version: 66.06
glider: 523
mission: 4
dive: 97
start: 5 5 113 8 10 52
data:
$ID,523
$MISSION,4
$DIVE,97
$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,-37799.527
$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,22
$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
$GPS1,080154,2059.701,-15752.890,14,1.2,14,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.0
$GPS2,081034,2059.750,-15752.865,33,1.0,33,9.8
$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,305.2,22477,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.07,0.000,2,0.000,0.000,32,1978,3369,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.7,12,113,9.43,2.28,-0.52,0.000,4,0.231,0.059,2396,542,3395,0,0,0,0,0,0
$GC,249,-0.74,-146.0,36.4,-18.6,40,256,0.00,2.22,0.00,0.000,6,0.000,0.038,2388,1966,3397,0,0,0,0,0,0
$GC,589,-0.74,-146.0,90.5,-15.5,96,593,0.00,2.30,0.00,0.000,4,0.000,0.054,2388,538,3397,0,0,0,0,0,0
$GC,718,-0.74,-146.0,112.4,-16.1,107,722,0.00,2.17,0.00,0.000,6,0.000,0.037,2378,1966,3398,0,0,0,0,0,0
$GC,1051,-0.74,-146.0,154.1,-11.6,138,1055,0.00,2.28,0.00,0.000,4,0.000,0.054,2378,547,3399,0,0,0,0,0,0
$GC,1267,-0.74,-146.0,183.8,-13.9,157,1272,0.12,2.15,0.00,0.000,6,0.170,0.036,2402,1963,3399,0,0,0,0,0,0
$GC,1599,-0.74,-146.0,216.2,-9.4,180,1602,0.00,2.17,0.00,0.000,4,0.000,0.056,2393,3360,3401,0,0,0,0,0,0
$GC,1762,-0.74,-146.0,230.3,-7.8,187,1766,0.00,2.20,0.00,0.000,6,0.000,0.044,2393,1953,3401,0,0,0,0,0,0
$GC,2085,-0.74,-146.0,255.2,-9.2,203,2089,0.00,2.25,0.00,0.000,4,0.000,0.054,2383,3360,3401,0,0,0,0,0,0
$GC,2148,-0.74,-146.0,261.2,-9.1,206,2152,0.00,2.20,0.00,0.000,6,0.000,0.044,2383,1954,3401,0,0,0,0,0,0
$GC,2474,-0.74,-146.0,294.9,-10.3,222,2479,0.00,2.20,0.00,0.000,4,0.000,0.058,2383,553,3401,0,0,0,0,0,0
$GC,2529,-0.74,-146.0,300.9,-11.0,224,2533,0.00,2.15,0.00,0.000,6,0.000,0.040,2373,1962,3400,0,0,0,0,0,0
$GC,2863,-0.74,-146.0,330.5,-8.5,232,2867,0.00,2.17,0.00,0.000,4,0.000,0.056,2364,3365,3400,0,0,0,0,0,0
$GC,2904,-0.74,-146.0,334.2,-8.3,233,2908,0.12,2.20,0.00,0.000,6,0.152,0.043,2398,1952,3400,0,0,0,0,0,0
$GC,3230,-0.74,-146.0,357.6,-6.7,241,3234,0.00,2.22,0.00,0.000,4,0.000,0.061,2398,546,3398,0,0,0,0,0,0
$GC,3315,-0.74,-146.0,363.3,-7.2,243,3319,0.00,2.17,0.00,0.000,6,0.000,0.041,2390,1969,3397,0,0,0,0,0,0
$GC,3642,-0.74,-146.0,391.0,-9.3,251,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1969,3395,0,0,0,0,0,0
$GC,3966,-0.74,-146.0,419.5,-8.3,259,3970,0.00,2.17,0.00,0.000,4,0.000,0.058,2379,3370,3392,0,0,0,0,0,0
$GC,4051,-0.74,-146.0,426.0,-7.4,260,4056,0.00,2.20,0.00,0.000,6,0.000,0.045,2379,1963,3392,0,0,0,0,0,0
$STATE,4380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4380,begin apogee
$GC,4386,-0.17,0.0,451.9,8.1,269,4508,0.62,0.00,118.15,0.787,6,0.126,0.000,2582,1962,2800,0,0,0,0,0,0
$STATE,4509,end apogee,CONTROL_FINISHED_OK
$STATE,4509,begin climb
