version: 66.06
glider: 523
mission: 4
dive: 16
start: 4 26 113 20 47 53
data:
$ID,523
$MISSION,4
$DIVE,16
$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,157
$T_MISSION,170
$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,-36229.266
$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,2690
$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,1980
$C_ROLL_CLIMB,1980
$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
$GPS1,203029,2108.754,-15800.292,40,0.9,40,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.2
$GPS2,204735,2108.732,-15800.275,16,1.0,16,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,246.8,3177,-17.6,-9.554
$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,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-77.18,0.000,6,0.000,0.000,37,1971,3396,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.9,-7.0,13,118,9.60,2.22,0.00,0.000,4,0.234,0.048,2432,566,3397,0,0,0,0,0,0
$GC,357,-0.76,-146.0,52.7,-13.3,60,364,0.00,2.17,0.00,0.000,6,0.000,0.035,2423,1977,3398,0,0,0,0,0,0
$GC,697,-0.76,-146.0,95.9,-15.7,112,701,0.00,2.25,0.00,0.000,4,0.000,0.053,2423,558,3398,0,0,0,0,0,0
$GC,748,-0.76,-146.0,104.3,-15.0,116,753,0.00,2.17,0.00,0.000,6,0.000,0.036,2414,1981,3398,0,0,0,0,0,0
$GC,1080,-0.76,-146.0,147.2,-10.0,147,1084,0.00,2.17,0.00,0.000,4,0.000,0.054,2404,3389,3399,0,0,0,0,0,0
$GC,1111,-0.76,-146.0,149.8,-8.2,149,1116,0.12,2.20,0.00,0.000,6,0.150,0.042,2439,1971,3399,0,0,0,0,0,0
$GC,1444,-0.76,-146.0,173.6,-9.3,180,1448,0.00,2.17,0.00,0.000,4,0.000,0.055,2440,578,3399,0,0,0,0,0,0
$GC,1521,-0.76,-146.0,182.2,-10.3,186,1529,0.00,2.15,0.00,0.000,6,0.000,0.039,2432,1973,3399,0,0,0,0,0,0
$GC,1854,-0.76,-146.0,211.2,-8.6,212,1858,0.00,2.17,0.00,0.000,4,0.000,0.054,2432,577,3399,0,0,0,0,0,0
$GC,1926,-0.76,-146.0,217.5,-8.5,215,1930,0.00,2.15,0.00,0.000,6,0.000,0.039,2423,1983,3399,0,0,0,0,0,0
$GC,2245,-0.76,-146.0,242.6,-10.0,230,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1984,3399,0,0,0,0,0,0
$GC,2551,-0.76,-146.0,268.7,-6.9,245,2555,0.00,2.25,0.00,0.000,4,0.000,0.057,2424,575,3399,0,0,0,0,0,0
$GC,2579,-0.76,-146.0,270.8,-7.2,246,2583,0.00,2.15,0.00,0.000,6,0.000,0.041,2416,1979,3399,0,0,0,0,0,0
$GC,2898,-0.76,-146.0,291.1,-6.0,261,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1979,3399,0,0,0,0,0,0
$GC,3222,-0.76,-146.0,318.2,-8.1,272,3226,0.00,2.25,0.00,0.000,4,0.000,0.060,2416,564,3397,0,0,0,0,0,0
$GC,3330,-0.76,-146.0,325.4,-7.4,274,3335,0.12,2.17,0.00,0.000,6,0.160,0.045,2443,1979,3396,0,0,0,0,0,0
$GC,3680,-0.76,-146.0,348.8,-6.5,283,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1981,3394,0,0,0,0,0,0
$GC,4005,-0.76,-146.0,371.0,-6.0,291,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1981,3393,0,0,0,0,0,0
$GC,4329,-0.76,-146.0,391.4,-6.9,299,4333,0.00,2.20,0.00,0.000,4,0.000,0.056,2434,3396,3391,0,0,0,0,0,0
