version: 66.06
glider: 523
mission: 4
dive: 99
start: 5 5 113 13 11 11
data:
$ID,523
$MISSION,4
$DIVE,99
$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,-37834.453
$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,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
$GPS1,130534,2100.506,-15755.699,36,0.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.7
$GPS2,131054,2100.519,-15755.727,17,1.1,17,9.8
$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,313.1,18148,-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,-76.12,0.000,2,0.000,0.000,35,1973,3342,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.9,12,119,9.38,2.35,-1.17,0.000,4,0.230,0.065,2394,538,3397,0,0,0,0,0,0
$GC,356,-0.74,-146.0,57.1,-17.0,60,363,0.00,2.22,0.00,0.000,6,0.000,0.038,2386,1969,3399,0,0,0,0,0,0
$GC,692,-0.74,-146.0,107.1,-12.5,104,696,0.00,2.30,0.00,0.000,4,0.000,0.055,2386,545,3401,0,0,0,0,0,0
$GC,940,-0.74,-146.0,140.3,-12.4,126,945,0.00,2.17,0.00,0.000,6,0.000,0.035,2377,1977,3402,0,0,0,0,0,0
$GC,1268,-0.74,-146.0,174.0,-10.2,156,1272,0.00,2.30,0.00,0.000,4,0.000,0.053,2377,540,3402,0,0,0,0,0,0
$GC,1421,-0.74,-146.0,193.0,-12.1,169,1429,0.10,2.17,0.00,0.000,6,0.144,0.034,2399,1964,3403,0,0,0,0,0,0
$GC,1741,-0.74,-146.0,226.5,-10.3,188,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1964,3403,0,0,0,0,0,0
$GC,2049,-0.74,-146.0,250.7,-6.9,203,2053,0.00,2.28,0.00,0.000,4,0.000,0.053,2399,540,3403,0,0,0,0,0,0
$GC,2301,-0.74,-146.0,273.1,-7.9,214,2305,0.00,2.15,0.00,0.000,6,0.000,0.037,2391,1970,3403,0,0,0,0,0,0
$GC,2624,-0.74,-146.0,294.5,-6.9,230,2628,0.00,2.17,0.00,0.000,4,0.000,0.058,2380,3369,3403,0,0,0,0,0,0
$GC,2770,-0.74,-146.0,306.5,-8.9,235,2774,0.00,2.20,0.00,0.000,6,0.000,0.043,2380,1953,3403,0,0,0,0,0,0
$GC,3121,-0.74,-146.0,337.9,-9.0,244,3125,0.00,2.20,0.00,0.000,4,0.000,0.059,2380,553,3402,0,0,0,0,0,0
$GC,3312,-0.74,-146.0,355.4,-8.5,248,3317,0.12,2.15,0.00,0.000,6,0.172,0.040,2404,1969,3401,0,0,0,0,0,0
$GC,3663,-0.74,-146.0,380.4,-7.5,257,3667,0.00,2.15,0.00,0.000,4,0.000,0.058,2396,3369,3398,0,0,0,0,0,0
$GC,3782,-0.74,-146.0,390.7,-8.6,259,3786,0.00,2.17,0.00,0.000,6,0.000,0.042,2396,1953,3398,0,0,0,0,0,0
$GC,4119,-0.74,-146.0,417.5,-7.3,268,4123,0.00,2.20,0.00,0.000,4,0.000,0.062,2395,557,3395,0,0,0,0,0,0
$GC,4209,-0.74,-146.0,423.5,-6.5,270,4213,0.00,2.12,0.00,0.000,6,0.000,0.043,2386,1956,3394,0,0,0,0,0,0
$GC,4532,-0.74,-146.0,441.9,-5.8,278,4536,0.00,2.20,0.00,0.000,4,0.000,0.061,2376,3366,3393,0,0,0,0,0,0
$GC,4622,-0.74,-146.0,448.1,-7.0,280,4626,0.00,2.17,0.00,0.000,6,0.000,0.044,2376,1961,3393,0,0,0,0,0,0
$STATE,4646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4646,begin apogee
$GC,4652,-0.17,0.0,450.0,7.1,280,4778,0.60,0.00,118.95,0.791,6,0.122,0.000,2576,1961,2799,0,0,0,0,0,0
$STATE,4779,end apogee,CONTROL_FINISHED_OK
$STATE,4779,begin climb
