version: 66.06
glider: 523
mission: 4
dive: 54
start: 4 30 113 19 16 10
data:
$ID,523
$MISSION,4
$DIVE,54
$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,-36954.211
$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,29
$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
$GPS1,191022,2102.983,-15759.702,39,0.7,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.6
$GPS2,191553,2103.023,-15759.757,17,0.8,17,9.8
$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,328.1,10613,-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,-77.82,0.000,6,0.000,0.000,27,1946,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.8,13,118,9.25,2.28,0.00,0.000,4,0.226,0.044,2383,3379,3397,0,0,0,0,0,0
$GC,355,-0.74,-146.0,58.3,-18.7,60,362,0.00,2.25,0.00,0.000,6,0.000,0.044,2383,1967,3399,0,0,0,0,0,0
$GC,691,-0.74,-146.0,107.1,-12.0,104,695,0.00,2.25,0.00,0.000,4,0.000,0.057,2382,543,3400,0,0,0,0,0,0
$GC,786,-0.74,-146.0,119.5,-13.3,112,792,0.00,2.15,0.00,0.000,6,0.000,0.036,2374,1970,3400,0,0,0,0,0,0
$GC,1120,-0.74,-146.0,160.5,-15.8,143,1124,0.00,2.20,0.00,0.000,4,0.000,0.058,2364,3362,3401,0,0,0,0,0,0
$GC,1153,-0.74,-146.0,166.2,-14.6,145,1161,0.10,2.22,0.00,0.000,6,0.127,0.045,2397,1961,3401,0,0,0,0,0,0
$GC,1487,-0.74,-146.0,208.5,-12.2,174,1491,0.00,2.17,0.00,0.000,4,0.000,0.052,2389,3369,3402,0,0,0,0,0,0
$GC,1570,-0.74,-146.0,217.5,-10.3,178,1574,0.00,2.20,0.00,0.000,6,0.000,0.044,2389,1958,3402,0,0,0,0,0,0
$GC,1897,-0.74,-146.0,250.8,-9.9,194,1901,0.00,2.20,0.00,0.000,4,0.000,0.054,2389,550,3402,0,0,0,0,0,0
$GC,2016,-0.74,-146.0,261.9,-8.6,199,2020,0.00,2.15,0.00,0.000,6,0.000,0.038,2379,1963,3402,0,0,0,0,0,0
$GC,2336,-0.74,-146.0,291.1,-8.8,214,2340,0.00,2.25,0.00,0.000,4,0.000,0.055,2379,553,3402,0,0,0,0,0,0
$GC,2469,-0.74,-146.0,303.2,-9.4,220,2474,0.12,2.12,0.00,0.000,6,0.169,0.040,2404,1961,3402,0,0,0,0,0,0
$GC,2797,-0.74,-146.0,325.1,-6.3,228,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1961,3402,0,0,0,0,0,0
$GC,3119,-0.74,-146.0,350.6,-8.0,236,3123,0.00,2.25,0.00,0.000,4,0.000,0.059,2404,549,3401,0,0,0,0,0,0
$GC,3163,-0.74,-146.0,354.6,-9.2,237,3167,0.00,2.15,0.00,0.000,6,0.000,0.042,2396,1961,3401,0,0,0,0,0,0
$GC,3485,-0.74,-146.0,376.1,-6.0,245,3488,0.00,2.20,0.00,0.000,4,0.000,0.058,2386,3367,3399,0,0,0,0,0,0
$GC,3557,-0.74,-146.0,380.8,-6.5,246,3561,0.00,2.17,0.00,0.000,6,0.000,0.043,2386,1961,3399,0,0,0,0,0,0
$GC,3895,-0.74,-146.0,405.3,-7.5,255,3899,0.00,2.25,0.00,0.000,4,0.000,0.065,2386,552,3396,0,0,0,0,0,0
$GC,4041,-0.74,-146.0,416.5,-7.9,258,4045,0.00,2.15,0.00,0.000,6,0.000,0.044,2377,1963,3395,0,0,0,0,0,0
$GC,4392,-0.74,-146.0,440.6,-6.9,267,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1963,3393,0,0,0,0,0,0
$STATE,4549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4549,begin apogee
$GC,4555,-0.17,0.0,451.0,6.3,271,4677,0.62,0.00,118.22,0.789,6,0.119,0.000,2582,1963,2799,0,0,0,0,0,0
