version: 66.06
glider: 523
mission: 4
dive: 52
start: 4 30 113 14 10 16
data:
$ID,523
$MISSION,4
$DIVE,52
$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,-36917.508
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,140428,2101.942,-15757.549,39,0.8,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-74.4
$GPS2,140959,2101.920,-15757.540,16,0.9,16,9.8
$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,316.9,14219,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-78.32,0.000,6,0.000,0.000,34,1971,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.2,13,117,9.23,2.28,0.00,0.000,4,0.225,0.048,2393,544,3397,0,0,0,0,0,0
$GC,357,-0.74,-146.0,56.2,-14.4,60,365,0.00,2.22,0.00,0.000,6,0.000,0.040,2384,1966,3399,0,0,0,0,0,0
$GC,690,-0.74,-146.0,95.7,-11.8,108,694,0.00,2.28,0.00,0.000,4,0.000,0.054,2384,549,3400,0,0,0,0,0,0
$GC,935,-0.74,-146.0,127.3,-13.9,130,939,0.00,2.17,0.00,0.000,6,0.000,0.038,2375,1971,3401,0,0,0,0,0,0
$GC,1262,-0.74,-146.0,169.6,-11.7,160,1269,0.00,2.17,0.00,0.000,4,0.000,0.052,2364,3364,3402,0,0,0,0,0,0
$GC,1277,-0.74,-146.0,171.2,-10.7,161,1282,0.12,2.20,0.00,0.000,6,0.148,0.044,2399,1949,3402,0,0,0,0,0,0
$GC,1602,-0.74,-146.0,205.3,-11.1,189,1606,0.00,2.20,0.00,0.000,4,0.000,0.055,2399,550,3403,0,0,0,0,0,0
$GC,1634,-0.74,-146.0,209.2,-11.8,190,1640,0.00,2.15,0.00,0.000,6,0.000,0.038,2392,1961,3403,0,0,0,0,0,0
$GC,1954,-0.74,-146.0,236.2,-8.2,206,1958,0.00,2.25,0.00,0.000,4,0.000,0.054,2392,546,3403,0,0,0,0,0,0
$GC,1995,-0.74,-146.0,240.3,-9.4,208,1999,0.00,2.17,0.00,0.000,6,0.000,0.041,2381,1964,3403,0,0,0,0,0,0
$GC,2323,-0.74,-146.0,267.0,-8.2,224,2327,0.00,2.20,0.00,0.000,4,0.000,0.053,2371,3377,3403,0,0,0,0,0,0
$GC,2476,-0.74,-146.0,280.4,-9.5,231,2481,0.12,2.22,0.00,0.000,6,0.141,0.043,2406,1943,3403,0,0,0,0,0,0
$GC,2802,-0.74,-146.0,310.2,-9.9,245,2806,0.00,2.17,0.00,0.000,4,0.000,0.055,2407,554,3403,0,0,0,0,0,0
$GC,2857,-0.74,-146.0,316.7,-11.6,246,2861,0.00,2.15,0.00,0.000,6,0.000,0.041,2399,1962,3402,0,0,0,0,0,0
$GC,3208,-0.74,-146.0,350.3,-8.7,255,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1962,3401,0,0,0,0,0,0
$GC,3531,-0.74,-146.0,362.5,-4.1,263,3535,0.00,2.25,0.00,0.000,4,0.000,0.053,2400,546,3399,0,0,0,0,0,0
$GC,3603,-0.74,-146.0,368.5,-6.8,264,3607,0.00,2.17,0.00,0.000,6,0.000,0.042,2390,1962,3398,0,0,0,0,0,0
$GC,3935,-0.74,-146.0,386.8,-4.4,272,3939,0.00,2.22,0.00,0.000,4,0.000,0.059,2390,556,3396,0,0,0,0,0,0
$GC,4192,-0.74,-146.0,403.4,-6.0,277,4198,0.00,2.17,0.00,0.000,6,0.000,0.044,2380,1967,3395,0,0,0,0,0,0
$GC,4524,-0.74,-146.0,432.1,-9.5,286,4528,0.00,2.22,0.00,0.000,4,0.000,0.058,2380,553,3393,0,0,0,0,0,0
$GC,4624,-0.74,-146.0,444.5,-13.8,288,4629,0.12,2.17,0.00,0.000,6,0.161,0.046,2406,1957,3392,0,0,0,0,0,0
$STATE,4726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4726,begin apogee
$GC,4732,-0.17,0.0,453.0,8.1,291,4854,0.52,0.00,118.50,0.795,6,0.111,0.000,2584,1958,2799,0,0,0,0,0,0
