version: 66.06
glider: 523
mission: 4
dive: 101
start: 5 5 113 18 17 18
data:
$ID,523
$MISSION,4
$DIVE,101
$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,-37869.609
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,181137,2101.899,-15757.514,32,1.0,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.1
$GPS2,181701,2101.904,-15757.515,18,1.2,18,9.8
$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,316.8,14268,-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,-77.85,0.000,6,0.000,0.000,51,1972,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.0,13,118,9.40,2.30,0.00,0.000,4,0.233,0.050,2393,553,3397,0,0,0,0,0,0
$GC,356,-0.74,-146.0,58.0,-16.2,60,363,0.00,2.17,0.00,0.000,6,0.000,0.037,2385,1949,3399,0,0,0,0,0,0
$GC,693,-0.74,-146.0,105.3,-12.9,105,697,0.00,2.25,0.00,0.000,4,0.000,0.054,2385,549,3400,0,0,0,0,0,0
$GC,847,-0.74,-146.0,126.5,-13.8,118,855,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1969,3400,0,0,0,0,0,0
$GC,1174,-0.74,-146.0,166.5,-11.6,149,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1969,3401,0,0,0,0,0,0
$GC,1493,-0.74,-146.0,197.1,-8.8,179,1497,0.00,2.28,0.00,0.000,4,0.000,0.050,2376,549,3402,0,0,0,0,0,0
$GC,1654,-0.74,-146.0,217.1,-12.4,187,1659,0.12,2.12,0.00,0.000,6,0.166,0.034,2398,1962,3402,0,0,0,0,0,0
$GC,1970,-0.74,-146.0,249.3,-10.5,202,1975,0.00,2.15,0.00,0.000,4,0.000,0.055,2390,3358,3402,0,0,0,0,0,0
$GC,2089,-0.74,-146.0,260.9,-9.2,207,2093,0.00,2.17,0.00,0.000,6,0.000,0.043,2390,1962,3402,0,0,0,0,0,0
$GC,2414,-0.74,-146.0,286.2,-8.1,223,2418,0.00,2.22,0.00,0.000,4,0.000,0.056,2390,551,3403,0,0,0,0,0,0
$GC,2645,-0.74,-146.0,306.9,-8.0,232,2649,0.00,2.15,0.00,0.000,6,0.000,0.037,2380,1969,3402,0,0,0,0,0,0
$GC,2958,-0.74,-146.0,334.5,-9.2,240,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1970,3401,0,0,0,0,0,0
$GC,3284,-0.74,-146.0,362.3,-8.7,248,3288,0.00,2.17,0.00,0.000,4,0.000,0.058,2370,3366,3399,0,0,0,0,0,0
$GC,3409,-0.74,-146.0,373.2,-8.0,250,3415,0.12,2.17,0.00,0.000,6,0.153,0.041,2404,1953,3399,0,0,0,0,0,0
$GC,3743,-0.74,-146.0,396.4,-7.4,259,3747,0.00,2.20,0.00,0.000,4,0.000,0.062,2404,557,3396,0,0,0,0,0,0
$GC,3918,-0.74,-146.0,411.0,-9.0,263,3922,0.00,2.15,0.00,0.000,6,0.000,0.042,2396,1955,3395,0,0,0,0,0,0
$GC,4245,-0.74,-146.0,432.6,-5.5,271,4249,0.00,2.22,0.00,0.000,4,0.000,0.062,2396,560,3392,0,0,0,0,0,0
$GC,4324,-0.74,-146.0,437.9,-6.4,272,4329,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,1969,3392,0,0,0,0,0,0
$STATE,4531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4531,begin apogee
$GC,4537,-0.17,0.0,452.8,7.3,278,4659,0.60,0.00,118.47,0.792,6,0.120,0.000,2583,1970,2800,0,0,0,0,0,0
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4663,0.74,146.0,455.4,0.0,281,4799,0.88,2.47,125.50,0.762,4,0.081,0.064,2887,578,2203,0,0,0,0,0,0
$GC,4822,0.74,146.0,440.8,13.6,285,4826,0.00,2.28,0.00,0.000,6,0.000,0.042,2887,1969,2200,0,0,0,0,0,0
