version: 66.06
glider: 523
mission: 4
dive: 49
start: 4 30 113 6 42 5
data:
$ID,523
$MISSION,4
$DIVE,49
$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,-36860.508
$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,24
$R_STBD_OVSHOOT,36
$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
$GPS1,063535,2100.797,-15755.092,17,0.9,17,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.5
$GPS2,064147,2100.814,-15755.063,20,0.9,20,9.8
$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,309.2,18444,-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,-76.45,0.000,2,0.000,0.000,26,1972,3369,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.6,12,113,9.32,2.30,-0.52,0.000,4,0.228,0.061,2390,549,3395,0,0,0,0,0,0
$GC,257,-0.74,-146.0,36.3,-16.6,41,263,0.00,2.20,0.00,0.000,6,0.000,0.039,2382,1960,3396,0,0,0,0,0,0
$GC,592,-0.74,-146.0,88.1,-14.2,98,596,0.00,2.20,0.00,0.000,4,0.000,0.053,2372,3377,3398,0,0,0,0,0,0
$GC,634,-0.74,-146.0,93.6,-12.7,101,639,0.10,2.25,0.00,0.000,6,0.158,0.044,2398,1947,3398,0,0,0,0,0,0
$GC,961,-0.74,-146.0,131.5,-10.9,131,965,0.00,2.20,0.00,0.000,4,0.000,0.053,2398,546,3400,0,0,0,0,0,0
$GC,1209,-0.74,-146.0,160.2,-10.0,153,1213,0.00,2.15,0.00,0.000,6,0.000,0.036,2390,1975,3400,0,0,0,0,0,0
$GC,1542,-0.74,-146.0,193.0,-10.1,184,1546,0.00,2.25,0.00,0.000,4,0.000,0.051,2390,550,3400,0,0,0,0,0,0
$GC,1692,-0.74,-146.0,208.2,-9.2,194,1696,0.00,2.12,0.00,0.000,6,0.000,0.038,2380,1962,3400,0,0,0,0,0,0
$GC,2018,-0.74,-146.0,239.3,-9.4,210,2022,0.00,2.17,0.00,0.000,4,0.000,0.054,2370,3369,3400,0,0,0,0,0,0
$GC,2276,-0.74,-146.0,265.2,-10.0,221,2282,0.12,2.20,0.00,0.000,6,0.143,0.044,2405,1953,3400,0,0,0,0,0,0
$GC,2594,-0.74,-146.0,289.7,-7.0,237,2601,0.00,2.20,0.00,0.000,4,0.000,0.054,2396,3366,3400,0,0,0,0,0,0
$GC,2733,-0.74,-146.0,298.7,-5.8,243,2737,0.00,2.20,0.00,0.000,6,0.000,0.044,2396,1949,3400,0,0,0,0,0,0
$GC,3057,-0.74,-146.0,322.3,-7.9,252,3061,0.00,2.20,0.00,0.000,4,0.000,0.061,2396,554,3400,0,0,0,0,0,0
$GC,3292,-0.74,-146.0,343.9,-8.6,257,3296,0.00,2.15,0.00,0.000,6,0.000,0.044,2387,1954,3398,0,0,0,0,0,0
$GC,3644,-0.74,-146.0,371.2,-7.8,266,3648,0.00,2.20,0.00,0.000,4,0.000,0.059,2377,3371,3396,0,0,0,0,0,0
$GC,3728,-0.74,-146.0,379.5,-9.4,268,3732,0.00,2.17,0.00,0.000,6,0.000,0.045,2377,1963,3396,0,0,0,0,0,0
$GC,4062,-0.74,-146.0,407.8,-8.0,276,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1963,3394,0,0,0,0,0,0
$GC,4383,-0.74,-146.0,434.7,-7.9,284,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1962,3392,0,0,0,0,0,0
$STATE,4584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4584,begin apogee
$GC,4590,-0.17,0.0,451.2,8.0,289,4711,0.62,0.00,118.12,0.788,6,0.118,0.000,2582,1962,2800,0,0,0,0,0,0
