version: 66.06
glider: 523
mission: 4
dive: 130
start: 5 8 113 19 15 16
data:
$ID,523
$MISSION,4
$DIVE,130
$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,-38493.992
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,190928,2105.869,-15746.946,39,0.7,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.9
$GPS2,191459,2105.914,-15746.930,17,0.8,17,9.8
$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,81.7,6934,-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,-77.78,0.000,6,0.000,0.000,24,1965,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.5,13,118,9.50,2.28,0.00,0.000,4,0.233,0.047,2392,553,3397,0,0,0,0,0,0
$GC,290,-0.74,-146.0,46.7,-17.2,47,296,0.00,2.15,0.00,0.000,6,0.000,0.035,2383,1969,3398,0,0,0,0,0,0
$GC,619,-0.74,-146.0,102.1,-14.8,95,623,0.00,2.17,0.00,0.000,4,0.000,0.056,2374,3360,3400,0,0,0,0,0,0
$GC,728,-0.74,-146.0,116.9,-12.9,104,735,0.00,2.22,0.00,0.000,6,0.000,0.043,2374,1956,3400,0,0,0,0,0,0
$GC,1055,-0.74,-146.0,155.5,-12.0,135,1059,0.00,2.20,0.00,0.000,4,0.000,0.051,2365,3362,3402,0,0,0,0,0,0
$GC,1086,-0.74,-146.0,159.6,-12.7,137,1091,0.12,2.17,0.00,0.000,6,0.159,0.042,2397,1955,3402,0,0,0,0,0,0
$GC,1418,-0.74,-146.0,197.9,-13.0,168,1422,0.00,2.20,0.00,0.000,4,0.000,0.051,2389,3360,3402,0,0,0,0,0,0
$GC,1453,-0.74,-146.0,203.2,-13.7,169,1459,0.00,2.17,0.00,0.000,6,0.000,0.044,2389,1950,3402,0,0,0,0,0,0
$GC,1771,-0.74,-146.0,238.0,-8.0,185,1775,0.00,2.17,0.00,0.000,4,0.000,0.054,2389,548,3403,0,0,0,0,0,0
$GC,1885,-0.74,-146.0,246.7,-6.8,190,1889,0.00,2.12,0.00,0.000,6,0.000,0.035,2379,1971,3403,0,0,0,0,0,0
$GC,2209,-0.74,-146.0,272.2,-7.7,206,2212,0.00,2.28,0.00,0.000,4,0.000,0.054,2379,550,3403,0,0,0,0,0,0
$GC,2466,-0.74,-146.0,299.4,-11.0,217,2472,0.12,2.15,0.00,0.000,6,0.171,0.038,2403,1961,3402,0,0,0,0,0,0
$GC,2806,-0.74,-146.0,328.4,-8.1,226,2810,0.00,2.28,0.00,0.000,4,0.000,0.057,2404,547,3402,0,0,0,0,0,0
$GC,2981,-0.74,-146.0,343.6,-7.6,230,2985,0.00,2.15,0.00,0.000,6,0.000,0.040,2395,1964,3401,0,0,0,0,0,0
$GC,3307,-0.74,-146.0,369.1,-7.7,238,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1965,3399,0,0,0,0,0,0
$GC,3630,-0.74,-146.0,392.9,-7.1,246,3634,0.00,2.22,0.00,0.000,4,0.000,0.061,2384,3373,3397,0,0,0,0,0,0
$GC,3715,-0.74,-146.0,399.3,-8.2,248,3719,0.00,2.20,0.00,0.000,6,0.000,0.044,2385,1956,3397,0,0,0,0,0,0
$GC,4046,-0.74,-146.0,422.7,-6.6,256,4050,0.00,2.22,0.00,0.000,4,0.000,0.066,2384,552,3394,0,0,0,0,0,0
$GC,4184,-0.74,-146.0,433.4,-8.3,259,4188,0.00,2.17,0.00,0.000,6,0.000,0.045,2375,1957,3393,0,0,0,0,0,0
$STATE,4426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4426,begin apogee
$GC,4432,-0.17,0.0,452.5,7.8,265,4554,0.65,0.00,118.80,0.783,6,0.129,0.000,2583,1957,2799,0,0,0,0,0,0
$STATE,4555,end apogee,CONTROL_FINISHED_OK
$STATE,4555,begin climb
$GC,4558,0.74,146.0,454.1,0.0,268,4693,0.82,2.38,125.00,0.753,4,0.081,0.061,2869,3379,2203,0,0,0,0,0,0