$GC,4511,0.74,146.0,454.1,0.0,272,4643,0.82,0.00,125.10,0.759,6,0.077,0.000,2870,1962,2204,0,0,0,0,0,0
$GC,4958,0.74,146.0,403.9,12.3,283,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1962,2196,0,0,0,0,0,0
$GC,5283,0.74,146.0,361.5,13.0,291,5287,0.00,2.22,0.00,0.000,4,0.000,0.062,2880,561,2193,0,0,0,0,0,0
$GC,5373,0.74,146.0,350.0,13.2,293,5377,0.00,2.20,0.00,0.000,6,0.000,0.043,2880,1978,2192,0,0,0,0,0,0
$GC,5697,0.74,146.0,309.3,12.8,301,5701,0.00,2.20,0.00,0.000,4,0.000,0.056,2880,3389,2190,0,0,0,0,0,0
$GC,5741,0.74,146.0,303.1,13.6,302,5745,0.00,2.25,0.00,0.000,6,0.000,0.049,2890,1969,2190,0,0,0,0,0,0
$GC,6063,0.74,146.0,260.4,12.3,317,6067,0.00,2.25,0.00,0.000,4,0.000,0.062,2900,558,2189,0,0,0,0,0,0
$GC,6108,0.74,146.0,254.2,13.5,319,6112,0.00,2.20,0.00,0.000,6,0.000,0.042,2900,1978,2188,0,0,0,0,0,0
$GC,6429,0.74,146.0,211.2,12.4,335,6433,0.00,2.20,0.00,0.000,4,0.000,0.054,2900,3388,2187,0,0,0,0,0,0
$GC,6474,0.74,146.0,206.0,11.1,337,6479,0.12,2.25,0.00,0.000,6,0.160,0.049,2875,1965,2187,0,0,0,0,0,0
$GC,6804,0.74,146.0,176.1,10.5,365,6808,0.00,2.20,0.00,0.000,4,0.000,0.061,2883,555,2186,0,0,0,0,0,0
$GC,6888,0.74,146.0,167.0,11.5,372,6893,0.00,2.20,0.00,0.000,6,0.000,0.043,2883,1977,2185,0,0,0,0,0,0
$GC,7215,0.74,146.0,132.7,10.3,402,7219,0.00,2.25,0.00,0.000,4,0.000,0.056,2893,554,2185,0,0,0,0,0,0
$GC,7310,0.74,146.0,122.8,9.9,410,7314,0.00,2.17,0.00,0.000,6,0.000,0.037,2893,1983,2185,0,0,0,0,0,0
$GC,7637,0.74,146.0,88.7,11.6,440,7641,0.00,2.12,0.00,0.000,4,0.000,0.051,2893,3383,2185,0,0,0,0,0,0
$GC,7690,0.74,146.0,82.0,12.7,444,7694,0.00,2.17,0.00,0.000,6,0.000,0.041,2893,1963,2185,0,0,0,0,0,0
$GC,8023,0.74,146.0,47.2,9.8,503,8029,0.00,2.17,0.00,0.000,4,0.000,0.055,2902,564,2185,0,0,0,0,0,0
$GC,8112,0.75,157.6,38.8,8.6,519,8126,0.00,2.15,8.15,0.442,6,0.000,0.038,2902,1974,2156,0,0,0,0,0,0
$GC,8445,0.75,157.6,8.5,9.5,581,8452,0.00,2.17,0.00,0.000,4,0.000,0.051,2902,3377,2156,0,0,0,0,0,0
$STATE,8505,end climb,SURFACE_DEPTH_REACHED
$STATE,8505,begin surface coast
$FINISH,2.0,1.023192
$STATE,8512,end surface coast,CONTROL_FINISHED_OK
$STATE,8512,begin surface
$SM_CCo,8532,68.00,0.454,0,0,1575,300.24
$SM_GC,1.28,0.00,0.00,68.00,0.000,0.000,0.454,39,1948,1575,-8.13,-0.34,300.24
$IRIDIUM_FIX,2059.45,-15746.61,300702,080833
$TT8_MAMPS,0.027612
$HUMID,61.45
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.6,8.312
$10V_AH,10.5,9.099
$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,18.550,79.350,251.400,68.000,0.000,53.905,62.733,195.513,19.000,0.000,34.285,1102.877,5143.449,376.940,1957.502,540.581,0.000,1046.347,0.000,1893.437,0.000,117.249,0.000
$DEVICE_MAMPS,230.867,62.127,786.942,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.186,340.112,1153.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31786,593
$CAP_FILE_SIZE,96121,0
$CFSIZE,260165632,250507264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,103505,2100.182,-15754.291,14,1.2,14,9.8