version: 66.06
glider: 523
mission: 4
dive: 357
start: 6 1 113 18 15 35
data:
$ID,523
$MISSION,4
$DIVE,357
$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,285
$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,-42893.207
$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,2660
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,180521,2106.619,-15743.712,20,1.2,34,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.7
$GPS2,181518,2106.634,-15743.714,18,0.8,18,9.8
$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,128.0,2048,-21.0,-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,-0.82,-93.9,0.0,0.0,0,87,0.00,0.00,-65.50,0.000,6,0.000,0.000,48,1948,3280,0,0,0,0,0,0
$GC,90,-0.88,-146.0,3.3,-4.5,11,112,9.45,2.25,-4.65,0.000,4,0.232,0.067,2367,550,3495,0,0,0,0,0,0
$GC,190,-0.88,-146.0,27.4,-19.4,28,197,0.00,2.20,0.00,0.000,6,0.000,0.037,2359,1961,3496,0,0,0,0,0,0
$GC,364,-0.88,-146.0,60.1,-19.2,59,370,0.00,2.20,0.00,0.000,4,0.000,0.053,2348,3366,3496,0,0,0,0,0,0
$GC,457,-0.88,-146.0,78.0,-18.7,76,464,0.00,2.25,0.00,0.000,6,0.000,0.044,2348,1963,3497,0,0,0,0,0,0
$GC,792,-0.88,-146.0,137.5,-17.5,108,796,0.00,2.22,0.00,0.000,4,0.000,0.053,2348,536,3498,0,0,0,0,0,0
$GC,977,-0.88,-146.0,168.7,-15.3,124,984,0.10,2.20,0.00,0.000,6,0.148,0.034,2369,1971,3498,0,0,0,0,0,0
$GC,1311,-0.88,-146.0,210.8,-12.1,152,1315,0.00,2.28,0.00,0.000,4,0.000,0.051,2369,540,3499,0,0,0,0,0,0
$GC,1406,-0.88,-146.0,222.5,-12.0,156,1410,0.00,2.15,0.00,0.000,6,0.000,0.034,2362,1968,3499,0,0,0,0,0,0
$GC,1729,-0.88,-146.0,255.0,-9.3,172,1734,0.00,2.30,0.00,0.000,4,0.000,0.051,2362,534,3499,0,0,0,0,0,0
$GC,1988,-0.88,-146.0,283.5,-11.3,183,1992,0.00,2.17,0.00,0.000,6,0.000,0.035,2352,1965,3499,0,0,0,0,0,0
$GC,2327,-0.88,-146.0,318.6,-10.7,195,2331,0.00,2.28,0.00,0.000,4,0.000,0.052,2352,538,3499,0,0,0,0,0,0
$GC,2459,-0.88,-146.0,332.9,-10.1,198,2464,0.12,2.17,0.00,0.000,6,0.169,0.037,2373,1969,3499,0,0,0,0,0,0
$GC,2786,-0.88,-146.0,358.9,-7.9,206,2790,0.00,2.28,0.00,0.000,4,0.000,0.054,2374,543,3498,0,0,0,0,0,0
$GC,2924,-0.88,-146.0,370.5,-8.2,209,2928,0.00,2.15,0.00,0.000,6,0.000,0.038,2366,1963,3499,0,0,0,0,0,0
$GC,3244,-0.88,-146.0,399.6,-9.6,217,3249,0.00,2.28,0.00,0.000,4,0.000,0.056,2366,544,3497,0,0,0,0,0,0
$GC,3310,-0.88,-146.0,407.1,-11.2,218,3314,0.00,2.17,0.00,0.000,6,0.000,0.039,2357,1961,3496,0,0,0,0,0,0
$GC,3655,-0.88,-146.0,439.2,-8.8,227,3659,0.00,2.22,0.00,0.000,4,0.000,0.058,2346,3369,3493,0,0,0,0,0,0
$GC,3751,-0.88,-146.0,447.8,-8.6,229,3756,0.10,2.22,0.00,0.000,6,0.160,0.045,2370,1954,3492,0,0,0,0,0,0
