version: 66.06
glider: 523
mission: 4
dive: 252
start: 5 21 113 14 0 34
data:
$ID,523
$MISSION,4
$DIVE,252
$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,-40833.715
$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,26
$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
$GPS1,135425,2108.045,-15800.350,19,1.8,19,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-76.7
$GPS2,140018,2108.087,-15800.382,23,0.9,23,9.8
$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,88.1,30467,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.90,0.000,6,0.000,0.000,36,1969,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.9,13,118,9.52,2.28,0.00,0.000,4,0.232,0.048,2391,545,3396,0,0,0,0,0,0
$GC,358,-0.74,-146.0,59.8,-18.3,60,366,0.00,2.17,0.00,0.000,6,0.000,0.036,2383,1954,3398,0,0,0,0,0,0
$GC,695,-0.74,-146.0,106.6,-14.1,104,699,0.00,2.20,0.00,0.000,4,0.000,0.057,2373,3362,3399,0,0,0,0,0,0
$GC,801,-0.74,-146.0,122.8,-15.0,113,805,0.00,2.20,0.00,0.000,6,0.000,0.045,2372,1956,3400,0,0,0,0,0,0
$GC,1128,-0.74,-146.0,165.0,-11.4,143,1135,0.10,2.22,0.00,0.000,4,0.171,0.054,2397,544,3401,0,0,0,0,0,0
$GC,1246,-0.74,-146.0,180.1,-11.6,153,1254,0.00,2.17,0.00,0.000,6,0.000,0.035,2389,1969,3401,0,0,0,0,0,0
$GC,1569,-0.74,-146.0,211.0,-8.3,178,1573,0.00,2.28,0.00,0.000,4,0.000,0.052,2389,541,3402,0,0,0,0,0,0
$GC,1815,-0.74,-146.0,236.3,-9.8,189,1819,0.00,2.17,0.00,0.000,6,0.000,0.036,2379,1971,3402,0,0,0,0,0,0
$GC,2141,-0.74,-146.0,266.2,-8.2,205,2145,0.00,2.30,0.00,0.000,4,0.000,0.054,2379,544,3401,0,0,0,0,0,0
$GC,2325,-0.74,-146.0,284.7,-9.9,213,2330,0.12,2.15,0.00,0.000,6,0.170,0.037,2403,1965,3402,0,0,0,0,0,0
$GC,2667,-0.74,-146.0,309.5,-7.0,227,2674,0.00,2.28,0.00,0.000,4,0.000,0.056,2403,545,3402,0,0,0,0,0,0
$GC,2865,-0.74,-146.0,324.7,-8.2,231,2869,0.00,2.17,0.00,0.000,6,0.000,0.040,2395,1963,3401,0,0,0,0,0,0
$GC,3215,-0.74,-146.0,356.7,-9.6,240,3219,0.00,2.22,0.00,0.000,4,0.000,0.061,2383,3374,3400,0,0,0,0,0,0
$GC,3242,-0.74,-146.0,359.5,-9.7,240,3247,0.00,2.20,0.00,0.000,6,0.000,0.043,2384,1955,3400,0,0,0,0,0,0
$GC,3582,-0.74,-146.0,386.8,-7.5,249,3586,0.00,2.25,0.00,0.000,4,0.000,0.061,2384,546,3398,0,0,0,0,0,0
$GC,3655,-0.74,-146.0,393.2,-8.7,250,3659,0.00,2.17,0.00,0.000,6,0.000,0.042,2375,1959,3397,0,0,0,0,0,0
$GC,3987,-0.74,-146.0,418.2,-7.0,258,3991,0.00,2.20,0.00,0.000,4,0.000,0.061,2365,3367,3395,0,0,0,0,0,0
$GC,4034,-0.74,-146.0,421.2,-6.9,259,4039,0.12,2.20,0.00,0.000,6,0.153,0.044,2397,1960,3395,0,0,0,0,0,0
$GC,4360,-0.74,-146.0,444.2,-6.8,267,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1961,3393,0,0,0,0,0,0
$STATE,4478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4478,begin apogee
$GC,4484,-0.17,0.0,452.3,6.6,270,4606,0.57,0.00,118.78,0.772,6,0.121,0.000,2584,1961,2800,0,0,0,0,0,0
