version: 66.06
glider: 523
mission: 4
dive: 126
start: 5 8 113 9 18 22
data:
$ID,523
$MISSION,4
$DIVE,126
$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,-38401.758
$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,23
$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
$GPS1,091232,2106.126,-15748.521,14,0.8,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-75.4
$GPS2,091805,2106.108,-15748.573,16,1.0,16,9.8
$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,83.4,9787,-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,-76.18,0.000,2,0.000,0.000,30,1973,3364,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.8,12,113,9.50,2.30,-0.68,0.000,4,0.233,0.067,2393,549,3396,0,0,0,0,0,0
$GC,352,-0.74,-146.0,58.9,-18.6,59,358,0.00,2.17,0.00,0.000,6,0.000,0.037,2384,1977,3399,0,0,0,0,0,0
$GC,686,-0.74,-146.0,103.1,-9.2,102,690,0.00,2.28,0.00,0.000,4,0.000,0.054,2384,548,3400,0,0,0,0,0,0
$GC,935,-0.74,-146.0,132.4,-12.7,124,943,0.00,2.15,0.00,0.000,6,0.000,0.035,2375,1955,3400,0,0,0,0,0,0
$GC,1263,-0.74,-146.0,175.4,-14.4,155,1267,0.00,2.22,0.00,0.000,4,0.000,0.052,2375,546,3401,0,0,0,0,0,0
$GC,1449,-0.74,-146.0,197.6,-11.2,171,1457,0.10,2.17,0.00,0.000,6,0.150,0.035,2396,1966,3402,0,0,0,0,0,0
$GC,1768,-0.74,-146.0,221.2,-8.2,188,1772,0.00,2.17,0.00,0.000,4,0.000,0.054,2388,3363,3402,0,0,0,0,0,0
$GC,1823,-0.74,-146.0,227.4,-10.9,190,1829,0.00,2.22,0.00,0.000,6,0.000,0.044,2387,1950,3402,0,0,0,0,0,0
$GC,2141,-0.74,-146.0,259.8,-9.4,206,2145,0.00,2.22,0.00,0.000,4,0.000,0.054,2387,540,3402,0,0,0,0,0,0
$GC,2197,-0.74,-146.0,266.1,-11.2,208,2201,0.00,2.15,0.00,0.000,6,0.000,0.036,2378,1958,3402,0,0,0,0,0,0
$GC,2517,-0.74,-146.0,296.3,-7.8,223,2521,0.00,2.17,0.00,0.000,4,0.000,0.056,2368,3363,3402,0,0,0,0,0,0
$GC,2725,-0.74,-146.0,315.1,-9.7,229,2730,0.12,2.20,0.00,0.000,6,0.153,0.044,2400,1959,3402,0,0,0,0,0,0
$GC,3060,-0.74,-146.0,341.3,-7.9,237,3065,0.00,2.25,0.00,0.000,4,0.000,0.063,2401,545,3401,0,0,0,0,0,0
$GC,3228,-0.74,-146.0,357.0,-9.5,240,3234,0.00,2.17,0.00,0.000,6,0.000,0.041,2393,1965,3400,0,0,0,0,0,0
$GC,3562,-0.74,-146.0,382.5,-7.5,249,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1966,3399,0,0,0,0,0,0
$GC,3885,-0.74,-146.0,404.8,-6.9,257,3890,0.00,2.28,0.00,0.000,4,0.000,0.063,2393,550,3396,0,0,0,0,0,0
$GC,3963,-0.74,-146.0,410.8,-8.2,258,3967,0.00,2.17,0.00,0.000,6,0.000,0.043,2384,1962,3396,0,0,0,0,0,0
$GC,4294,-0.74,-146.0,434.2,-7.1,266,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1962,3394,0,0,0,0,0,0
$STATE,4577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4577,begin apogee
$GC,4583,-0.17,0.0,451.2,5.9,273,4705,0.62,0.00,118.82,0.788,6,0.127,0.000,2584,1963,2800,0,0,0,0,0,0
$STATE,4706,end apogee,CONTROL_FINISHED_OK
$STATE,4706,begin climb
