version: 66.06
glider: 523
mission: 4
dive: 305
start: 5 27 113 5 6 10
data:
$ID,523
$MISSION,4
$DIVE,305
$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,-41847.488
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,050004,2108.475,-15751.968,22,0.9,22,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.7
$GPS2,050554,2108.507,-15752.053,19,0.9,19,9.8
$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,97.7,16552,-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,-76.05,0.000,2,0.000,0.000,28,1981,3374,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-5.0,12,113,9.48,2.35,-0.47,0.000,4,0.229,0.061,2393,543,3396,0,0,0,0,0,0
$GC,191,-0.74,-146.0,25.1,-20.3,28,198,0.00,2.20,0.00,0.000,6,0.000,0.035,2384,1961,3398,0,0,0,0,0,0
$GC,364,-0.74,-146.0,54.5,-15.2,59,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1962,3398,0,0,0,0,0,0
$GC,697,-0.74,-146.0,99.4,-10.0,106,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1962,3400,0,0,0,0,0,0
$GC,1016,-0.74,-146.0,134.0,-11.9,136,1020,0.00,2.22,0.00,0.000,4,0.000,0.054,2375,3365,3401,0,0,0,0,0,0
$GC,1079,-0.74,-146.0,141.4,-11.6,141,1083,0.00,2.22,0.00,0.000,6,0.000,0.043,2374,1952,3401,0,0,0,0,0,0
$GC,1412,-0.74,-146.0,185.1,-13.7,172,1416,0.00,2.20,0.00,0.000,4,0.000,0.052,2375,550,3402,0,0,0,0,0,0
$GC,1666,-0.74,-146.0,217.6,-11.8,188,1672,0.12,2.12,0.00,0.000,6,0.164,0.033,2397,1973,3402,0,0,0,0,0,0
$GC,1982,-0.74,-146.0,241.3,-6.7,204,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1974,3402,0,0,0,0,0,0
$GC,2291,-0.74,-146.0,264.6,-7.8,219,2298,0.00,2.28,0.00,0.000,4,0.000,0.052,2398,544,3402,0,0,0,0,0,0
$GC,2552,-0.74,-146.0,287.0,-8.3,230,2556,0.00,2.15,0.00,0.000,6,0.000,0.036,2390,1958,3402,0,0,0,0,0,0
$GC,2888,-0.74,-146.0,314.2,-7.6,242,2892,0.00,2.25,0.00,0.000,4,0.000,0.054,2390,542,3402,0,0,0,0,0,0
$GC,2951,-0.74,-146.0,319.1,-8.2,243,2955,0.00,2.17,0.00,0.000,6,0.000,0.038,2380,1966,3401,0,0,0,0,0,0
$GC,3295,-0.74,-146.0,344.5,-7.5,252,3300,0.00,2.22,0.00,0.000,4,0.000,0.058,2370,3373,3402,0,0,0,0,0,0
$GC,3367,-0.74,-146.0,351.4,-9.3,253,3372,0.12,2.22,0.00,0.000,6,0.153,0.043,2403,1951,3401,0,0,0,0,0,0
$GC,3706,-0.74,-146.0,378.6,-7.8,262,3710,0.00,2.20,0.00,0.000,4,0.000,0.059,2404,550,3399,0,0,0,0,0,0
$GC,3895,-0.74,-146.0,393.3,-7.0,266,3899,0.00,2.17,0.00,0.000,6,0.000,0.039,2396,1968,3397,0,0,0,0,0,0
$GC,4245,-0.74,-146.0,414.2,-6.2,275,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1969,3395,0,0,0,0,0,0
$GC,4570,-0.74,-146.0,441.0,-8.4,283,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1969,3394,0,0,0,0,0,0
$STATE,4688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4688,begin apogee
$GC,4695,-0.17,0.0,451.8,8.8,286,4817,0.57,0.00,119.18,0.774,6,0.123,0.000,2579,1969,2800,0,0,0,0,0,0
$STATE,4818,end apogee,CONTROL_FINISHED_OK