$GC,4373,-0.76,-146.0,394.6,-7.6,300,4378,0.00,2.20,0.00,0.000,6,0.000,0.041,2435,1972,3391,0,0,0,0,0,0
$GC,4700,-0.76,-146.0,421.4,-8.0,308,4704,0.00,2.22,0.00,0.000,4,0.000,0.058,2435,571,3388,0,0,0,0,0,0
$GC,4733,-0.76,-146.0,424.2,-8.3,308,4738,0.00,2.17,0.00,0.000,6,0.000,0.045,2427,1982,3388,0,0,0,0,0,0
$STATE,5062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5062,begin apogee
$GC,5068,-0.17,0.0,452.0,8.6,317,5188,0.62,0.00,116.97,0.796,6,0.114,0.000,2633,1983,2800,0,0,0,0,0,0
$STATE,5189,end apogee,CONTROL_FINISHED_OK
$STATE,5189,begin climb
$GC,5192,0.76,146.0,454.8,0.0,320,5321,0.82,0.00,125.45,0.764,6,0.058,0.000,2938,1984,2204,0,0,0,0,0,0
$GC,5640,0.76,146.0,392.3,15.3,331,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1984,2195,0,0,0,0,0,0
$GC,5964,0.76,146.0,339.3,16.5,339,5968,0.00,2.20,0.00,0.000,4,0.000,0.054,2938,3394,2192,0,0,0,0,0,0
$GC,5997,0.76,146.0,333.8,15.9,339,6002,0.00,2.22,0.00,0.000,6,0.000,0.047,2948,1982,2192,0,0,0,0,0,0
$GC,6309,0.76,146.0,281.0,17.8,350,6313,0.00,2.22,0.00,0.000,4,0.000,0.061,2957,575,2190,0,0,0,0,0,0
$GC,6395,0.76,146.0,265.6,18.9,354,6399,0.00,2.20,0.00,0.000,6,0.000,0.043,2958,1989,2189,0,0,0,0,0,0
$GC,6721,0.76,146.0,212.7,14.6,370,6725,0.00,2.20,0.00,0.000,4,0.000,0.057,2958,3400,2188,0,0,0,0,0,0
$GC,6852,0.76,146.0,193.0,14.9,378,6857,0.12,2.17,0.00,0.000,6,0.158,0.044,2934,1979,2188,0,0,0,0,0,0
$GC,7179,0.76,146.0,152.5,13.0,408,7183,0.00,2.20,0.00,0.000,4,0.000,0.058,2943,574,2187,0,0,0,0,0,0
$GC,7240,0.76,146.0,144.2,14.0,413,7245,0.00,2.17,0.00,0.000,6,0.000,0.041,2942,1986,2186,0,0,0,0,0,0
$GC,7569,0.76,146.0,98.6,14.9,443,7573,0.00,2.15,0.00,0.000,4,0.000,0.055,2943,3393,2187,0,0,0,0,0,0
$GC,7654,0.76,146.0,84.6,15.9,450,7662,0.00,2.20,0.00,0.000,6,0.000,0.042,2953,1978,2187,0,0,0,0,0,0
$GC,7981,0.76,146.0,41.6,11.9,508,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1978,2187,0,0,0,0,0,0
$STATE,8299,end climb,SURFACE_DEPTH_REACHED
$STATE,8299,begin surface coast
$FINISH,0.3,1.023606
$STATE,8326,end surface coast,CONTROL_FINISHED_OK
$STATE,8326,begin surface
$SM_CCo,8344,68.50,0.472,0,0,1575,300.24
$SM_GC,1.33,0.00,0.00,68.50,0.000,0.000,0.472,24,1967,1575,-8.34,-0.34,300.24
$IRIDIUM_FIX,2059.45,-15801.19,210702,202004
$TT8_MAMPS,0.028379
$HUMID,64.17
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,24.6,1.865
$10V_AH,10.6,1.998
$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,18.725,61.425,242.425,68.500,0.000,80.589,115.541,505.445,19.000,0.000,17.103,1040.882,5262.098,389.173,1762.599,986.331,0.000,976.487,0.000,1718.995,0.000,121.139,0.000
$DEVICE_MAMPS,233.935,60.593,796.146,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,390.689,325.612,1107.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,31718,573
$CAP_FILE_SIZE,96082,0
$CFSIZE,260165632,254324736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260413,230905,2108.288,-15800.658,21,0.9,21,9.8