version: 66.06
glider: 523
mission: 4
dive: 210
start: 5 17 113 4 3 0
data:
$ID,523
$MISSION,4
$DIVE,210
$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,-40035.691
$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,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
$GPS1,035703,2107.990,-15759.873,18,1.3,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.1
$GPS2,040243,2108.008,-15759.966,16,1.3,16,9.8
$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,88.1,29736,-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,-77.68,0.000,6,0.000,0.000,30,1978,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-7.3,13,118,9.45,2.33,0.00,0.000,4,0.229,0.046,2393,540,3397,0,0,0,0,0,0
$GC,199,-0.74,-146.0,30.2,-18.3,30,207,0.00,2.22,0.00,0.000,6,0.000,0.036,2384,1966,3398,0,0,0,0,0,0
$GC,537,-0.74,-146.0,85.0,-14.9,89,543,0.00,2.28,0.00,0.000,4,0.000,0.054,2385,548,3399,0,0,0,0,0,0
$GC,607,-0.74,-146.0,95.6,-14.6,95,611,0.00,2.17,0.00,0.000,6,0.000,0.036,2375,1979,3399,0,0,0,0,0,0
$GC,939,-0.74,-146.0,143.4,-13.4,126,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1980,3401,0,0,0,0,0,0
$GC,1258,-0.74,-146.0,181.6,-10.9,156,1262,0.00,2.15,0.00,0.000,4,0.000,0.054,2365,3366,3401,0,0,0,0,0,0
$GC,1343,-0.74,-146.0,191.6,-12.5,163,1347,0.12,2.20,0.00,0.000,6,0.153,0.044,2397,1948,3402,0,0,0,0,0,0
$GC,1670,-0.74,-146.0,224.3,-9.1,182,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1948,3402,0,0,0,0,0,0
$GC,1982,-0.74,-146.0,252.5,-8.2,197,1986,0.00,2.17,0.00,0.000,4,0.000,0.053,2398,550,3402,0,0,0,0,0,0
$GC,2162,-0.74,-146.0,266.9,-8.3,205,2166,0.00,2.12,0.00,0.000,6,0.000,0.038,2390,1960,3403,0,0,0,0,0,0
$GC,2492,-0.74,-146.0,296.9,-9.7,221,2496,0.00,2.25,0.00,0.000,4,0.000,0.055,2390,551,3402,0,0,0,0,0,0
$GC,2605,-0.74,-146.0,308.7,-9.7,224,2609,0.00,2.15,0.00,0.000,6,0.000,0.040,2380,1958,3402,0,0,0,0,0,0
$GC,2946,-0.74,-146.0,335.8,-7.8,233,2950,0.00,2.28,0.00,0.000,4,0.000,0.058,2380,546,3401,0,0,0,0,0,0
$GC,3071,-0.74,-146.0,346.1,-8.0,235,3077,0.12,2.17,0.00,0.000,6,0.166,0.041,2404,1958,3400,0,0,0,0,0,0
$GC,3403,-0.74,-146.0,366.8,-6.1,244,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1959,3398,0,0,0,0,0,0
$GC,3728,-0.74,-146.0,388.5,-6.6,252,3732,0.00,2.28,0.00,0.000,4,0.000,0.063,2405,554,3396,0,0,0,0,0,0
$GC,3952,-0.74,-146.0,403.9,-7.2,257,3956,0.00,2.20,0.00,0.000,6,0.000,0.046,2397,1967,3394,0,0,0,0,0,0
$GC,4280,-0.74,-146.0,425.4,-6.8,265,4283,0.00,2.17,0.00,0.000,4,0.000,0.056,2386,3376,3393,0,0,0,0,0,0
$GC,4398,-0.74,-146.0,434.4,-7.7,267,4402,0.00,2.22,0.00,0.000,6,0.000,0.045,2386,1958,3392,0,0,0,0,0,0
$STATE,4612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4612,begin apogee
$GC,4618,-0.17,0.0,450.9,7.9,273,4740,0.60,0.00,118.85,0.788,6,0.126,0.000,2579,1957,2800,0,0,0,0,0,0
