version: 66.06
glider: 523
mission: 4
dive: 45
start: 4 29 113 20 39 44
data:
$ID,523
$MISSION,4
$DIVE,45
$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,-36779.852
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,203023,2058.645,-15751.499,38,0.9,38,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.8
$GPS2,203928,2058.737,-15751.488,19,0.8,19,9.8
$SPEED_LIMITS,0.157,0.252
$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,304.4,25488,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.85,0.000,6,0.000,0.000,30,1974,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.3,13,118,9.43,2.30,0.00,0.000,4,0.232,0.048,2390,550,3395,0,0,0,0,0,0
$GC,358,-0.74,-146.0,55.1,-15.7,60,365,0.00,2.20,0.00,0.000,6,0.000,0.038,2382,1963,3397,0,0,0,0,0,0
$GC,694,-0.74,-146.0,106.5,-14.0,106,698,0.00,2.25,0.00,0.000,4,0.000,0.053,2382,549,3398,0,0,0,0,0,0
$GC,781,-0.74,-146.0,119.2,-15.4,113,789,0.00,2.17,0.00,0.000,6,0.000,0.036,2373,1964,3399,0,0,0,0,0,0
$GC,1108,-0.74,-146.0,159.7,-11.4,144,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1964,3400,0,0,0,0,0,0
$GC,1426,-0.74,-146.0,191.2,-8.2,174,1430,0.00,2.25,0.00,0.000,4,0.000,0.052,2373,548,3400,0,0,0,0,0,0
$GC,1681,-0.74,-146.0,217.5,-11.3,190,1686,0.15,2.12,0.00,0.000,6,0.162,0.038,2404,1965,3400,0,0,0,0,0,0
$GC,1997,-0.74,-146.0,243.8,-7.8,205,2001,0.00,2.22,0.00,0.000,4,0.000,0.058,2404,553,3400,0,0,0,0,0,0
$GC,2064,-0.74,-146.0,249.6,-8.2,208,2068,0.00,2.15,0.00,0.000,6,0.000,0.041,2396,1957,3400,0,0,0,0,0,0
$GC,2385,-0.74,-146.0,278.1,-8.0,224,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1957,3400,0,0,0,0,0,0
$GC,2696,-0.74,-146.0,300.4,-7.2,239,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1957,3399,0,0,0,0,0,0
$GC,3020,-0.74,-146.0,325.1,-7.8,247,3024,0.00,2.22,0.00,0.000,4,0.000,0.061,2396,556,3397,0,0,0,0,0,0
$GC,3086,-0.74,-146.0,330.7,-8.2,248,3090,0.00,2.15,0.00,0.000,6,0.000,0.044,2387,1957,3396,0,0,0,0,0,0
$GC,3430,-0.74,-146.0,357.1,-7.4,257,3434,0.00,2.20,0.00,0.000,4,0.000,0.061,2377,3367,3395,0,0,0,0,0,0
$GC,3586,-0.74,-146.0,370.6,-9.2,260,3590,0.00,2.17,0.00,0.000,6,0.000,0.045,2377,1957,3394,0,0,0,0,0,0
$GC,3930,-0.74,-146.0,400.6,-8.2,269,3934,0.00,2.22,0.00,0.000,4,0.000,0.060,2377,546,3392,0,0,0,0,0,0
$GC,3969,-0.74,-146.0,404.1,-9.1,270,3974,0.12,2.20,0.00,0.000,6,0.170,0.045,2400,1972,3392,0,0,0,0,0,0
$GC,4293,-0.74,-146.0,428.1,-7.4,278,4297,0.00,2.17,0.00,0.000,4,0.000,0.058,2391,3375,3390,0,0,0,0,0,0
$GC,4344,-0.74,-146.0,432.3,-8.0,279,4348,0.00,2.17,0.00,0.000,6,0.000,0.048,2391,1963,3390,0,0,0,0,0,0
$STATE,4580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4581,begin apogee
$GC,4587,-0.17,0.0,450.7,7.6,285,4707,0.57,0.00,117.35,0.793,6,0.122,0.000,2579,1963,2800,0,0,0,0,0,0
$STATE,4708,end apogee,CONTROL_FINISHED_OK
$STATE,4708,begin climb
$GC,4711,0.74,146.0,453.3,0.0,288,4846,0.85,2.40,124.85,0.762,4,0.077,0.053,2874,3385,2203,0,0,0,0,0,0