$GC,4782,0.74,146.0,451.2,0.0,284,4911,0.88,0.00,125.88,0.759,6,0.077,0.000,2874,1960,2204,0,0,0,0,0,0
$GC,5226,0.74,146.0,401.1,12.6,295,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1961,2196,0,0,0,0,0,0
$GC,5549,0.74,146.0,363.2,11.9,303,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1960,2193,0,0,0,0,0,0
$GC,5874,0.74,146.0,318.1,13.6,311,5878,0.00,2.25,0.00,0.000,4,0.000,0.067,2884,572,2191,0,0,0,0,0,0
$GC,6019,0.74,146.0,299.9,12.4,314,6023,0.00,2.20,0.00,0.000,6,0.000,0.044,2884,1981,2190,0,0,0,0,0,0
$GC,6337,0.74,146.0,260.8,11.7,329,6341,0.00,2.17,0.00,0.000,4,0.000,0.054,2884,3392,2189,0,0,0,0,0,0
$GC,6432,0.74,146.0,248.2,13.1,333,6436,0.00,2.22,0.00,0.000,6,0.000,0.044,2893,1968,2189,0,0,0,0,0,0
$GC,6747,0.74,146.0,207.8,12.5,348,6751,0.00,2.20,0.00,0.000,4,0.000,0.061,2902,559,2188,0,0,0,0,0,0
$GC,6809,0.74,146.0,199.6,12.8,351,6813,0.00,2.17,0.00,0.000,6,0.000,0.040,2902,1979,2187,0,0,0,0,0,0
$GC,7136,0.74,146.0,159.9,11.6,381,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1980,2186,0,0,0,0,0,0
$GC,7456,0.74,146.0,121.8,11.2,411,7460,0.00,2.28,0.00,0.000,4,0.000,0.062,2911,561,2186,0,0,0,0,0,0
$GC,7530,0.74,146.0,113.4,11.1,417,7534,0.12,2.17,0.00,0.000,6,0.146,0.041,2877,1976,2186,0,0,0,0,0,0
$GC,7856,0.74,146.0,82.1,9.1,447,7861,0.00,2.28,0.00,0.000,4,0.000,0.060,2884,568,2186,0,0,0,0,0,0
$GC,7920,0.74,146.0,75.7,10.3,455,7925,0.00,2.17,0.00,0.000,6,0.000,0.040,2884,1982,2186,0,0,0,0,0,0
$GC,8248,0.74,146.0,44.3,9.1,516,8255,0.00,2.17,0.00,0.000,4,0.000,0.051,2884,3377,2186,0,0,0,0,0,0
$GC,8323,0.74,146.0,37.1,9.9,529,8328,0.00,2.20,0.00,0.000,6,0.000,0.043,2892,1971,2186,0,0,0,0,0,0
$GC,8650,0.78,182.6,11.3,7.5,590,8684,0.00,2.28,29.02,0.468,4,0.000,0.054,2902,567,2053,0,0,0,0,0,0
$GC,8720,0.78,182.6,5.1,9.2,601,8727,0.00,2.20,0.00,0.000,6,0.000,0.040,2902,1971,2051,0,0,0,0,0,0
$STATE,8744,end climb,SURFACE_DEPTH_REACHED
$STATE,8744,begin surface coast
$FINISH,0.4,1.023330
$STATE,8777,end surface coast,CONTROL_FINISHED_OK
$STATE,8777,begin surface
$SM_CCo,8794,53.58,0.450,0,0,1575,300.24
$SM_GC,1.11,0.00,0.00,53.58,0.000,0.000,0.450,30,1978,1575,-8.16,0.51,300.24
$IRIDIUM_FIX,2057.14,-15748.75,300702,101049
$TT8_MAMPS,0.028379
$HUMID,62.01
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,441.9,54.8
$24V_AH,24.6,8.466
$10V_AH,10.5,9.275
$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,18.500,70.675,273.850,53.575,0.000,29.105,31.177,135.246,19.000,0.000,18.233,1128.115,5165.959,395.468,2064.929,414.898,0.000,1102.017,0.000,2012.601,0.000,123.783,0.000
$DEVICE_MAMPS,230.100,67.496,790.777,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.840,345.176,1193.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34958,611
$CAP_FILE_SIZE,94250,0
$CFSIZE,260165632,250408960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,153936,2101.111,-15756.738,18,1.0,18,9.8