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$GC,4715,0.74,146.0,452.9,0.0,292,4844,0.85,0.00,125.90,0.758,6,0.072,0.000,2876,1962,2204,0,0,0,0,0,0
$GC,5153,0.74,146.0,399.5,12.9,303,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1962,2195,0,0,0,0,0,0
$GC,5476,0.74,146.0,359.8,12.2,311,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1962,2194,0,0,0,0,0,0
$GC,5801,0.74,146.0,319.7,11.7,319,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1962,2192,0,0,0,0,0,0
$GC,6107,0.74,146.0,282.4,12.8,329,6111,0.00,2.22,0.00,0.000,4,0.000,0.062,2886,565,2191,0,0,0,0,0,0
$GC,6179,0.74,146.0,273.5,12.5,332,6183,0.00,2.20,0.00,0.000,6,0.000,0.041,2886,1986,2190,0,0,0,0,0,0
$GC,6494,0.74,146.0,234.9,13.1,347,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1986,2189,0,0,0,0,0,0
$GC,6807,0.74,146.0,195.9,12.7,363,6811,0.00,2.20,0.00,0.000,4,0.000,0.056,2886,3384,2188,0,0,0,0,0,0
$GC,6869,0.74,146.0,187.0,14.1,368,6873,0.00,2.22,0.00,0.000,6,0.000,0.045,2895,1962,2187,0,0,0,0,0,0
$GC,7196,0.74,146.0,149.8,10.8,398,7200,0.00,2.17,0.00,0.000,4,0.000,0.059,2905,573,2187,0,0,0,0,0,0
$GC,7304,0.74,146.0,138.7,10.1,407,7311,0.00,2.17,0.00,0.000,6,0.000,0.040,2905,1976,2186,0,0,0,0,0,0
$GC,7631,0.74,146.0,102.4,12.5,438,7635,0.00,2.25,0.00,0.000,4,0.000,0.064,2913,560,2186,0,0,0,0,0,0
$GC,7717,0.74,146.0,91.8,12.1,445,7724,0.10,2.20,0.00,0.000,6,0.118,0.044,2878,1970,2186,0,0,0,0,0,0
$GC,8049,0.75,157.2,62.3,8.6,495,8062,0.00,2.25,7.62,0.465,4,0.000,0.058,2886,562,2160,0,0,0,0,0,0
$GC,8119,0.78,179.1,56.6,8.1,507,8148,0.00,2.20,20.35,0.505,6,0.000,0.041,2886,1987,2068,0,0,0,0,0,0
$GC,8472,0.78,179.1,22.8,9.0,572,8480,0.00,2.20,0.00,0.000,4,0.000,0.054,2886,3378,2066,0,0,0,0,0,0
$GC,8602,0.78,179.1,9.5,10.3,596,8610,0.00,2.20,0.00,0.000,6,0.000,0.043,2893,1987,2066,0,0,0,0,0,0
$STATE,8673,end climb,SURFACE_DEPTH_REACHED
$STATE,8673,begin surface coast
$FINISH,0.3,1.021495
$STATE,8707,end surface coast,CONTROL_FINISHED_OK
$STATE,8707,begin surface
$SM_CCo,8725,53.20,0.456,0,0,1575,300.24
$SM_GC,1.32,0.00,0.00,53.20,0.000,0.000,0.456,27,1983,1575,-8.17,0.65,300.24
$IRIDIUM_FIX,2054.83,-15754.77,250702,040444
$TT8_MAMPS,0.027612
$HUMID,61.97
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,24.6,4.483
$10V_AH,10.5,4.875
$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,18.375,61.675,272.000,53.200,0.000,37.110,32.974,174.500,19.250,0.000,20.608,1114.365,5179.334,394.034,2002.036,462.195,0.000,1059.274,0.000,1953.849,0.000,117.246,0.000
$DEVICE_MAMPS,227.799,63.661,788.476,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,419.031,344.019,1201.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,35041,615
$CAP_FILE_SIZE,90561,0
$CFSIZE,260165632,252760064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300413,090934,2101.348,-15756.120,32,1.0,32,9.8