version: 66.06
glider: 523
mission: 4
dive: 53
start: 4 30 113 16 46 8
data:
$ID,523
$MISSION,4
$DIVE,53
$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,-36936.102
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,163924,2102.319,-15758.590,17,1.4,17,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-75.8
$GPS2,164549,2102.276,-15758.619,17,1.4,17,9.8
$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,322.3,12699,-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,-78.40,0.000,6,0.000,0.000,33,1985,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.6,-5.8,13,118,9.12,2.33,0.00,0.000,4,0.221,0.051,2391,548,3396,0,0,0,0,0,0
$GC,357,-0.74,-146.0,60.1,-17.4,60,364,0.00,2.20,0.00,0.000,6,0.000,0.038,2382,1956,3398,0,0,0,0,0,0
$GC,693,-0.74,-146.0,108.7,-13.0,103,697,0.00,2.22,0.00,0.000,4,0.000,0.054,2383,553,3400,0,0,0,0,0,0
$GC,945,-0.74,-146.0,141.2,-10.6,125,952,0.00,2.17,0.00,0.000,6,0.000,0.035,2374,1967,3400,0,0,0,0,0,0
$GC,1272,-0.74,-146.0,177.1,-10.6,156,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1967,3401,0,0,0,0,0,0
$GC,1586,-0.74,-146.0,210.9,-12.1,182,1590,0.00,2.15,0.00,0.000,4,0.000,0.054,2364,3365,3402,0,0,0,0,0,0
$GC,1770,-0.74,-146.0,233.1,-11.4,190,1774,0.12,2.17,0.00,0.000,6,0.145,0.043,2399,1961,3402,0,0,0,0,0,0
$GC,2086,-0.74,-146.0,260.7,-8.8,205,2090,0.00,2.20,0.00,0.000,4,0.000,0.053,2399,553,3402,0,0,0,0,0,0
$GC,2149,-0.74,-146.0,266.3,-8.2,208,2153,0.00,2.12,0.00,0.000,6,0.000,0.037,2391,1963,3402,0,0,0,0,0,0
$GC,2483,-0.74,-146.0,291.8,-7.9,224,2487,0.00,2.22,0.00,0.000,4,0.000,0.054,2391,550,3402,0,0,0,0,0,0
$GC,2582,-0.74,-146.0,301.3,-9.8,228,2587,0.00,2.15,0.00,0.000,6,0.000,0.038,2381,1961,3402,0,0,0,0,0,0
$GC,2900,-0.74,-146.0,331.2,-9.9,236,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1962,3402,0,0,0,0,0,0
$GC,3221,-0.74,-146.0,353.0,-5.7,244,3225,0.00,2.25,0.00,0.000,4,0.000,0.059,2381,554,3400,0,0,0,0,0,0
$GC,3316,-0.74,-146.0,358.3,-5.4,246,3320,0.10,2.15,0.00,0.000,6,0.176,0.041,2398,1962,3399,0,0,0,0,0,0
$GC,3628,-0.74,-146.0,373.5,-5.8,254,3632,0.00,2.25,0.00,0.000,4,0.000,0.060,2399,551,3397,0,0,0,0,0,0
$GC,3830,-0.74,-146.0,390.4,-7.4,258,3834,0.00,2.17,0.00,0.000,6,0.000,0.043,2392,1968,3395,0,0,0,0,0,0
$GC,4168,-0.74,-146.0,414.5,-7.0,267,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1968,3394,0,0,0,0,0,0
$GC,4493,-0.74,-146.0,440.4,-7.9,275,4497,0.00,2.25,0.00,0.000,4,0.000,0.061,2391,557,3391,0,0,0,0,0,0
$GC,4545,-0.74,-146.0,445.1,-9.4,276,4549,0.00,2.17,0.00,0.000,6,0.000,0.046,2381,1962,3391,0,0,0,0,0,0
$STATE,4618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4618,begin apogee
$GC,4625,-0.17,0.0,451.8,8.8,278,4746,0.60,0.00,117.90,0.792,6,0.117,0.000,2580,1963,2800,0,0,0,0,0,0
$STATE,4746,end apogee,CONTROL_FINISHED_OK
$STATE,4747,begin climb