$STATE,4607,end apogee,CONTROL_FINISHED_OK
$STATE,4607,begin climb
$GC,4610,0.74,146.0,452.4,0.0,273,4746,0.85,2.42,125.45,0.743,4,0.077,0.067,2884,570,2202,0,0,0,0,0,0
$GC,4796,0.74,146.0,428.0,17.0,277,4800,0.00,2.25,0.00,0.000,6,0.000,0.042,2884,1981,2199,0,0,0,0,0,0
$GC,5128,0.74,146.0,372.5,16.3,285,5132,0.00,2.17,0.00,0.000,4,0.000,0.052,2884,3382,2195,0,0,0,0,0,0
$GC,5155,0.74,146.0,367.4,17.8,285,5159,0.00,2.20,0.00,0.000,6,0.000,0.042,2894,1976,2194,0,0,0,0,0,0
$GC,5486,0.74,146.0,315.0,15.5,293,5490,0.00,2.25,0.00,0.000,4,0.000,0.058,2903,562,2193,0,0,0,0,0,0
$GC,5537,0.74,146.0,306.5,16.3,294,5541,0.00,2.20,0.00,0.000,6,0.000,0.038,2903,1983,2193,0,0,0,0,0,0
$GC,5853,0.74,146.0,255.6,15.1,308,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1984,2191,0,0,0,0,0,0
$GC,6163,0.74,146.0,209.7,14.0,323,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1983,2189,0,0,0,0,0,0
$GC,6481,0.74,146.0,170.6,10.3,349,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1984,2188,0,0,0,0,0,0
$GC,6801,0.74,146.0,133.6,10.8,379,6805,0.00,2.15,0.00,0.000,4,0.000,0.050,2903,3386,2187,0,0,0,0,0,0
$GC,6962,0.74,146.0,112.9,13.5,393,6967,0.12,2.20,0.00,0.000,6,0.156,0.039,2879,1964,2186,0,0,0,0,0,0
$GC,7289,0.74,146.0,79.9,9.6,423,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1964,2186,0,0,0,0,0,0
$GC,7620,0.79,191.4,51.6,7.1,484,7661,0.00,2.25,35.62,0.495,4,0.000,0.054,2886,564,2020,0,0,0,0,0,0
$GC,7764,0.84,231.5,41.4,7.4,509,7804,0.00,2.17,34.45,0.476,6,0.000,0.035,2886,1978,1855,0,0,0,0,0,0
$GC,8121,0.84,231.5,8.8,10.9,576,8128,0.00,2.22,0.00,0.000,4,0.000,0.051,2886,3381,1854,0,0,0,0,0,0
$GC,8163,0.84,231.5,4.6,10.1,583,8171,0.00,2.22,0.00,0.000,6,0.000,0.039,2895,1979,1853,0,0,0,0,0,0
$STATE,8177,end climb,SURFACE_DEPTH_REACHED
$STATE,8177,begin surface coast
$FINISH,0.5,1.770781
$STATE,8205,end surface coast,CONTROL_FINISHED_OK
$STATE,8205,begin surface
$SM_CCo,8223,32.50,0.433,0,0,1576,300.24
$SM_GC,1.18,0.00,0.00,32.50,0.000,0.000,0.433,33,1976,1576,-8.15,0.45,300.24
$IRIDIUM_FIX,2104.07,-15823.07,150802,111140
$TT8_MAMPS,0.028379
$HUMID,62.64
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.7,20.732
$10V_AH,10.5,22.675
$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,18.725,66.575,314.300,32.500,0.000,22.875,45.293,149.386,19.250,0.000,24.317,1066.213,4762.001,385.650,1949.203,444.585,0.000,1067.159,0.000,1893.013,0.000,117.272,0.000
$DEVICE_MAMPS,231.634,67.496,772.369,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,400.282,322.625,1155.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,35023,590
$CAP_FILE_SIZE,89409,0
$CFSIZE,260165632,243232768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210513,161929,2108.153,-15759.238,40,0.9,40,9.8