version: 66.06
glider: 523
mission: 4
dive: 98
start: 5 5 113 10 40 40
data:
$ID,523
$MISSION,4
$DIVE,98
$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,-37815.59
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,103505,2100.182,-15754.291,14,1.2,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.1
$GPS2,104023,2100.199,-15754.315,15,0.9,15,9.8
$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,308.6,20153,-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,-76.18,0.000,2,0.000,0.000,39,1947,3357,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.6,12,113,9.40,2.30,-0.85,0.000,4,0.232,0.066,2391,556,3399,0,0,0,0,0,0
$GC,352,-0.74,-146.0,54.8,-14.4,59,358,0.00,2.15,0.00,0.000,6,0.000,0.038,2382,1956,3401,0,0,0,0,0,0
$GC,681,-0.74,-146.0,101.9,-14.7,106,685,0.00,2.25,0.00,0.000,4,0.000,0.055,2382,549,3402,0,0,0,0,0,0
$GC,933,-0.74,-146.0,140.3,-13.8,128,941,0.00,2.15,0.00,0.000,6,0.000,0.035,2373,1956,3403,0,0,0,0,0,0
$GC,1261,-0.74,-146.0,176.0,-11.1,159,1265,0.00,2.25,0.00,0.000,4,0.000,0.053,2373,550,3404,0,0,0,0,0,0
$GC,1506,-0.74,-146.0,206.5,-13.0,179,1511,0.15,2.15,0.00,0.000,6,0.161,0.035,2404,1973,3404,0,0,0,0,0,0
$GC,1822,-0.74,-146.0,237.8,-9.8,194,1826,0.00,2.15,0.00,0.000,4,0.000,0.056,2396,3362,3405,0,0,0,0,0,0
$GC,1844,-0.74,-146.0,240.1,-10.0,195,1848,0.00,2.17,0.00,0.000,6,0.000,0.043,2396,1959,3405,0,0,0,0,0,0
$GC,2169,-0.74,-146.0,269.4,-7.6,211,2174,0.00,2.20,0.00,0.000,4,0.000,0.054,2396,554,3405,0,0,0,0,0,0
$GC,2270,-0.74,-146.0,277.8,-8.2,215,2274,0.00,2.12,0.00,0.000,6,0.000,0.037,2387,1959,3405,0,0,0,0,0,0
$GC,2590,-0.74,-146.0,300.9,-7.2,230,2594,0.00,2.17,0.00,0.000,4,0.000,0.054,2377,3360,3405,0,0,0,0,0,0
$GC,2663,-0.74,-146.0,307.1,-8.4,231,2667,0.00,2.20,0.00,0.000,6,0.000,0.042,2377,1950,3405,0,0,0,0,0,0
$GC,2994,-0.74,-146.0,334.0,-8.1,239,2998,0.00,2.22,0.00,0.000,4,0.000,0.053,2368,3365,3405,0,0,0,0,0,0
$GC,3130,-0.74,-146.0,345.8,-9.4,242,3135,0.12,2.20,0.00,0.000,6,0.151,0.044,2401,1957,3404,0,0,0,0,0,0
$GC,3452,-0.74,-146.0,373.5,-8.6,250,3456,0.00,2.25,0.00,0.000,4,0.000,0.064,2401,550,3402,0,0,0,0,0,0
$GC,3547,-0.74,-146.0,380.5,-6.5,252,3551,0.00,2.15,0.00,0.000,6,0.000,0.041,2393,1955,3400,0,0,0,0,0,0
$GC,3861,-0.74,-146.0,395.5,-4.3,260,3865,0.00,2.22,0.00,0.000,4,0.000,0.059,2382,3366,3399,0,0,0,0,0,0
$GC,3962,-0.74,-146.0,402.4,-6.9,262,3966,0.00,2.20,0.00,0.000,6,0.000,0.043,2382,1952,3398,0,0,0,0,0,0
$GC,4310,-0.74,-146.0,429.8,-7.5,271,4315,0.00,2.20,0.00,0.000,4,0.000,0.066,2382,556,3395,0,0,0,0,0,0
$GC,4394,-0.74,-146.0,436.2,-7.6,272,4399,0.00,2.17,0.00,0.000,6,0.000,0.044,2373,1964,3394,0,0,0,0,0,0
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4609,-0.17,0.0,450.4,6.9,278,4731,0.65,0.00,119.05,0.791,6,0.123,0.000,2584,1964,2800,0,0,0,0,0,0
$STATE,4732,end apogee,CONTROL_FINISHED_OK
$STATE,4732,begin climb