$STATE,4741,end apogee,CONTROL_FINISHED_OK
$STATE,4741,begin climb
$GC,4744,0.74,146.0,453.4,0.0,276,4874,0.85,0.00,126.15,0.757,6,0.081,0.000,2870,1957,2204,0,0,0,0,0,0
$GC,5192,0.74,146.0,394.2,14.9,287,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1957,2196,0,0,0,0,0,0
$GC,5515,0.74,146.0,351.8,12.8,295,5519,0.00,2.20,0.00,0.000,4,0.000,0.061,2880,570,2194,0,0,0,0,0,0
$GC,5645,0.74,146.0,333.3,13.9,298,5649,0.00,2.22,0.00,0.000,6,0.000,0.044,2880,1991,2193,0,0,0,0,0,0
$GC,5970,0.74,146.0,288.7,14.2,307,5974,0.00,2.25,0.00,0.000,4,0.000,0.056,2890,567,2192,0,0,0,0,0,0
$GC,6031,0.74,146.0,279.1,15.6,309,6036,0.00,2.17,0.00,0.000,6,0.000,0.038,2891,1977,2191,0,0,0,0,0,0
$GC,6347,0.74,146.0,238.3,11.3,325,6350,0.00,2.17,0.00,0.000,4,0.000,0.052,2890,3382,2190,0,0,0,0,0,0
$GC,6425,0.74,146.0,229.1,12.4,328,6429,0.00,2.17,0.00,0.000,6,0.000,0.042,2901,1971,2189,0,0,0,0,0,0
$GC,6744,0.74,146.0,189.2,13.1,346,6748,0.00,2.20,0.00,0.000,4,0.000,0.058,2911,557,2188,0,0,0,0,0,0
$GC,6807,0.74,146.0,181.6,12.9,351,6811,0.12,2.17,0.00,0.000,6,0.146,0.038,2877,1977,2188,0,0,0,0,0,0
$GC,7134,0.74,146.0,146.5,11.9,381,7138,0.00,2.17,0.00,0.000,4,0.000,0.051,2877,3387,2187,0,0,0,0,0,0
$GC,7175,0.74,146.0,141.5,12.9,384,7179,0.00,2.17,0.00,0.000,6,0.000,0.040,2885,1969,2187,0,0,0,0,0,0
$GC,7501,0.74,146.0,104.3,10.9,414,7505,0.00,2.20,0.00,0.000,4,0.000,0.050,2885,3379,2187,0,0,0,0,0,0
$GC,7575,0.74,146.0,95.7,11.9,420,7579,0.00,2.15,0.00,0.000,6,0.000,0.040,2894,1976,2187,0,0,0,0,0,0
$GC,7905,0.78,179.8,62.8,7.6,467,7940,0.00,2.28,26.80,0.512,4,0.000,0.056,2902,560,2064,0,0,0,0,0,0
$GC,8152,0.78,179.8,39.2,10.7,511,8157,0.00,2.15,0.00,0.000,6,0.000,0.035,2902,1977,2062,0,0,0,0,0,0
$GC,8478,0.78,182.9,6.9,8.9,572,8485,0.00,2.22,0.00,0.000,4,0.000,0.052,2902,3382,2062,0,0,0,0,0,0
$STATE,8517,end climb,SURFACE_DEPTH_REACHED
$STATE,8517,begin surface coast
$FINISH,0.7,1.023348
$STATE,8549,end surface coast,CONTROL_FINISHED_OK
$STATE,8550,begin surface
$SM_CCo,8570,53.67,0.448,0,0,1575,300.24
$SM_GC,1.35,0.00,0.00,53.67,0.000,0.000,0.448,24,1963,1575,-8.18,0.08,300.24
$IRIDIUM_FIX,2057.14,-15756.91,110802,010102
$TT8_MAMPS,0.028379
$HUMID,62.75
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.7,17.366
$10V_AH,10.5,18.989
$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,18.450,70.575,271.800,53.675,0.000,31.383,36.303,145.608,19.000,0.000,17.156,1072.219,5151.059,397.535,1908.175,435.846,0.000,1054.410,0.000,1865.488,0.000,119.219,0.000
$DEVICE_MAMPS,229.333,62.894,787.709,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,397.946,327.497,1117.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31776,585
$CAP_FILE_SIZE,89251,0
$CFSIZE,260165632,245235712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170513,062828,2108.064,-15759.149,65,0.9,65,9.8