version: 66.06
glider: 523
mission: 4
dive: 251
start: 5 21 113 11 34 12
data:
$ID,523
$MISSION,4
$DIVE,251
$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,-40808.77
$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,35
$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
$GPS1,112434,2107.938,-15801.368,29,0.9,29,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-75.9
$GPS2,113353,2107.979,-15801.347,17,0.9,17,9.8
$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,87.4,32094,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.03,0.000,6,0.000,0.000,42,1972,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.3,13,118,9.52,2.28,0.00,0.000,4,0.232,0.051,2393,547,3396,0,0,0,0,0,0
$GC,355,-0.74,-146.0,56.8,-16.0,60,362,0.00,2.17,0.00,0.000,6,0.000,0.037,2385,1956,3398,0,0,0,0,0,0
$GC,686,-0.74,-146.0,103.8,-15.4,106,693,0.00,2.17,0.00,0.000,4,0.000,0.056,2374,3363,3399,0,0,0,0,0,0
$GC,713,-0.74,-146.0,107.9,-15.0,108,717,0.00,2.22,0.00,0.000,6,0.000,0.044,2374,1951,3399,0,0,0,0,0,0
$GC,1040,-0.74,-146.0,151.3,-11.3,138,1044,0.00,2.28,0.00,0.000,4,0.000,0.052,2364,3362,3400,0,0,0,0,0,0
$GC,1081,-0.74,-146.0,156.6,-13.1,141,1086,0.12,2.20,0.00,0.000,6,0.158,0.046,2396,1961,3400,0,0,0,0,0,0
$GC,1414,-0.74,-146.0,195.6,-10.6,172,1418,0.00,2.25,0.00,0.000,4,0.000,0.054,2397,540,3401,0,0,0,0,0,0
$GC,1565,-0.74,-146.0,212.6,-10.1,180,1569,0.00,2.15,0.00,0.000,6,0.000,0.035,2389,1976,3401,0,0,0,0,0,0
$GC,1893,-0.74,-146.0,241.7,-10.0,196,1897,0.00,2.25,0.00,0.000,4,0.000,0.051,2388,546,3401,0,0,0,0,0,0
$GC,1943,-0.74,-146.0,248.1,-12.3,198,1947,0.00,2.12,0.00,0.000,6,0.000,0.035,2379,1963,3401,0,0,0,0,0,0
$GC,2264,-0.74,-146.0,276.0,-8.9,213,2268,0.00,2.17,0.00,0.000,4,0.000,0.054,2369,3361,3401,0,0,0,0,0,0
$GC,2314,-0.74,-146.0,281.7,-10.2,215,2318,0.12,2.17,0.00,0.000,6,0.155,0.043,2401,1958,3401,0,0,0,0,0,0
$GC,2631,-0.74,-146.0,308.1,-8.2,228,2635,0.00,2.22,0.00,0.000,4,0.000,0.058,2402,551,3401,0,0,0,0,0,0
$GC,2862,-0.74,-146.0,324.3,-6.8,233,2866,0.00,2.15,0.00,0.000,6,0.000,0.038,2393,1968,3400,0,0,0,0,0,0
$GC,3182,-0.74,-146.0,347.9,-7.5,241,3186,0.00,2.22,0.00,0.000,4,0.000,0.057,2382,3372,3399,0,0,0,0,0,0
$GC,3424,-0.74,-146.0,366.2,-7.1,246,3428,0.00,2.22,0.00,0.000,6,0.000,0.044,2382,1955,3399,0,0,0,0,0,0
$GC,3772,-0.74,-146.0,392.8,-7.1,255,3776,0.00,2.25,0.00,0.000,4,0.000,0.060,2382,547,3397,0,0,0,0,0,0
$GC,4030,-0.74,-146.0,415.4,-9.2,260,4036,0.00,2.17,0.00,0.000,6,0.000,0.041,2373,1956,3395,0,0,0,0,0,0
$GC,4363,-0.74,-146.0,441.4,-7.8,269,4367,0.00,2.28,0.00,0.000,4,0.000,0.059,2373,553,3393,0,0,0,0,0,0
$STATE,4455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4455,begin apogee
$GC,4464,-0.17,0.0,450.4,10.2,271,4586,0.68,0.00,118.40,0.768,6,0.130,0.000,2581,1978,2800,0,0,0,0,0,0
$STATE,4586,end apogee,CONTROL_FINISHED_OK
$STATE,4587,begin climb
