version: 66.06
glider: 523
mission: 4
dive: 128
start: 5 8 113 14 19 44
data:
$ID,523
$MISSION,4
$DIVE,128
$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,-38458.41
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,141325,2105.486,-15748.449,15,1.5,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-75.8
$GPS2,141928,2105.513,-15748.529,40,0.8,40,9.8
$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,76.9,9712,-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,-78.62,0.000,6,0.000,0.000,28,1979,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.7,-5.4,13,118,9.50,2.28,0.00,0.000,4,0.235,0.047,2393,549,3397,0,0,0,0,0,0
$GC,357,-0.74,-146.0,60.6,-18.7,59,363,0.00,2.15,0.00,0.000,6,0.000,0.037,2384,1965,3398,0,0,0,0,0,0
$GC,692,-0.74,-146.0,111.2,-12.6,100,696,0.00,2.30,0.00,0.000,4,0.000,0.054,2385,539,3400,0,0,0,0,0,0
$GC,788,-0.74,-146.0,125.0,-13.7,108,793,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1972,3400,0,0,0,0,0,0
$GC,1121,-0.74,-146.0,167.5,-11.7,139,1125,0.00,2.28,0.00,0.000,4,0.000,0.053,2374,546,3401,0,0,0,0,0,0
$GC,1229,-0.74,-146.0,181.3,-13.8,148,1233,0.12,2.15,0.00,0.000,6,0.170,0.035,2397,1974,3402,0,0,0,0,0,0
$GC,1554,-0.74,-146.0,214.4,-9.8,172,1558,0.00,2.17,0.00,0.000,4,0.000,0.055,2388,3362,3402,0,0,0,0,0,0
$GC,1693,-0.74,-146.0,227.0,-8.2,178,1697,0.00,2.20,0.00,0.000,6,0.000,0.043,2388,1953,3402,0,0,0,0,0,0
$GC,2011,-0.74,-146.0,248.8,-7.0,193,2015,0.00,2.22,0.00,0.000,4,0.000,0.055,2388,546,3403,0,0,0,0,0,0
$GC,2062,-0.74,-146.0,253.4,-8.7,195,2066,0.00,2.15,0.00,0.000,6,0.000,0.038,2378,1962,3403,0,0,0,0,0,0
$GC,2377,-0.74,-146.0,284.7,-10.8,210,2382,0.00,2.25,0.00,0.000,4,0.000,0.058,2378,547,3402,0,0,0,0,0,0
$GC,2579,-0.74,-146.0,305.9,-9.8,218,2584,0.12,2.15,0.00,0.000,6,0.171,0.041,2403,1962,3402,0,0,0,0,0,0
$GC,2926,-0.74,-146.0,331.9,-6.9,227,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1963,3401,0,0,0,0,0,0
$GC,3247,-0.74,-146.0,351.7,-5.6,235,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1963,3400,0,0,0,0,0,0
$GC,3572,-0.74,-146.0,372.2,-6.6,243,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1963,3398,0,0,0,0,0,0
$GC,3899,-0.74,-146.0,396.0,-7.4,251,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1963,3396,0,0,0,0,0,0
$GC,4221,-0.74,-146.0,418.8,-6.8,259,4225,0.00,2.28,0.00,0.000,4,0.000,0.065,2403,553,3393,0,0,0,0,0,0
$GC,4249,-0.74,-146.0,420.8,-7.7,259,4254,0.00,2.17,0.00,0.000,6,0.000,0.044,2396,1963,3394,0,0,0,0,0,0
$GC,4581,-0.74,-146.0,443.6,-6.8,267,4585,0.00,2.17,0.00,0.000,4,0.000,0.058,2385,3371,3392,0,0,0,0,0,0
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4688,-0.17,0.0,450.1,6.3,269,4810,0.60,0.00,118.70,0.789,6,0.130,0.000,2582,1976,2799,0,0,0,0,0,0
$STATE,4811,end apogee,CONTROL_FINISHED_OK
$STATE,4811,begin climb
$GC,4813,0.74,146.0,450.4,0.0,272,4943,0.88,0.00,125.90,0.756,6,0.077,0.000,2878,1976,2204,0,0,0,0,0,0
