version: 66.06
glider: 523
mission: 4
dive: 50
start: 4 30 113 9 15 16
data:
$ID,523
$MISSION,4
$DIVE,50
$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,-36877.168
$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,23
$R_STBD_OVSHOOT,30
$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
$GPS1,090934,2101.348,-15756.120,32,1.0,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-75.2
$GPS2,091459,2101.368,-15756.108,15,0.9,15,9.8
$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,311.6,16501,-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,-78.20,0.000,6,0.000,0.000,27,1982,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.3,13,118,9.35,2.20,0.00,0.000,4,0.229,0.048,2383,3375,3397,0,0,0,0,0,0
$GC,336,-0.74,-146.0,51.3,-16.2,56,343,0.00,2.25,0.00,0.000,6,0.000,0.045,2383,1961,3399,0,0,0,0,0,0
$GC,666,-0.74,-146.0,99.8,-13.1,104,671,0.00,2.20,0.00,0.000,4,0.000,0.057,2384,547,3400,0,0,0,0,0,0
$GC,918,-0.74,-146.0,133.2,-12.1,127,922,0.00,2.15,0.00,0.000,6,0.000,0.036,2374,1962,3401,0,0,0,0,0,0
$GC,1246,-0.74,-146.0,170.6,-11.9,157,1250,0.00,2.25,0.00,0.000,4,0.000,0.053,2374,542,3402,0,0,0,0,0,0
$GC,1385,-0.74,-146.0,188.0,-12.0,169,1390,0.12,2.17,0.00,0.000,6,0.173,0.037,2397,1970,3402,0,0,0,0,0,0
$GC,1715,-0.74,-146.0,221.0,-9.6,190,1719,0.00,2.15,0.00,0.000,4,0.000,0.055,2389,3360,3403,0,0,0,0,0,0
$GC,1877,-0.74,-146.0,237.5,-9.6,197,1881,0.00,2.17,0.00,0.000,6,0.000,0.044,2388,1950,3403,0,0,0,0,0,0
$GC,2197,-0.74,-146.0,267.6,-9.8,213,2201,0.00,2.20,0.00,0.000,4,0.000,0.057,2389,547,3403,0,0,0,0,0,0
$GC,2258,-0.74,-146.0,273.8,-9.8,215,2264,0.00,2.15,0.00,0.000,6,0.000,0.041,2379,1956,3403,0,0,0,0,0,0
$GC,2576,-0.74,-146.0,297.6,-7.9,231,2580,0.00,2.25,0.00,0.000,4,0.000,0.058,2379,551,3402,0,0,0,0,0,0
$GC,2834,-0.74,-146.0,319.4,-7.8,237,2841,0.12,2.17,0.00,0.000,6,0.167,0.043,2403,1970,3402,0,0,0,0,0,0
$GC,3166,-0.74,-146.0,339.9,-6.6,246,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1971,3401,0,0,0,0,0,0
$GC,3492,-0.74,-146.0,366.7,-8.8,254,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1971,3399,0,0,0,0,0,0
$GC,3818,-0.74,-146.0,398.0,-10.2,262,3822,0.00,2.28,0.00,0.000,4,0.000,0.060,2404,544,3397,0,0,0,0,0,0
$GC,3873,-0.74,-146.0,403.1,-9.5,263,3877,0.00,2.20,0.00,0.000,6,0.000,0.044,2396,1966,3396,0,0,0,0,0,0
$GC,4222,-0.74,-146.0,431.3,-8.1,272,4225,0.00,2.15,0.00,0.000,4,0.000,0.058,2385,3363,3395,0,0,0,0,0,0
$GC,4300,-0.74,-146.0,438.0,-9.4,273,4305,0.00,2.17,0.00,0.000,6,0.000,0.045,2385,1961,3394,0,0,0,0,0,0
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4473,-0.17,0.0,451.3,8.0,278,4594,0.60,0.00,118.55,0.787,6,0.115,0.000,2584,1961,2800,0,0,0,0,0,0
$STATE,4595,end apogee,CONTROL_FINISHED_OK
$STATE,4595,begin climb