$STATE,4855,end apogee,CONTROL_FINISHED_OK
$STATE,4855,begin climb
$GC,4857,0.74,146.0,457.3,0.0,294,4994,0.80,2.42,125.20,0.766,4,0.069,0.060,2880,575,2203,0,0,0,0,0,0
$GC,5033,0.74,146.0,442.3,13.8,298,5037,0.00,2.28,0.00,0.000,6,0.000,0.043,2880,1974,2200,0,0,0,0,0,0
$GC,5347,0.74,146.0,400.3,13.0,306,5351,0.00,2.30,0.00,0.000,4,0.000,0.060,2890,564,2196,0,0,0,0,0,0
$GC,5374,0.74,146.0,396.1,15.4,306,5378,0.00,2.25,0.00,0.000,6,0.000,0.044,2889,1983,2196,0,0,0,0,0,0
$GC,5705,0.74,146.0,343.9,16.7,314,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1984,2193,0,0,0,0,0,0
$GC,6030,0.74,146.0,298.0,14.3,322,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1983,2192,0,0,0,0,0,0
$GC,6340,0.74,146.0,254.5,13.4,337,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1984,2191,0,0,0,0,0,0
$GC,6649,0.74,146.0,216.2,11.3,352,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1984,2189,0,0,0,0,0,0
$GC,6965,0.74,146.0,181.2,11.7,374,6969,0.00,2.20,0.00,0.000,4,0.000,0.055,2890,3387,2189,0,0,0,0,0,0
$GC,7027,0.74,146.0,173.6,13.1,379,7031,0.00,2.22,0.00,0.000,6,0.000,0.049,2898,1983,2188,0,0,0,0,0,0
$GC,7354,0.74,146.0,138.0,11.0,409,7358,0.00,2.22,0.00,0.000,4,0.000,0.061,2908,564,2188,0,0,0,0,0,0
$GC,7405,0.74,146.0,131.7,12.7,413,7410,0.12,2.17,0.00,0.000,6,0.143,0.041,2873,1979,2187,0,0,0,0,0,0
$GC,7732,0.74,146.0,99.1,10.1,443,7736,0.00,2.15,0.00,0.000,4,0.000,0.054,2873,3386,2187,0,0,0,0,0,0
$GC,7795,0.74,146.0,92.0,11.2,448,7799,0.00,2.20,0.00,0.000,6,0.000,0.041,2880,1961,2187,0,0,0,0,0,0
$GC,8126,0.74,146.0,57.5,11.3,497,8132,0.00,2.15,0.00,0.000,4,0.000,0.057,2890,569,2188,0,0,0,0,0,0
$GC,8274,0.76,165.0,45.6,8.2,524,8294,0.00,2.17,14.75,0.486,6,0.000,0.038,2890,1981,2126,0,0,0,0,0,0
$GC,8617,0.76,165.0,18.1,9.1,587,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1980,2125,0,0,0,0,0,0
$STATE,8781,end climb,SURFACE_DEPTH_REACHED
$STATE,8781,begin surface coast
$FINISH,0.3,1.001582
$STATE,8814,end surface coast,CONTROL_FINISHED_OK
$STATE,8814,begin surface
$SM_CCo,8831,60.15,0.457,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,60.15,0.000,0.000,0.457,33,1985,1575,-8.15,0.71,300.24
$IRIDIUM_FIX,2101.76,-15825.22,250702,111155
$TT8_MAMPS,0.028379
$HUMID,61.65
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.6,4.717
$10V_AH,10.5,5.137
$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,18.200,70.825,258.450,60.150,0.000,29.682,32.784,144.917,19.000,0.000,17.441,1126.350,5283.452,374.878,2014.556,424.006,0.000,1061.958,0.000,1966.735,0.000,117.246,0.000
$DEVICE_MAMPS,224.731,61.360,795.379,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,425.627,353.803,1215.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34954,624
$CAP_FILE_SIZE,93227,0
$CFSIZE,260165632,252624896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300413,163924,2102.319,-15758.590,17,1.4,17,9.8