$STATE,4678,end apogee,CONTROL_FINISHED_OK
$STATE,4678,begin climb
$GC,4681,0.74,146.0,450.7,0.0,274,4810,0.85,0.00,126.15,0.758,6,0.073,0.000,2874,1963,2204,0,0,0,0,0,0
$GC,5116,0.74,146.0,400.0,12.1,285,5120,0.00,2.30,0.00,0.000,4,0.000,0.065,2882,562,2196,0,0,0,0,0,0
$GC,5172,0.74,146.0,392.2,13.5,286,5176,0.00,2.25,0.00,0.000,6,0.000,0.045,2883,1978,2195,0,0,0,0,0,0
$GC,5519,0.74,146.0,346.7,12.8,295,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1978,2193,0,0,0,0,0,0
$GC,5844,0.74,146.0,301.6,14.2,303,5848,0.00,2.28,0.00,0.000,4,0.000,0.067,2893,569,2191,0,0,0,0,0,0
$GC,5906,0.74,146.0,293.4,14.0,305,5910,0.00,2.22,0.00,0.000,6,0.000,0.047,2893,1983,2191,0,0,0,0,0,0
$GC,6232,0.74,146.0,250.3,12.9,321,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1983,2190,0,0,0,0,0,0
$GC,6541,0.74,146.0,212.8,12.9,336,6545,0.00,2.22,0.00,0.000,4,0.000,0.063,2893,3383,2188,0,0,0,0,0,0
$GC,6574,0.74,146.0,208.3,13.6,337,6580,0.00,2.22,0.00,0.000,6,0.000,0.048,2901,1978,2188,0,0,0,0,0,0
$GC,6902,0.74,146.0,164.7,11.6,365,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1979,2188,0,0,0,0,0,0
$GC,7232,0.74,146.0,125.4,11.7,396,7236,0.00,2.25,0.00,0.000,4,0.000,0.064,2912,568,2188,0,0,0,0,0,0
$GC,7273,0.74,146.0,120.6,10.8,399,7278,0.12,2.17,0.00,0.000,6,0.143,0.042,2875,1980,2187,0,0,0,0,0,0
$GC,7600,0.74,146.0,89.6,9.5,429,7604,0.00,2.28,0.00,0.000,4,0.000,0.062,2884,561,2187,0,0,0,0,0,0
$GC,7651,0.74,146.0,84.6,9.9,433,7655,0.00,2.17,0.00,0.000,6,0.000,0.041,2884,1974,2187,0,0,0,0,0,0
$GC,7985,0.75,154.3,54.1,8.7,489,7997,0.00,2.30,5.32,0.413,4,0.000,0.061,2893,566,2171,0,0,0,0,0,0
$GC,8125,0.78,183.4,42.4,7.8,514,8156,0.00,2.20,26.10,0.495,6,0.000,0.041,2892,1979,2051,0,0,0,0,0,0
$GC,8473,0.78,183.4,10.3,9.9,579,8481,0.00,2.22,0.00,0.000,4,0.000,0.057,2893,3385,2049,0,0,0,0,0,0
$GC,8499,0.78,183.4,7.6,10.1,583,8507,0.00,2.22,0.00,0.000,6,0.000,0.041,2894,1972,2049,0,0,0,0,0,0
$STATE,8549,end climb,SURFACE_DEPTH_REACHED
$STATE,8549,begin surface coast
$FINISH,0.4,1.023387
$STATE,8582,end surface coast,CONTROL_FINISHED_OK
$STATE,8582,begin surface
$SM_CCo,8599,52.65,0.453,0,0,1576,300.24
$SM_GC,1.12,0.00,0.00,52.65,0.000,0.000,0.453,28,1969,1576,-8.16,0.23,300.24
$IRIDIUM_FIX,2050.21,-15745.35,250702,161611
$TT8_MAMPS,0.028379
$HUMID,60.67
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.6,4.878
$10V_AH,10.5,5.312
$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,18.300,70.950,275.800,52.650,0.000,29.644,37.477,140.051,19.250,0.000,17.481,1085.290,5197.087,412.036,1863.033,426.769,0.000,1045.818,0.000,1820.741,0.000,117.247,0.000
$DEVICE_MAMPS,226.265,66.729,789.243,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.008,332.080,1150.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31933,598
$CAP_FILE_SIZE,89367,0
$CFSIZE,260165632,252542976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300413,214124,2103.968,-15800.226,23,1.7,23,9.8