$GC,5140,0.74,146.0,400.1,12.3,293,5144,0.00,2.30,0.00,0.000,4,0.000,0.067,2896,572,2195,0,0,0,0,0,0
$GC,5190,0.74,146.0,392.9,14.2,294,5194,0.00,2.22,0.00,0.000,6,0.000,0.045,2896,1977,2194,0,0,0,0,0,0
$GC,5503,0.74,146.0,346.5,14.7,302,5507,0.00,2.22,0.00,0.000,4,0.000,0.056,2895,3394,2193,0,0,0,0,0,0
$GC,5593,0.74,146.0,332.5,15.8,304,5597,0.00,2.22,0.00,0.000,6,0.000,0.046,2905,1980,2191,0,0,0,0,0,0
$GC,5912,0.74,146.0,283.3,15.5,314,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1980,2190,0,0,0,0,0,0
$GC,6221,0.74,146.0,239.5,12.8,329,6225,0.00,2.25,0.00,0.000,4,0.000,0.061,2916,556,2189,0,0,0,0,0,0
$GC,6294,0.74,146.0,229.9,13.6,332,6299,0.15,2.20,0.00,0.000,6,0.146,0.039,2874,1987,2188,0,0,0,0,0,0
$GC,6612,0.74,146.0,196.7,11.2,348,6616,0.00,2.17,0.00,0.000,4,0.000,0.055,2874,3389,2187,0,0,0,0,0,0
$GC,6644,0.74,146.0,192.5,11.9,350,6652,0.00,2.22,0.00,0.000,6,0.000,0.044,2882,1969,2187,0,0,0,0,0,0
$GC,6971,0.74,146.0,151.8,11.8,381,6975,0.00,2.17,0.00,0.000,4,0.000,0.059,2892,568,2186,0,0,0,0,0,0
$GC,7101,0.74,146.0,135.3,11.8,392,7108,0.00,2.17,0.00,0.000,6,0.000,0.038,2892,1975,2186,0,0,0,0,0,0
$GC,7428,0.74,146.0,104.3,11.2,423,7432,0.00,2.17,0.00,0.000,4,0.000,0.053,2892,3386,2185,0,0,0,0,0,0
$GC,7458,0.74,146.0,101.1,11.2,425,7462,0.00,2.15,0.00,0.000,6,0.000,0.041,2901,1974,2186,0,0,0,0,0,0
$GC,7789,0.74,146.0,62.5,10.8,469,7794,0.00,2.17,0.00,0.000,4,0.000,0.056,2911,568,2185,0,0,0,0,0,0
$GC,7879,0.74,146.0,52.2,11.4,485,7885,0.12,2.15,0.00,0.000,6,0.142,0.037,2876,1983,2185,0,0,0,0,0,0
$GC,8211,0.81,206.3,24.9,6.5,546,8263,0.00,0.00,47.58,0.488,6,0.000,0.000,2876,1984,1958,0,0,0,0,0,0
$GC,8424,0.83,224.3,8.3,8.3,584,8445,0.00,2.30,16.15,0.446,4,0.000,0.055,2882,569,1884,0,0,0,0,0,0
$GC,8464,0.87,258.2,5.0,7.6,590,8486,0.08,2.20,16.77,0.439,2,0.047,0.038,2947,1967,1809,0,0,0,0,0,0
$STATE,8487,end climb,SURFACE_DEPTH_REACHED
$STATE,8487,begin surface coast
$FINISH,0.7,1.023266
$STATE,8501,end surface coast,CONTROL_FINISHED_OK
$STATE,8501,begin surface
$SM_CCo,8519,27.00,0.441,0,0,1575,300.24
$SM_GC,1.18,0.00,0.00,27.00,0.000,0.000,0.441,51,1980,1575,-8.10,0.57,300.24
$IRIDIUM_FIX,2057.14,-15753.90,300702,151523
$TT8_MAMPS,0.028379
$HUMID,62.08
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.6,8.630
$10V_AH,10.5,9.451
$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,18.950,75.175,324.475,27.000,0.000,25.478,31.802,143.251,19.000,0.000,18.424,1097.915,4962.288,380.355,2006.481,424.648,0.000,1108.697,0.000,1956.172,0.000,119.104,0.000
$DEVICE_MAMPS,233.168,66.729,792.311,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.906,336.972,1173.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,31811,595
$CAP_FILE_SIZE,94836,0
$CFSIZE,260165632,250318848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,204043,2102.490,-15758.379,20,1.7,20,9.8