$GC,4868,0.74,146.0,438.7,12.7,291,4873,0.00,2.35,0.00,0.000,6,0.000,0.052,2883,1979,2201,0,0,0,0,0,0
$GC,5199,0.74,146.0,392.5,14.7,300,5203,0.00,2.28,0.00,0.000,4,0.000,0.063,2893,557,2196,0,0,0,0,0,0
$GC,5254,0.74,146.0,384.1,14.6,301,5258,0.00,2.22,0.00,0.000,6,0.000,0.044,2894,1975,2195,0,0,0,0,0,0
$GC,5602,0.74,146.0,333.2,14.5,310,5606,0.00,2.22,0.00,0.000,4,0.000,0.057,2894,3385,2193,0,0,0,0,0,0
$GC,5691,0.74,146.0,318.7,16.8,312,5695,0.00,2.28,0.00,0.000,6,0.000,0.054,2904,1970,2192,0,0,0,0,0,0
$GC,6012,0.74,146.0,270.6,14.2,324,6016,0.00,2.22,0.00,0.000,4,0.000,0.064,2914,557,2191,0,0,0,0,0,0
$GC,6084,0.74,146.0,260.0,14.0,327,6089,0.12,2.20,0.00,0.000,6,0.156,0.042,2881,1977,2191,0,0,0,0,0,0
$GC,6400,0.74,146.0,222.0,11.8,342,6404,0.00,2.28,0.00,0.000,4,0.000,0.067,2889,565,2190,0,0,0,0,0,0
$GC,6449,0.74,146.0,216.1,11.7,344,6453,0.00,2.20,0.00,0.000,6,0.000,0.046,2889,1972,2189,0,0,0,0,0,0
$GC,6774,0.74,146.0,177.6,12.4,367,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1972,2189,0,0,0,0,0,0
$GC,7104,0.74,146.0,139.4,11.2,398,7108,0.00,2.25,0.00,0.000,4,0.000,0.065,2898,555,2188,0,0,0,0,0,0
$GC,7167,0.74,146.0,132.3,11.1,403,7171,0.00,2.22,0.00,0.000,6,0.000,0.046,2898,1985,2188,0,0,0,0,0,0
$GC,7493,0.74,146.0,99.7,10.4,433,7497,0.00,2.28,0.00,0.000,4,0.000,0.064,2907,565,2187,0,0,0,0,0,0
$GC,7545,0.74,146.0,94.1,11.0,437,7549,0.00,2.20,0.00,0.000,6,0.000,0.044,2907,1982,2187,0,0,0,0,0,0
$GC,7873,0.74,146.0,60.4,9.9,484,7881,0.00,2.20,0.00,0.000,4,0.000,0.059,2907,3381,2187,0,0,0,0,0,0
$GC,7949,0.74,146.0,52.5,10.6,497,7955,0.12,2.20,0.00,0.000,6,0.153,0.044,2879,1974,2188,0,0,0,0,0,0
$GC,8280,0.78,185.0,26.1,7.4,558,8320,0.00,2.28,30.92,0.488,4,0.000,0.058,2887,564,2043,0,0,0,0,0,0
$GC,8460,0.80,200.3,11.0,8.4,590,8480,0.00,2.22,13.62,0.449,6,0.000,0.041,2887,1989,1983,0,0,0,0,0,0
$STATE,8555,end climb,SURFACE_DEPTH_REACHED
$STATE,8555,begin surface coast
$FINISH,0.4,1.023095
$STATE,8594,end surface coast,CONTROL_FINISHED_OK
$STATE,8594,begin surface
$SM_CCo,8613,45.17,0.453,0,0,1575,300.24
$SM_GC,1.09,0.00,0.00,45.17,0.000,0.000,0.453,41,1921,1575,-8.12,-1.10,300.24
$IRIDIUM_FIX,2047.91,-15755.64,240702,202005
$TT8_MAMPS,0.028379
$HUMID,61.22
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.6,4.165
$10V_AH,10.5,4.526
$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,18.625,75.775,286.750,45.175,0.000,55.064,69.046,225.926,19.000,0.000,20.237,1111.428,5147.320,371.388,1992.487,580.258,0.000,1078.030,0.000,1944.976,0.000,119.335,0.000
$DEVICE_MAMPS,232.401,109.681,793.078,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,417.843,358.032,1212.288,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,35025,614
$CAP_FILE_SIZE,96384,0
$CFSIZE,260165632,252948480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290413,230500,2059.462,-15752.357,19,0.9,19,9.8