$STATE,4818,begin climb
$GC,4821,0.74,146.0,454.2,0.0,289,4954,0.88,2.40,126.28,0.746,4,0.078,0.059,2876,3365,2203,0,0,0,0,0,0
$GC,4988,0.74,146.0,436.8,13.9,293,4992,0.00,2.30,0.00,0.000,6,0.000,0.047,2885,1977,2200,0,0,0,0,0,0
$GC,5336,0.74,146.0,382.2,16.1,302,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1977,2195,0,0,0,0,0,0
$GC,5661,0.74,146.0,339.8,12.0,310,5666,0.00,2.30,0.00,0.000,4,0.000,0.069,2896,555,2193,0,0,0,0,0,0
$GC,5701,0.74,146.0,334.6,13.4,311,5705,0.00,2.25,0.00,0.000,6,0.000,0.044,2896,1979,2193,0,0,0,0,0,0
$GC,6027,0.74,146.0,284.5,16.2,321,6031,0.00,2.17,0.00,0.000,4,0.000,0.053,2896,3387,2191,0,0,0,0,0,0
$GC,6122,0.74,146.0,268.9,15.7,325,6126,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,1962,2190,0,0,0,0,0,0
$GC,6437,0.74,146.0,224.4,13.1,340,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1962,2190,0,0,0,0,0,0
$GC,6753,0.74,146.0,183.5,12.5,361,6757,0.00,2.25,0.00,0.000,4,0.000,0.051,2906,3389,2189,0,0,0,0,0,0
$GC,6793,0.74,146.0,178.1,13.2,364,6798,0.15,2.20,0.00,0.000,6,0.145,0.041,2873,1966,2188,0,0,0,0,0,0
$GC,7120,0.74,146.0,144.2,9.4,394,7124,0.00,2.20,0.00,0.000,4,0.000,0.057,2882,563,2187,0,0,0,0,0,0
$GC,7193,0.74,146.0,137.1,10.6,400,7197,0.00,2.15,0.00,0.000,6,0.000,0.036,2882,1982,2187,0,0,0,0,0,0
$GC,7520,0.74,146.0,102.2,10.1,430,7524,0.00,2.15,0.00,0.000,4,0.000,0.050,2882,3384,2187,0,0,0,0,0,0
$GC,7711,0.74,146.0,84.4,9.2,447,7715,0.00,2.20,0.00,0.000,6,0.000,0.039,2892,1966,2187,0,0,0,0,0,0
$GC,8043,0.74,146.0,53.7,11.0,502,8050,0.00,2.22,0.00,0.000,4,0.000,0.055,2902,563,2187,0,0,0,0,0,0
$GC,8089,0.74,146.0,48.4,11.7,510,8096,0.00,2.17,0.00,0.000,6,0.000,0.036,2902,1971,2187,0,0,0,0,0,0
$GC,8420,0.78,179.0,18.2,7.7,571,8454,0.00,2.25,25.92,0.459,4,0.000,0.050,2902,3378,2069,0,0,0,0,0,0
$STATE,8559,end climb,SURFACE_DEPTH_REACHED
$STATE,8559,begin surface coast
$FINISH,1.1,1.023261
$STATE,8581,end surface coast,CONTROL_FINISHED_OK
$STATE,8582,begin surface
$SM_CCo,8602,54.62,0.440,0,0,1575,300.24
$SM_GC,1.36,0.00,0.00,54.62,0.000,0.000,0.440,24,1950,1575,-8.18,-0.28,300.24
$IRIDIUM_FIX,2101.76,-15812.77,210802,020226
$TT8_MAMPS,0.027612
$HUMID,63.11
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,24.7,24.999
$10V_AH,10.5,27.417
$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,18.550,66.750,271.375,54.625,0.000,27.766,33.431,154.960,19.500,0.000,19.791,1091.131,5120.660,399.152,1953.579,441.401,0.000,1053.245,0.000,1904.953,0.000,117.251,0.000
$DEVICE_MAMPS,228.566,69.030,773.903,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.219,340.082,1179.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,31865,600
$CAP_FILE_SIZE,89430,0
$CFSIZE,260165632,240709632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270513,073152,2108.613,-15750.982,46,0.9,46,9.8