$GC,4735,0.74,146.0,451.0,0.0,281,4868,0.85,0.00,125.53,0.759,6,0.077,0.000,2873,1964,2203,0,0,0,0,0,0
$GC,5211,0.74,146.0,392.1,13.4,293,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1964,2195,0,0,0,0,0,0
$GC,5536,0.74,146.0,346.6,13.7,301,5540,0.00,2.22,0.00,0.000,4,0.000,0.055,2873,3381,2193,0,0,0,0,0,0
$GC,5580,0.74,146.0,340.1,14.8,302,5584,0.00,2.25,0.00,0.000,6,0.000,0.048,2881,1978,2192,0,0,0,0,0,0
$GC,5898,0.74,146.0,294.6,14.4,310,5902,0.00,2.25,0.00,0.000,4,0.000,0.060,2892,563,2190,0,0,0,0,0,0
$GC,5931,0.74,146.0,289.7,14.7,311,5936,0.00,2.20,0.00,0.000,6,0.000,0.042,2892,1978,2190,0,0,0,0,0,0
$GC,6247,0.74,146.0,249.2,12.4,327,6251,0.00,2.17,0.00,0.000,4,0.000,0.054,2892,3389,2189,0,0,0,0,0,0
$GC,6302,0.74,146.0,241.4,14.5,329,6308,0.00,2.20,0.00,0.000,6,0.000,0.042,2902,1967,2188,0,0,0,0,0,0
$GC,6618,0.74,146.0,200.9,11.3,345,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1967,2187,0,0,0,0,0,0
$GC,6940,0.74,146.0,165.2,12.1,374,6944,0.00,2.20,0.00,0.000,4,0.000,0.060,2912,560,2186,0,0,0,0,0,0
$GC,6980,0.74,146.0,159.6,14.3,377,6985,0.12,2.20,0.00,0.000,6,0.151,0.042,2878,1984,2186,0,0,0,0,0,0
$GC,7308,0.74,146.0,121.3,11.9,407,7312,0.00,2.25,0.00,0.000,4,0.000,0.061,2886,559,2186,0,0,0,0,0,0
$GC,7394,0.74,146.0,111.8,10.1,414,7401,0.00,2.20,0.00,0.000,6,0.000,0.039,2886,1977,2186,0,0,0,0,0,0
$GC,7721,0.74,146.0,79.5,10.4,445,7727,0.00,2.30,0.00,0.000,4,0.000,0.062,2895,558,2186,0,0,0,0,0,0
$GC,7767,0.74,146.0,74.6,10.8,453,7773,0.00,2.20,0.00,0.000,6,0.000,0.042,2895,1980,2186,0,0,0,0,0,0
$GC,8097,0.74,148.4,40.2,8.9,514,8104,0.00,2.20,0.00,0.000,4,0.000,0.052,2895,3381,2186,0,0,0,0,0,0
$GC,8162,0.74,148.4,33.6,10.5,525,8168,0.00,2.17,0.00,0.000,6,0.000,0.043,2903,1979,2187,0,0,0,0,0,0
$GC,8487,0.74,148.4,4.3,9.2,586,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1979,2187,0,0,0,0,0,0
$STATE,8499,end climb,SURFACE_DEPTH_REACHED
$STATE,8500,begin surface coast
$FINISH,0.4,1.013240
$STATE,8532,end surface coast,CONTROL_FINISHED_OK
$STATE,8532,begin surface
$SM_CCo,8550,68.60,0.457,0,0,1574,300.24
$SM_GC,1.28,0.00,0.00,68.60,0.000,0.000,0.457,35,1974,1574,-8.14,0.40,300.24
$IRIDIUM_FIX,2054.83,-15753.90,300702,080805
$TT8_MAMPS,0.028379
$HUMID,61.02
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,8.388
$10V_AH,10.5,9.185
$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,18.575,74.925,244.575,68.600,0.000,30.133,31.986,133.720,19.250,0.000,15.433,1106.636,5072.945,388.604,1955.394,414.100,0.000,1058.513,0.000,1911.316,0.000,122.860,0.000
$DEVICE_MAMPS,232.401,65.962,790.777,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.281,336.912,1160.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31805,594
$CAP_FILE_SIZE,92511,0
$CFSIZE,260165632,250462208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,130534,2100.506,-15755.699,36,0.8,36,9.8