version: 66.06
glider: 523
mission: 4
dive: 180
start: 5 14 113 0 31 18
data:
$ID,523
$MISSION,4
$DIVE,180
$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,-39457.16
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,002504,2107.070,-15746.903,47,1.0,47,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.9
$GPS2,003101,2107.024,-15746.948,14,0.9,14,9.8
$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,98.0,7315,-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,-75.97,0.000,2,0.000,0.000,37,1971,3361,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.7,12,113,9.40,2.28,-0.75,0.000,4,0.229,0.064,2394,547,3397,0,0,0,0,0,0
$GC,300,-0.74,-146.0,48.3,-20.9,49,306,0.00,2.15,0.00,0.000,6,0.000,0.037,2386,1963,3398,0,0,0,0,0,0
$GC,632,-0.74,-146.0,102.1,-13.8,96,636,0.00,2.25,0.00,0.000,4,0.000,0.054,2385,548,3399,0,0,0,0,0,0
$GC,866,-0.74,-146.0,129.3,-9.8,117,871,0.00,2.12,0.00,0.000,6,0.000,0.033,2376,1968,3400,0,0,0,0,0,0
$GC,1199,-0.74,-146.0,162.2,-11.1,148,1203,0.00,2.28,0.00,0.000,4,0.000,0.051,2376,542,3400,0,0,0,0,0,0
$GC,1351,-0.74,-146.0,179.6,-11.4,161,1356,0.12,2.15,0.00,0.000,6,0.170,0.034,2398,1963,3401,0,0,0,0,0,0
$GC,1677,-0.74,-146.0,215.7,-9.6,185,1681,0.00,2.25,0.00,0.000,4,0.000,0.052,2399,551,3401,0,0,0,0,0,0
$GC,1739,-0.74,-146.0,222.7,-11.6,187,1744,0.00,2.12,0.00,0.000,6,0.000,0.034,2391,1970,3401,0,0,0,0,0,0
$GC,2057,-0.74,-146.0,256.9,-10.4,203,2061,0.00,2.28,0.00,0.000,4,0.000,0.054,2390,550,3401,0,0,0,0,0,0
$GC,2191,-0.74,-146.0,272.4,-10.6,209,2195,0.00,2.15,0.00,0.000,6,0.000,0.035,2381,1973,3401,0,0,0,0,0,0
$GC,2514,-0.74,-146.0,297.3,-6.3,225,2518,0.00,2.17,0.00,0.000,4,0.000,0.057,2370,3367,3401,0,0,0,0,0,0
$GC,2620,-0.74,-146.0,305.0,-8.0,229,2628,0.12,2.20,0.00,0.000,6,0.152,0.045,2404,1957,3401,0,0,0,0,0,0
$GC,2975,-0.74,-146.0,331.1,-7.4,238,2979,0.00,2.20,0.00,0.000,4,0.000,0.054,2396,3360,3401,0,0,0,0,0,0
$GC,3154,-0.74,-146.0,344.3,-7.8,242,3158,0.00,2.17,0.00,0.000,6,0.000,0.044,2396,1957,3401,0,0,0,0,0,0
$GC,3476,-0.74,-146.0,371.9,-8.8,250,3480,0.00,2.22,0.00,0.000,4,0.000,0.061,2396,553,3400,0,0,0,0,0,0
$GC,3509,-0.74,-146.0,374.9,-7.9,250,3515,0.00,2.15,0.00,0.000,6,0.000,0.039,2387,1960,3399,0,0,0,0,0,0
$GC,3841,-0.74,-146.0,397.6,-6.5,259,3845,0.00,2.25,0.00,0.000,4,0.000,0.058,2387,546,3398,0,0,0,0,0,0
$GC,3936,-0.74,-146.0,404.3,-7.1,261,3940,0.00,2.15,0.00,0.000,6,0.000,0.041,2377,1957,3397,0,0,0,0,0,0
$GC,4253,-0.74,-146.0,425.9,-6.9,269,4257,0.00,2.17,0.00,0.000,4,0.000,0.056,2367,3373,3395,0,0,0,0,0,0
$GC,4385,-0.74,-146.0,435.9,-7.3,272,4390,0.12,2.20,0.00,0.000,6,0.152,0.044,2400,1956,3394,0,0,0,0,0,0
$STATE,4633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4633,begin apogee
$GC,4640,-0.17,0.0,450.6,5.7,278,4761,0.55,0.00,118.65,0.780,6,0.120,0.000,2581,1955,2800,0,0,0,0,0,0