$GC,4709,0.74,146.0,451.5,0.0,276,4838,0.85,0.00,125.53,0.755,6,0.080,0.000,2876,1963,2204,0,0,0,0,0,0
$GC,5155,0.74,146.0,392.8,13.9,287,5159,0.00,2.30,0.00,0.000,4,0.000,0.065,2885,571,2195,0,0,0,0,0,0
$GC,5211,0.74,146.0,384.6,14.6,288,5215,0.00,2.20,0.00,0.000,6,0.000,0.042,2886,1978,2194,0,0,0,0,0,0
$GC,5558,0.74,146.0,330.7,16.0,297,5562,0.00,2.33,0.00,0.000,4,0.000,0.067,2895,564,2192,0,0,0,0,0,0
$GC,5620,0.74,146.0,321.1,14.1,298,5623,0.00,2.22,0.00,0.000,6,0.000,0.044,2896,1984,2191,0,0,0,0,0,0
$GC,5950,0.74,146.0,272.9,14.1,311,5954,0.00,2.17,0.00,0.000,4,0.000,0.054,2895,3384,2190,0,0,0,0,0,0
$GC,6044,0.74,146.0,258.2,14.8,315,6049,0.00,2.17,0.00,0.000,6,0.000,0.044,2905,1977,2189,0,0,0,0,0,0
$GC,6360,0.74,146.0,216.4,11.9,330,6364,0.00,2.22,0.00,0.000,4,0.000,0.061,2916,562,2189,0,0,0,0,0,0
$GC,6437,0.74,146.0,206.1,13.0,333,6444,0.15,2.17,0.00,0.000,6,0.147,0.045,2874,1974,2187,0,0,0,0,0,0
$GC,6762,0.74,146.0,168.4,11.8,361,6766,0.00,2.17,0.00,0.000,4,0.000,0.054,2874,3391,2187,0,0,0,0,0,0
$GC,6858,0.74,146.0,157.3,11.2,369,6862,0.00,2.20,0.00,0.000,6,0.000,0.043,2881,1970,2186,0,0,0,0,0,0
$GC,7185,0.74,146.0,122.1,10.4,399,7189,0.00,2.20,0.00,0.000,4,0.000,0.057,2892,565,2185,0,0,0,0,0,0
$GC,7237,0.74,146.0,116.7,10.5,403,7241,0.00,2.17,0.00,0.000,6,0.000,0.044,2892,1982,2185,0,0,0,0,0,0
$GC,7564,0.75,155.4,83.3,8.6,433,7576,0.00,0.00,6.00,0.452,6,0.000,0.000,2892,1983,2166,0,0,0,0,0,0
$GC,7900,0.75,155.4,53.3,9.9,491,7905,0.00,2.30,0.00,0.000,4,0.000,0.059,2900,559,2166,0,0,0,0,0,0
$GC,7992,0.75,155.4,44.1,9.7,508,8000,0.00,2.20,0.00,0.000,6,0.000,0.041,2900,1972,2166,0,0,0,0,0,0
$GC,8324,0.77,174.5,15.8,8.2,569,8352,0.00,2.22,18.33,0.460,4,0.000,0.050,2900,3377,2086,0,0,0,0,0,0
$GC,8430,0.77,174.5,5.9,10.9,587,8437,0.00,2.22,0.00,0.000,6,0.000,0.044,2907,1983,2085,0,0,0,0,0,0
$STATE,8458,end climb,SURFACE_DEPTH_REACHED
$STATE,8459,begin surface coast
$FINISH,0.5,1.005875
$STATE,8491,end surface coast,CONTROL_FINISHED_OK
$STATE,8491,begin surface
$SM_CCo,8509,56.62,0.451,0,0,1575,300.24
$SM_GC,1.44,0.00,0.00,56.62,0.000,0.000,0.451,42,1977,1575,-8.12,0.48,300.24
$IRIDIUM_FIX,2101.76,-15750.89,020802,060619
$TT8_MAMPS,0.027612
$HUMID,61.93
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.6,10.623
$10V_AH,10.5,11.632
$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,18.675,70.825,268.675,56.625,0.000,23.616,34.491,148.423,19.000,0.000,16.524,1095.219,5020.155,390.211,1963.009,430.670,0.000,1065.682,0.000,1924.495,0.000,117.249,0.000
$DEVICE_MAMPS,233.168,66.729,788.476,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.415,343.544,1183.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31846,598
$CAP_FILE_SIZE,89983,0
$CFSIZE,260165632,249163776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080513,114222,2105.851,-15748.522,36,0.9,36,9.8