version: 66.06
glider: 523
mission: 4
dive: 94
start: 5 5 113 0 28 19
data:
$ID,523
$MISSION,4
$DIVE,94
$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,-37726.211
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,001504,2058.326,-15749.727,32,0.8,32,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-76.0
$GPS2,002800,2058.556,-15749.729,16,1.1,16,9.8
$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,300.6,27964,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,101,0.00,0.00,-77.12,0.000,6,0.000,0.000,39,1970,3393,0,0,0,0,0,0
$GC,104,-0.74,-146.0,4.1,-7.0,13,119,9.40,2.28,0.00,0.000,4,0.232,0.051,2392,544,3395,0,0,0,0,0,0
$GC,357,-0.74,-146.0,60.5,-21.7,60,364,0.00,2.20,0.00,0.000,6,0.000,0.038,2384,1961,3397,0,0,0,0,0,0
$GC,693,-0.74,-146.0,112.3,-12.6,102,698,0.00,2.25,0.00,0.000,4,0.000,0.054,2384,549,3397,0,0,0,0,0,0
$GC,854,-0.74,-146.0,136.8,-15.5,116,862,0.00,2.17,0.00,0.000,6,0.000,0.035,2374,1968,3398,0,0,0,0,0,0
$GC,1181,-0.74,-146.0,173.7,-10.1,147,1185,0.00,2.28,0.00,0.000,4,0.000,0.052,2374,546,3398,0,0,0,0,0,0
$GC,1430,-0.74,-146.0,198.2,-12.1,169,1439,0.10,2.15,0.00,0.000,6,0.146,0.034,2397,1959,3399,0,0,0,0,0,0
$GC,1746,-0.74,-146.0,229.1,-8.4,186,1751,0.00,2.22,0.00,0.000,4,0.000,0.053,2397,550,3399,0,0,0,0,0,0
$GC,1861,-0.74,-146.0,238.7,-7.6,191,1866,0.00,2.12,0.00,0.000,6,0.000,0.036,2389,1958,3399,0,0,0,0,0,0
$GC,2182,-0.74,-146.0,269.6,-9.4,207,2187,0.00,2.25,0.00,0.000,4,0.000,0.054,2389,550,3399,0,0,0,0,0,0
$GC,2254,-0.74,-146.0,276.6,-9.4,210,2258,0.00,2.15,0.00,0.000,6,0.000,0.038,2379,1963,3398,0,0,0,0,0,0
$GC,2595,-0.74,-146.0,309.2,-9.7,225,2599,0.00,2.25,0.00,0.000,4,0.000,0.057,2379,546,3398,0,0,0,0,0,0
$GC,2684,-0.74,-146.0,317.5,-8.9,227,2689,0.12,2.15,0.00,0.000,6,0.169,0.038,2404,1962,3397,0,0,0,0,0,0
$GC,3005,-0.74,-146.0,338.8,-6.5,235,3009,0.00,2.17,0.00,0.000,4,0.000,0.057,2396,3362,3396,0,0,0,0,0,0
$GC,3044,-0.74,-146.0,341.9,-7.3,235,3049,0.00,2.20,0.00,0.000,6,0.000,0.043,2395,1950,3396,0,0,0,0,0,0
$GC,3375,-0.74,-146.0,363.5,-6.4,244,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1950,3393,0,0,0,0,0,0
$GC,3701,-0.74,-146.0,385.4,-6.7,252,3705,0.00,2.25,0.00,0.000,4,0.000,0.064,2395,546,3390,0,0,0,0,0,0
$GC,3891,-0.74,-146.0,400.4,-7.2,256,3895,0.00,2.17,0.00,0.000,6,0.000,0.042,2386,1961,3388,0,0,0,0,0,0
$GC,4239,-0.74,-146.0,424.0,-6.8,265,4243,0.00,2.17,0.00,0.000,4,0.000,0.060,2376,3364,3386,0,0,0,0,0,0
$GC,4324,-0.74,-146.0,430.6,-8.4,267,4328,0.00,2.20,0.00,0.000,6,0.000,0.045,2376,1960,3386,0,0,0,0,0,0
$STATE,4605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4605,begin apogee
$GC,4612,-0.17,0.0,452.0,7.6,274,4732,0.65,0.00,117.15,0.795,6,0.124,0.000,2586,1959,2799,0,0,0,0,0,0
$STATE,4733,end apogee,CONTROL_FINISHED_OK