$GC,4726,0.74,146.0,436.3,14.4,272,4731,0.00,2.30,0.00,0.000,6,0.000,0.051,2879,1983,2199,0,0,0,0,0,0
$GC,5045,0.74,146.0,391.8,13.7,280,5049,0.00,2.28,0.00,0.000,4,0.000,0.061,2889,562,2195,0,0,0,0,0,0
$GC,5145,0.74,146.0,377.7,13.4,282,5149,0.00,2.20,0.00,0.000,6,0.000,0.039,2889,1986,2193,0,0,0,0,0,0
$GC,5493,0.74,146.0,329.8,14.1,291,5497,0.00,2.28,0.00,0.000,4,0.000,0.058,2899,555,2192,0,0,0,0,0,0
$GC,5549,0.74,146.0,321.4,14.8,292,5553,0.00,2.17,0.00,0.000,6,0.000,0.039,2899,1976,2191,0,0,0,0,0,0
$GC,5878,0.74,146.0,273.1,15.2,304,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1977,2189,0,0,0,0,0,0
$GC,6188,0.74,146.0,227.8,14.0,319,6192,0.00,2.28,0.00,0.000,4,0.000,0.057,2909,560,2188,0,0,0,0,0,0
$GC,6283,0.74,146.0,213.2,15.1,323,6287,0.12,2.20,0.00,0.000,6,0.146,0.038,2875,1991,2188,0,0,0,0,0,0
$GC,6606,0.74,146.0,178.0,9.1,348,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1992,2187,0,0,0,0,0,0
$GC,6927,0.74,146.0,147.9,9.9,378,6931,0.00,2.12,0.00,0.000,4,0.000,0.051,2875,3379,2186,0,0,0,0,0,0
$GC,6980,0.74,146.0,141.5,11.8,382,6988,0.00,2.22,0.00,0.000,6,0.000,0.040,2882,1964,2186,0,0,0,0,0,0
$GC,7307,0.74,146.0,106.8,11.1,413,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1964,2185,0,0,0,0,0,0
$GC,7626,0.74,146.0,70.6,10.3,450,7634,0.00,2.22,0.00,0.000,4,0.000,0.055,2893,571,2186,0,0,0,0,0,0
$GC,7659,0.74,146.0,67.7,9.3,455,7664,0.00,2.15,0.00,0.000,6,0.000,0.036,2893,1986,2185,0,0,0,0,0,0
$GC,7988,0.74,146.0,39.3,9.5,516,7995,0.00,2.17,0.00,0.000,4,0.000,0.050,2893,3382,2186,0,0,0,0,0,0
$GC,8084,0.74,146.0,29.5,10.6,533,8092,0.00,2.20,0.00,0.000,6,0.000,0.038,2901,1978,2186,0,0,0,0,0,0
$GC,8252,0.74,146.0,12.9,9.9,564,8259,0.00,2.25,0.00,0.000,4,0.000,0.054,2911,562,2187,0,0,0,0,0,0
$GC,8274,0.74,146.0,10.8,9.8,567,8282,0.10,2.17,0.00,0.000,6,0.110,0.035,2875,1981,2187,0,0,0,0,0,0
$STATE,8365,end climb,SURFACE_DEPTH_REACHED
$STATE,8365,begin surface coast
$FINISH,0.4,1.011147
$STATE,8405,end surface coast,CONTROL_FINISHED_OK
$STATE,8405,begin surface
$SM_CCo,8422,68.70,0.451,0,0,1574,300.24
$SM_GC,1.14,0.00,0.00,68.70,0.000,0.000,0.451,51,1985,1574,-8.09,0.71,300.24
$IRIDIUM_FIX,2104.07,-15740.59,020802,141404
$TT8_MAMPS,0.028379
$HUMID,61.41
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.7,10.939
$10V_AH,10.5,11.977
$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,18.625,75.150,243.800,68.700,0.000,30.371,37.126,136.634,18.750,0.000,17.731,1097.396,4917.688,379.095,1996.030,433.333,0.000,1072.523,0.000,1945.962,0.000,117.259,0.000
$DEVICE_MAMPS,233.168,65.962,783.107,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.563,328.841,1179.602,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31770,591
$CAP_FILE_SIZE,92515,0
$CFSIZE,260165632,248979456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080513,213741,2105.848,-15745.850,15,0.9,15,9.8