1949,3401,0,0,0,0,0,0
$GC,3478,-0.74,-146.0,362.2,-4.6,251,3482,0.00,2.22,0.00,0.000,4,0.000,0.062,2401,552,3398,0,0,0,0,0,0
$GC,3646,-0.74,-146.0,373.2,-7.1,254,3651,0.00,2.12,0.00,0.000,6,0.000,0.042,2393,1956,3396,0,0,0,0,0,0
$GC,3979,-0.74,-146.0,398.8,-8.2,263,3983,0.00,2.22,0.00,0.000,4,0.000,0.063,2382,3375,3395,0,0,0,0,0,0
$GC,4023,-0.74,-146.0,402.8,-8.6,264,4027,0.00,2.20,0.00,0.000,6,0.000,0.044,2382,1952,3395,0,0,0,0,0,0
$GC,4346,-0.74,-146.0,427.6,-7.3,272,4350,0.00,2.25,0.00,0.000,4,0.000,0.067,2382,546,3393,0,0,0,0,0,0
$GC,4477,-0.74,-146.0,437.7,-7.5,275,4481,0.00,2.17,0.00,0.000,6,0.000,0.046,2373,1958,3392,0,0,0,0,0,0
$STATE,4684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4684,begin apogee
$GC,4691,-0.17,0.0,452.3,6.8,280,4812,0.65,0.00,118.55,0.792,6,0.128,0.000,2581,1958,2800,0,0,0,0,0,0
$STATE,4813,end apogee,CONTROL_FINISHED_OK
$STATE,4813,begin climb
$GC,4816,0.74,146.0,453.2,0.0,283,4953,0.85,2.40,125.25,0.759,4,0.081,0.053,2873,3383,2202,0,0,0,0,0,0
$GC,4970,0.74,146.0,436.1,15.1,286,4974,0.00,2.30,0.00,0.000,6,0.000,0.051,2881,1980,2199,0,0,0,0,0,0
$GC,5301,0.74,146.0,386.7,14.7,294,5305,0.00,2.25,0.00,0.000,4,0.000,0.060,2892,561,2194,0,0,0,0,0,0
$GC,5412,0.74,146.0,370.1,15.2,296,5416,0.00,2.20,0.00,0.000,6,0.000,0.040,2892,1986,2193,0,0,0,0,0,0
$GC,5748,0.74,146.0,321.5,13.9,305,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1986,2191,0,0,0,0,0,0
$GC,6055,0.74,146.0,276.8,15.9,316,6059,0.00,2.17,0.00,0.000,4,0.000,0.054,2892,3382,2190,0,0,0,0,0,0
$GC,6133,0.74,146.0,264.3,15.9,319,6138,0.00,2.25,0.00,0.000,6,0.000,0.051,2902,1964,2189,0,0,0,0,0,0
$GC,6448,0.74,146.0,217.5,13.6,335,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1964,2188,0,0,0,0,0,0
$GC,6765,0.74,146.0,173.5,14.4,358,6769,0.00,2.20,0.00,0.000,4,0.000,0.060,2913,554,2187,0,0,0,0,0,0
$GC,6806,0.74,146.0,168.0,12.8,361,6810,0.12,2.20,0.00,0.000,6,0.150,0.042,2879,1982,2186,0,0,0,0,0,0
$GC,7133,0.74,146.0,134.1,9.8,391,7137,0.00,2.28,0.00,0.000,4,0.000,0.056,2888,558,2186,0,0,0,0,0,0
$GC,7196,0.74,146.0,128.0,9.4,396,7200,0.00,2.17,0.00,0.000,6,0.000,0.037,2888,1983,2186,0,0,0,0,0,0
$GC,7522,0.74,146.0,93.4,11.3,426,7526,0.00,2.15,0.00,0.000,4,0.000,0.051,2887,3376,2186,0,0,0,0,0,0
$GC,7576,0.74,146.0,86.5,12.6,430,7584,0.00,2.22,0.00,0.000,6,0.000,0.046,2895,1974,2186,0,0,0,0,0,0
$GC,7907,0.74,147.2,49.8,9.0,486,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1974,2186,0,0,0,0,0,0
$GC,8240,0.76,168.7,21.7,8.1,547,8268,0.00,2.28,17.40,0.469,4,0.000,0.055,2906,558,2110,0,0,0,0,0,0
$GC,8398,0.76,168.7,7.5,9.5,575,8405,0.00,2.20,0.00,0.000,6,0.000,0.040,2905,1968,2109,0,0,0,0,0,0
$STATE,8448,end climb,SURFACE_DEPTH_REACHED
$STATE,8448,begin surface coast
$FINISH,0.4,1.009885
$STATE,8481,end surface coast,CONTROL_FINISHED_OK
$STATE,8481,begin surface
$SM_CCo,8499,61.55,0.456,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,61.55,0.000,0.000,0.456,43,1974,1575,-8.12,0.40,300.24
$IRIDIUM_FIX,2052.52,-15747.49,020802,010146
$TT8_MAMPS,0.028379
$HUMID,61.53
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.6,10.467
$10V_AH,10.5,11.461
$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,18.675,75.100,261.200,61.550,0.000,29.104,34.418,134.669,19.000,0.000,19.420,1092.332,5056.947,380.727,1933.095,421.967,0.000,1063.604,0.000,1889.467,0.000,119.281,0.000
$DEVICE_MAMPS,231.634,67.496,792.311,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.162,339.575,1150.195,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31829,590
$CAP_FILE_SIZE,92163,0
$CFSIZE,260165632,249249792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080513,064634,2106.116,-15749.271,34,0.8,34,9.8