$GC,4749,0.74,146.0,453.1,0.0,281,4884,0.85,2.38,125.20,0.759,4,0.075,0.063,2885,575,2203,0,0,0,0,0,0
$GC,4913,0.74,146.0,433.6,15.5,285,4918,0.00,2.30,0.00,0.000,6,0.000,0.044,2886,1979,2200,0,0,0,0,0,0
$GC,5238,0.74,146.0,382.1,15.7,293,5242,0.00,2.30,0.00,0.000,4,0.000,0.066,2895,571,2195,0,0,0,0,0,0
$GC,5299,0.74,146.0,372.0,16.9,294,5303,0.00,2.22,0.00,0.000,6,0.000,0.046,2895,1982,2195,0,0,0,0,0,0
$GC,5647,0.74,146.0,318.0,14.7,303,5651,0.00,2.28,0.00,0.000,4,0.000,0.066,2905,571,2193,0,0,0,0,0,0
$GC,5713,0.74,146.0,307.6,15.2,304,5717,0.00,2.22,0.00,0.000,6,0.000,0.047,2905,1982,2192,0,0,0,0,0,0
$GC,6034,0.74,146.0,262.7,13.5,319,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1982,2192,0,0,0,0,0,0
$GC,6343,0.74,146.0,223.8,11.4,334,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1982,2190,0,0,0,0,0,0
$GC,6658,0.74,146.0,186.8,11.3,354,6661,0.00,2.22,0.00,0.000,4,0.000,0.061,2905,3387,2189,0,0,0,0,0,0
$GC,6774,0.74,146.0,171.9,13.0,364,6779,0.12,2.22,0.00,0.000,6,0.156,0.047,2881,1981,2188,0,0,0,0,0,0
$GC,7101,0.74,146.0,135.5,11.0,394,7105,0.00,2.25,0.00,0.000,4,0.000,0.066,2889,562,2188,0,0,0,0,0,0
$GC,7143,0.74,146.0,130.4,11.7,397,7151,0.00,2.22,0.00,0.000,6,0.000,0.043,2889,1982,2187,0,0,0,0,0,0
$GC,7470,0.74,146.0,96.8,10.8,428,7474,0.00,2.15,0.00,0.000,4,0.000,0.057,2889,3385,2187,0,0,0,0,0,0
$GC,7500,0.74,146.0,93.4,11.4,430,7503,0.00,2.20,0.00,0.000,6,0.000,0.045,2897,1975,2188,0,0,0,0,0,0
$GC,7828,0.74,146.0,56.8,10.3,479,7834,0.00,2.22,0.00,0.000,4,0.000,0.064,2908,557,2188,0,0,0,0,0,0
$GC,7940,0.74,146.0,44.7,10.3,499,7946,0.12,2.20,0.00,0.000,6,0.143,0.041,2873,1991,2188,0,0,0,0,0,0
$GC,8267,0.78,183.2,21.4,7.5,560,8300,0.00,0.00,29.38,0.482,6,0.000,0.000,2872,1991,2052,0,0,0,0,0,0
$GC,8462,0.80,197.3,5.8,8.5,595,8482,0.00,2.22,13.05,0.442,4,0.000,0.054,2872,3382,1994,0,0,0,0,0,0
$STATE,8495,end climb,SURFACE_DEPTH_REACHED
$STATE,8495,begin surface coast
$FINISH,1.4,1.023458
$STATE,8507,end surface coast,CONTROL_FINISHED_OK
$STATE,8507,begin surface
$SM_CCo,8527,48.15,0.455,0,0,1575,300.24
$SM_GC,1.01,0.00,0.00,48.15,0.000,0.000,0.455,27,1946,1575,-8.17,-0.42,300.24
$IRIDIUM_FIX,2057.14,-15759.05,250702,141411
$TT8_MAMPS,0.027612
$HUMID,61.73
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.6,4.799
$10V_AH,10.5,5.226
$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,18.250,71.100,285.525,48.150,0.000,34.517,33.360,191.239,19.000,0.000,17.965,1103.192,5021.892,370.745,1992.167,476.182,0.000,1071.899,0.000,1945.446,0.000,121.026,0.000
$DEVICE_MAMPS,220.896,65.962,792.311,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.589,342.868,1189.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31761,602
$CAP_FILE_SIZE,93303,0
$CFSIZE,260165632,252583936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300413,191022,2102.983,-15759.702,39,0.7,39,9.8