$STATE,3777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3777,begin apogee
$GC,3784,-0.17,0.0,450.0,8.8,230,3905,0.73,0.00,118.03,0.756,6,0.120,0.000,2604,1953,2899,0,0,0,0,0,0
$STATE,3906,end apogee,CONTROL_FINISHED_OK
$STATE,3906,begin climb
$GC,3909,0.88,146.0,450.3,0.0,233,4043,0.95,2.38,124.75,0.732,4,0.067,0.055,2943,3379,2303,0,0,0,0,0,0
$GC,4077,0.88,146.0,427.6,19.6,237,4081,0.00,2.28,0.00,0.000,6,0.000,0.046,2952,1983,2300,0,0,0,0,0,0
$GC,4395,0.88,146.0,370.7,17.8,245,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1983,2295,0,0,0,0,0,0
$GC,4720,0.88,146.0,313.7,16.7,253,4724,0.00,2.22,0.00,0.000,4,0.000,0.057,2953,3383,2292,0,0,0,0,0,0
$GC,4760,0.88,146.0,307.2,16.6,254,4765,0.00,2.22,0.00,0.000,6,0.000,0.049,2962,1978,2291,0,0,0,0,0,0
$GC,5088,0.88,146.0,249.1,17.9,268,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1978,2290,0,0,0,0,0,0
$GC,5398,0.88,146.0,200.0,16.0,283,5402,0.00,2.25,0.00,0.000,4,0.000,0.058,2972,555,2289,0,0,0,0,0,0
$GC,5566,0.88,146.0,178.2,11.3,298,5570,0.00,2.20,0.00,0.000,6,0.000,0.038,2972,1981,2287,0,0,0,0,0,0
$GC,5895,0.88,146.0,131.3,15.5,328,5899,0.00,2.15,0.00,0.000,4,0.000,0.051,2972,3386,2286,0,0,0,0,0,0
$GC,6088,0.88,146.0,103.8,14.4,345,6093,0.15,2.20,0.00,0.000,6,0.152,0.041,2941,1965,2286,0,0,0,0,0,0
$GC,6413,0.88,146.0,67.4,10.0,386,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1965,2286,0,0,0,0,0,0
$GC,6746,0.91,168.7,35.1,7.6,447,6770,0.00,2.25,16.95,0.466,4,0.000,0.048,2941,3382,2212,0,0,0,0,0,0
$GC,6987,0.91,168.7,12.0,10.7,491,6994,0.00,2.20,0.00,0.000,6,0.000,0.039,2950,1977,2211,0,0,0,0,0,0
$STATE,7072,end climb,SURFACE_DEPTH_REACHED
$STATE,7073,begin surface coast
$FINISH,0.7,1.023028
$STATE,7103,end surface coast,CONTROL_FINISHED_OK
$STATE,7103,begin surface
$SM_CCo,7121,52.22,0.440,0,0,1738,285.03
$SM_GC,1.54,0.00,0.00,52.22,0.000,0.000,0.440,33,1968,1738,-8.21,0.31,285.03
$IRIDIUM_FIX,2057.14,-15659.00,260802,181816
$TT8_MAMPS,0.028379
$HUMID,64.96
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.7,29.238
$10V_AH,10.4,32.104
$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,18.950,62.350,259.725,52.225,0.000,54.198,82.563,260.412,19.250,0.000,18.697,964.939,4065.487,357.412,1761.663,620.767,0.000,984.704,0.000,1710.740,0.000,117.265,0.000
$DEVICE_MAMPS,231.634,66.729,756.262,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,347.285,288.128,1007.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,28705,512
$CAP_FILE_SIZE,86890,0
$CFSIZE,260165632,238223360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010613,201606,2106.117,-15743.113,18,1.6,18,9.8