$STATE,4733,begin climb
$GC,4736,0.74,146.0,453.1,0.0,277,4865,0.82,0.00,125.53,0.763,6,0.077,0.000,2872,1959,2204,0,0,0,0,0,0
$GC,5184,0.74,146.0,398.5,13.5,288,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1959,2196,0,0,0,0,0,0
$GC,5507,0.74,146.0,356.9,12.6,296,5511,0.00,2.28,0.00,0.000,4,0.000,0.068,2882,565,2193,0,0,0,0,0,0
$GC,5573,0.74,146.0,348.5,12.9,297,5578,0.00,2.22,0.00,0.000,6,0.000,0.044,2882,1981,2192,0,0,0,0,0,0
$GC,5910,0.74,146.0,306.6,12.5,306,5914,0.00,2.20,0.00,0.000,4,0.000,0.055,2882,3386,2191,0,0,0,0,0,0
$GC,5965,0.74,146.0,298.1,15.2,307,5969,0.00,2.22,0.00,0.000,6,0.000,0.044,2892,1968,2190,0,0,0,0,0,0
$GC,6298,0.74,146.0,248.8,14.5,323,6302,0.00,2.22,0.00,0.000,4,0.000,0.062,2902,566,2189,0,0,0,0,0,0
$GC,6331,0.74,146.0,243.9,14.0,324,6336,0.00,2.20,0.00,0.000,6,0.000,0.044,2902,1981,2188,0,0,0,0,0,0
$GC,6647,0.74,146.0,197.6,14.1,340,6651,0.00,2.25,0.00,0.000,4,0.000,0.063,2911,568,2187,0,0,0,0,0,0
$GC,6690,0.74,146.0,191.3,13.7,343,6698,0.10,2.22,0.00,0.000,6,0.127,0.045,2878,1978,2187,0,0,0,0,0,0
$GC,7018,0.74,146.0,153.1,11.7,374,7022,0.00,2.25,0.00,0.000,4,0.000,0.063,2885,568,2186,0,0,0,0,0,0
$GC,7135,0.74,146.0,140.2,10.2,384,7139,0.00,2.20,0.00,0.000,6,0.000,0.044,2885,1983,2186,0,0,0,0,0,0
$GC,7463,0.74,146.0,107.9,9.5,414,7467,0.00,2.15,0.00,0.000,4,0.000,0.054,2885,3390,2186,0,0,0,0,0,0
$GC,7492,0.74,146.0,104.7,10.6,416,7497,0.00,2.20,0.00,0.000,6,0.000,0.048,2893,1973,2186,0,0,0,0,0,0
$GC,7822,0.74,146.0,72.1,9.9,453,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1973,2185,0,0,0,0,0,0
$GC,8155,0.76,168.0,44.1,8.1,514,8179,0.00,2.28,16.88,0.491,4,0.000,0.057,2899,567,2113,0,0,0,0,0,0
$GC,8243,0.78,182.4,36.9,8.4,529,8266,0.00,2.17,13.43,0.470,6,0.000,0.039,2899,1985,2054,0,0,0,0,0,0
$STATE,8584,end climb,SURFACE_DEPTH_REACHED
$STATE,8585,begin surface coast
$FINISH,0.4,1.023100
$STATE,8612,end surface coast,CONTROL_FINISHED_OK
$STATE,8612,begin surface
$SM_CCo,8630,54.50,0.456,0,0,1576,300.24
$SM_GC,1.11,0.00,0.00,54.50,0.000,0.000,0.456,40,1991,1576,-8.13,0.88,300.24
$IRIDIUM_FIX,2045.60,-15745.35,300702,000050
$TT8_MAMPS,0.027612
$HUMID,62.20
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,8.074
$10V_AH,10.5,8.832
$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,18.500,70.725,272.975,54.500,0.000,78.456,110.155,324.092,19.250,0.000,17.144,1094.235,5276.416,402.002,1928.664,761.515,0.000,1066.179,0.000,1891.746,0.000,125.575,0.000
$DEVICE_MAMPS,232.401,68.263,795.379,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.521,342.480,1163.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31878,598
$CAP_FILE_SIZE,98261,0
$CFSIZE,260165632,250650624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,025401,2059.102,-15750.774,19,1.1,19,9.8