$GC,4589,0.74,146.0,452.6,0.0,274,4726,0.85,2.40,125.28,0.741,4,0.077,0.060,2876,3380,2202,0,0,0,0,0,0
$GC,4749,0.74,146.0,435.3,15.1,277,4754,0.00,2.30,0.00,0.000,6,0.000,0.048,2884,1981,2199,0,0,0,0,0,0
$GC,5080,0.74,146.0,381.2,16.1,286,5084,0.00,2.35,0.00,0.000,4,0.000,0.071,2895,557,2195,0,0,0,0,0,0
$GC,5129,0.74,146.0,372.9,16.7,287,5133,0.00,2.25,0.00,0.000,6,0.000,0.044,2895,1979,2194,0,0,0,0,0,0
$GC,5442,0.74,146.0,324.4,15.0,295,5446,0.00,2.22,0.00,0.000,4,0.000,0.063,2895,3392,2192,0,0,0,0,0,0
$GC,5469,0.74,146.0,320.2,15.6,295,5473,0.00,2.22,0.00,0.000,6,0.000,0.039,2905,1960,2192,0,0,0,0,0,0
$GC,5782,0.74,146.0,276.0,14.2,306,5786,0.00,2.17,0.00,0.000,4,0.000,0.054,2916,561,2190,0,0,0,0,0,0
$GC,5854,0.74,146.0,265.5,14.1,309,5859,0.15,2.17,0.00,0.000,6,0.146,0.036,2874,1990,2190,0,0,0,0,0,0
$GC,6170,0.74,146.0,228.4,11.0,324,6174,0.00,2.12,0.00,0.000,4,0.000,0.052,2874,3377,2188,0,0,0,0,0,0
$GC,6238,0.74,146.0,219.5,13.6,327,6242,0.00,2.15,0.00,0.000,6,0.000,0.041,2883,1976,2187,0,0,0,0,0,0
$GC,6568,0.74,146.0,177.3,12.2,351,6572,0.00,2.20,0.00,0.000,4,0.000,0.053,2893,565,2187,0,0,0,0,0,0
$GC,6641,0.74,146.0,167.7,12.8,357,6645,0.00,2.15,0.00,0.000,6,0.000,0.035,2893,1981,2186,0,0,0,0,0,0
$GC,6968,0.74,146.0,127.8,11.0,387,6972,0.00,2.17,0.00,0.000,4,0.000,0.051,2893,3385,2186,0,0,0,0,0,0
$GC,7031,0.74,146.0,119.8,12.7,392,7039,0.00,2.25,0.00,0.000,6,0.000,0.048,2902,1978,2186,0,0,0,0,0,0
$GC,7359,0.74,146.0,83.5,9.3,423,7363,0.00,2.17,0.00,0.000,4,0.000,0.048,2901,3387,2186,0,0,0,0,0,0
$GC,7522,0.74,146.0,65.6,11.6,449,7528,0.12,2.17,0.00,0.000,6,0.155,0.038,2877,1974,2186,0,0,0,0,0,0
$GC,7853,0.80,196.3,38.1,6.9,510,7898,0.00,0.00,39.88,0.479,6,0.000,0.000,2877,1974,1997,0,0,0,0,0,0
$GC,8219,0.85,234.3,12.4,7.5,578,8259,0.10,2.28,32.22,0.449,4,0.089,0.053,2964,569,1844,0,0,0,0,0,0
$STATE,8292,end climb,SURFACE_DEPTH_REACHED
$STATE,8292,begin surface coast
$FINISH,1.8,1.934012
$STATE,8301,end surface coast,CONTROL_FINISHED_OK
$STATE,8301,begin surface
$SM_CCo,8321,32.83,0.430,0,0,1575,300.24
$SM_GC,1.21,0.00,0.00,32.83,0.000,0.000,0.430,35,1968,1575,-8.14,0.23,300.24
$IRIDIUM_FIX,2101.76,-15823.07,150802,111117
$TT8_MAMPS,0.028379
$HUMID,62.44
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.7,20.652
$10V_AH,10.5,22.589
$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,19.175,84.175,315.775,32.825,0.000,56.654,77.751,223.136,19.000,0.000,18.312,1090.324,4811.348,373.832,2034.290,605.343,0.000,1119.068,0.000,1980.405,0.000,119.165,0.000
$DEVICE_MAMPS,232.401,70.564,767.767,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,400.503,324.429,1146.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,35014,591
$CAP_FILE_SIZE,98769,0
$CFSIZE,260165632,243269632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210513,135425,2108.045,-15800.350,19,1.8,19,9.8