$GC,4598,0.74,146.0,452.4,0.0,281,4727,0.82,0.00,125.85,0.757,6,0.072,0.000,2873,1961,2204,0,0,0,0,0,0
$GC,5046,0.74,146.0,393.4,14.3,292,5050,0.00,2.25,0.00,0.000,4,0.000,0.061,2883,558,2195,0,0,0,0,0,0
$GC,5107,0.74,146.0,384.9,12.8,293,5112,0.00,2.25,0.00,0.000,6,0.000,0.044,2883,1983,2194,0,0,0,0,0,0
$GC,5455,0.74,146.0,338.6,12.8,302,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1983,2192,0,0,0,0,0,0
$GC,5761,0.74,146.0,296.4,14.7,310,5764,0.00,2.20,0.00,0.000,4,0.000,0.056,2883,3389,2191,0,0,0,0,0,0
$GC,5805,0.74,146.0,289.4,15.3,312,5809,0.00,2.25,0.00,0.000,6,0.000,0.050,2892,1969,2191,0,0,0,0,0,0
$GC,6125,0.74,146.0,247.9,13.1,328,6129,0.00,2.20,0.00,0.000,4,0.000,0.062,2901,564,2190,0,0,0,0,0,0
$GC,6198,0.74,146.0,237.9,13.6,331,6202,0.00,2.20,0.00,0.000,6,0.000,0.045,2901,1979,2188,0,0,0,0,0,0
$GC,6516,0.74,146.0,196.0,13.2,347,6520,0.00,2.17,0.00,0.000,4,0.000,0.057,2901,3384,2188,0,0,0,0,0,0
$GC,6600,0.74,146.0,184.1,15.2,354,6605,0.12,2.22,0.00,0.000,6,0.159,0.050,2876,1966,2188,0,0,0,0,0,0
$GC,6928,0.74,146.0,144.9,11.2,384,6932,0.00,2.22,0.00,0.000,4,0.000,0.061,2884,562,2187,0,0,0,0,0,0
$GC,7045,0.74,146.0,132.3,10.1,394,7049,0.00,2.20,0.00,0.000,6,0.000,0.044,2885,1987,2187,0,0,0,0,0,0
$GC,7373,0.74,146.0,97.2,10.1,424,7377,0.00,2.28,0.00,0.000,4,0.000,0.057,2895,556,2187,0,0,0,0,0,0
$GC,7478,0.74,146.0,86.4,9.7,433,7482,0.00,2.17,0.00,0.000,6,0.000,0.038,2894,1984,2187,0,0,0,0,0,0
$GC,7811,0.75,160.2,55.5,8.4,487,7828,0.00,2.28,10.68,0.482,4,0.000,0.054,2904,558,2145,0,0,0,0,0,0
$GC,7949,0.75,160.2,42.6,9.1,512,7956,0.00,2.20,0.00,0.000,6,0.000,0.038,2904,1982,2143,0,0,0,0,0,0
$GC,8277,0.75,160.2,11.0,10.2,573,8285,0.00,2.20,0.00,0.000,4,0.000,0.054,2904,3374,2143,0,0,0,0,0,0
$STATE,8347,end climb,SURFACE_DEPTH_REACHED
$STATE,8348,begin surface coast
$FINISH,0.3,1.023447
$STATE,8375,end surface coast,CONTROL_FINISHED_OK
$STATE,8375,begin surface
$SM_CCo,8394,62.10,0.458,0,0,1575,300.24
$SM_GC,1.26,0.00,0.00,62.10,0.000,0.000,0.458,25,1945,1575,-8.18,-0.45,300.24
$IRIDIUM_FIX,2054.83,-15759.05,250702,060624
$TT8_MAMPS,0.028379
$HUMID,61.61
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,400.3,58.1
$24V_AH,24.6,4.560
$10V_AH,10.5,4.961
$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,18.375,70.650,255.075,62.100,0.000,30.444,34.494,138.581,16.750,0.000,16.031,1081.623,4978.136,395.728,1912.348,415.613,0.000,1042.669,0.000,1873.987,0.000,108.657,0.000
$DEVICE_MAMPS,229.333,62.127,786.942,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.803,335.658,1143.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31775,591
$CAP_FILE_SIZE,87596,0
$CFSIZE,260165632,252723200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300413,113706,2101.667,-15756.772,14,1.3,14,9.8