$GC,5239,0.74,146.0,390.4,15.6,283,5243,0.00,2.28,0.00,0.000,4,0.000,0.060,2888,565,2195,0,0,0,0,0,0
$GC,5279,0.74,146.0,384.1,15.9,284,5283,0.00,2.22,0.00,0.000,6,0.000,0.044,2888,1969,2194,0,0,0,0,0,0
$GC,5603,0.74,146.0,333.2,15.4,292,5607,0.00,2.22,0.00,0.000,4,0.000,0.054,2888,3389,2192,0,0,0,0,0,0
$GC,5642,0.74,146.0,327.2,15.0,293,5647,0.00,2.28,0.00,0.000,6,0.000,0.050,2896,1966,2191,0,0,0,0,0,0
$GC,5969,0.74,146.0,280.3,14.7,304,5973,0.00,2.22,0.00,0.000,4,0.000,0.061,2907,567,2190,0,0,0,0,0,0
$GC,5986,0.74,146.0,277.6,15.3,305,5990,0.00,2.20,0.00,0.000,6,0.000,0.040,2907,1991,2190,0,0,0,0,0,0
$GC,6312,0.74,146.0,230.8,14.0,321,6316,0.00,2.28,0.00,0.000,4,0.000,0.059,2916,568,2189,0,0,0,0,0,0
$GC,6396,0.74,146.0,219.8,11.7,325,6401,0.15,2.17,0.00,0.000,6,0.143,0.040,2874,1978,2188,0,0,0,0,0,0
$GC,6719,0.74,146.0,188.7,9.2,345,6723,0.00,2.17,0.00,0.000,4,0.000,0.054,2874,3380,2187,0,0,0,0,0,0
$GC,6857,0.74,146.0,174.3,10.9,357,6861,0.00,2.20,0.00,0.000,6,0.000,0.042,2882,1969,2186,0,0,0,0,0,0
$GC,7185,0.74,146.0,138.9,9.7,387,7189,0.00,2.20,0.00,0.000,4,0.000,0.058,2892,568,2185,0,0,0,0,0,0
$GC,7237,0.74,146.0,133.7,10.1,391,7242,0.00,2.17,0.00,0.000,6,0.000,0.041,2892,1985,2185,0,0,0,0,0,0
$GC,7565,0.74,146.0,99.1,11.6,421,7569,0.00,2.25,0.00,0.000,4,0.000,0.054,2902,569,2185,0,0,0,0,0,0
$GC,7662,0.74,146.0,86.3,12.0,429,7670,0.00,2.17,0.00,0.000,6,0.000,0.041,2902,1971,2185,0,0,0,0,0,0
$GC,7993,0.76,163.3,53.8,8.3,485,8010,0.00,2.22,12.95,0.482,4,0.000,0.050,2902,3378,2133,0,0,0,0,0,0
$GC,8041,0.77,176.3,49.7,8.5,493,8058,0.00,2.17,12.65,0.474,6,0.000,0.038,2910,1969,2080,0,0,0,0,0,0
$GC,8382,0.77,176.3,15.9,9.6,556,8389,0.00,2.22,0.00,0.000,4,0.000,0.048,2911,3370,2078,0,0,0,0,0,0
$GC,8414,0.77,176.3,12.7,10.1,561,8422,0.08,2.17,0.00,0.000,6,0.130,0.039,2893,1981,2078,0,0,0,0,0,0
$STATE,8520,end climb,SURFACE_DEPTH_REACHED
$STATE,8520,begin surface coast
$FINISH,0.5,1.022363
$STATE,8554,end surface coast,CONTROL_FINISHED_OK
$STATE,8554,begin surface
$SM_CCo,8571,55.90,0.449,0,0,1575,300.24
$SM_GC,1.33,0.00,0.00,55.90,0.000,0.000,0.449,28,1978,1575,-8.16,0.51,300.24
$IRIDIUM_FIX,2101.76,-15745.74,020802,111104
$TT8_MAMPS,0.027612
$HUMID,61.97
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.6,10.786
$10V_AH,10.5,11.802
$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,18.725,75.175,270.200,55.900,0.000,25.361,35.136,153.308,19.250,0.000,40.831,1080.985,5186.138,403.669,1888.001,431.814,0.000,1037.004,0.000,1818.107,0.000,117.242,0.000
$DEVICE_MAMPS,235.469,65.195,789.243,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.439,336.053,1133.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31779,587
$CAP_FILE_SIZE,90289,0
$CFSIZE,260165632,249069568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080513,164423,2105.681,-15748.047,12,1.2,12,9.8