$STATE,4762,end apogee,CONTROL_FINISHED_OK
$STATE,4762,begin climb
$GC,4765,0.74,146.0,451.9,0.0,281,4900,0.85,2.42,124.95,0.750,4,0.080,0.051,2874,3387,2204,0,0,0,0,0,0
$GC,4929,0.74,146.0,436.5,12.9,285,4933,0.00,2.35,0.00,0.000,6,0.000,0.050,2883,1983,2201,0,0,0,0,0,0
$GC,5253,0.74,146.0,394.2,13.6,293,5257,0.00,2.28,0.00,0.000,4,0.000,0.061,2894,561,2196,0,0,0,0,0,0
$GC,5364,0.74,146.0,378.6,13.2,295,5369,0.00,2.20,0.00,0.000,6,0.000,0.044,2894,1972,2195,0,0,0,0,0,0
$GC,5701,0.74,146.0,329.6,14.7,304,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1973,2193,0,0,0,0,0,0
$GC,6007,0.74,146.0,284.6,15.2,313,6011,0.00,2.20,0.00,0.000,4,0.000,0.053,2893,3386,2192,0,0,0,0,0,0
$GC,6114,0.74,146.0,267.4,15.3,318,6118,0.00,2.25,0.00,0.000,6,0.000,0.051,2894,1973,2191,0,0,0,0,0,0
$GC,6440,0.74,146.0,224.2,13.1,334,6444,0.00,2.22,0.00,0.000,4,0.000,0.060,2905,564,2190,0,0,0,0,0,0
$GC,6564,0.74,146.0,207.7,13.6,339,6569,0.00,2.17,0.00,0.000,6,0.000,0.041,2905,1979,2189,0,0,0,0,0,0
$GC,6891,0.74,146.0,161.1,13.1,367,6895,0.00,2.17,0.00,0.000,4,0.000,0.053,2905,3382,2188,0,0,0,0,0,0
$GC,6912,0.74,146.0,157.5,13.7,368,6919,0.10,2.22,0.00,0.000,6,0.131,0.045,2881,1976,2188,0,0,0,0,0,0
$GC,7239,0.74,151.6,123.5,8.8,399,7243,0.00,2.22,0.00,0.000,4,0.000,0.057,2890,555,2188,0,0,0,0,0,0
$GC,7410,0.76,167.3,108.7,8.4,414,7434,0.00,2.20,16.48,0.543,6,0.000,0.041,2890,1987,2118,0,0,0,0,0,0
$GC,7754,0.76,167.3,76.4,9.4,449,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1987,2116,0,0,0,0,0,0
$GC,8086,0.77,172.2,46.0,8.8,510,8098,0.00,2.20,5.62,0.407,4,0.000,0.052,2890,3380,2097,0,0,0,0,0,0
$GC,8129,0.77,172.2,41.9,9.8,517,8134,0.00,2.17,0.00,0.000,6,0.000,0.041,2898,1970,2096,0,0,0,0,0,0
$GC,8454,0.77,172.2,12.3,9.9,578,8462,0.00,2.25,0.00,0.000,4,0.000,0.055,2908,572,2097,0,0,0,0,0,0
$STATE,8541,end climb,SURFACE_DEPTH_REACHED
$STATE,8541,begin surface coast
$FINISH,0.5,1.023411
$STATE,8570,end surface coast,CONTROL_FINISHED_OK
$STATE,8570,begin surface
$SM_CCo,8590,57.70,0.446,0,0,1575,300.24
$SM_GC,1.27,0.00,0.00,57.70,0.000,0.000,0.446,38,1986,1575,-8.13,0.74,300.24
$IRIDIUM_FIX,2057.14,-15618.67,070802,222213
$TT8_MAMPS,0.028379
$HUMID,61.49
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.7,14.923
$10V_AH,10.5,16.359
$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,18.550,79.650,265.700,57.700,0.000,30.850,43.252,156.292,19.000,0.000,15.309,1118.715,4973.443,383.658,2063.895,466.106,0.000,1103.135,0.000,2017.390,0.000,117.261,0.000
$DEVICE_MAMPS,228.566,63.661,780.039,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.769,333.942,1185.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,31717,599
$CAP_FILE_SIZE,95823,0
$CFSIZE,260165632,246632448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140513,025618,2106.672,-15746.371,13,1.1,13,9.8