version: 66.06
glider: 523
mission: 4
dive: 102
start: 5 5 113 20 46 50
data:
$ID,523
$MISSION,4
$DIVE,102
$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,-37907.207
$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,28
$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
$GPS1,204043,2102.490,-15758.379,20,1.7,20,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.3
$GPS2,204634,2102.517,-15758.440,36,0.8,36,9.8
$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,320.0,12460,-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,-76.32,0.000,2,0.000,0.000,51,1980,3367,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-5.0,12,113,9.35,2.28,-0.60,0.000,4,0.232,0.064,2390,553,3396,0,0,0,0,0,0
$GC,309,-0.74,-146.0,49.2,-16.8,51,315,0.00,2.20,0.00,0.000,6,0.000,0.039,2381,1974,3397,0,0,0,0,0,0
$GC,638,-0.74,-146.0,99.1,-15.2,100,645,0.00,2.28,0.00,0.000,4,0.000,0.055,2381,551,3399,0,0,0,0,0,0
$GC,719,-0.74,-146.0,111.2,-14.6,107,724,0.12,2.17,0.00,0.000,6,0.172,0.036,2404,1975,3399,0,0,0,0,0,0
$GC,1046,-0.74,-146.0,148.3,-10.7,137,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1975,3401,0,0,0,0,0,0
$GC,1365,-0.74,-146.0,178.5,-8.7,167,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1975,3401,0,0,0,0,0,0
$GC,1689,-0.74,-146.0,210.8,-10.5,193,1693,0.00,2.25,0.00,0.000,4,0.000,0.049,2404,544,3401,0,0,0,0,0,0
$GC,1761,-0.74,-146.0,219.5,-11.2,196,1765,0.00,2.15,0.00,0.000,6,0.000,0.034,2397,1973,3401,0,0,0,0,0,0
$GC,2085,-0.74,-146.0,245.5,-7.7,212,2089,0.00,2.15,0.00,0.000,4,0.000,0.055,2386,3362,3401,0,0,0,0,0,0
$GC,2153,-0.74,-146.0,251.2,-8.0,215,2157,0.00,2.20,0.00,0.000,6,0.000,0.044,2386,1953,3401,0,0,0,0,0,0
$GC,2477,-0.74,-146.0,277.5,-9.6,231,2481,0.00,2.20,0.00,0.000,4,0.000,0.055,2386,553,3401,0,0,0,0,0,0
$GC,2667,-0.74,-146.0,296.5,-9.6,239,2673,0.00,2.12,0.00,0.000,6,0.000,0.038,2376,1952,3401,0,0,0,0,0,0
$GC,3001,-0.74,-146.0,325.0,-8.7,249,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1952,3401,0,0,0,0,0,0
$GC,3325,-0.74,-146.0,354.1,-8.4,257,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1953,3399,0,0,0,0,0,0
$GC,3652,-0.74,-146.0,377.4,-7.3,265,3656,0.00,2.20,0.00,0.000,4,0.000,0.058,2366,3366,3397,0,0,0,0,0,0
$GC,3719,-0.74,-146.0,383.4,-9.0,266,3723,0.12,2.20,0.00,0.000,6,0.150,0.041,2399,1949,3397,0,0,0,0,0,0
$GC,4058,-0.74,-146.0,411.7,-8.5,275,4062,0.00,2.20,0.00,0.000,4,0.000,0.058,2392,3363,3394,0,0,0,0,0,0
$GC,4174,-0.74,-146.0,420.3,-7.0,277,4178,0.00,2.17,0.00,0.000,6,0.000,0.044,2392,1962,3394,0,0,0,0,0,0
$GC,4510,-0.74,-146.0,439.1,-4.7,286,4514,0.00,2.22,0.00,0.000,4,0.000,0.065,2392,555,3392,0,0,0,0,0,0
$GC,4637,-0.74,-146.0,446.1,-6.5,288,4643,0.00,2.17,0.00,0.000,6,0.000,0.044,2382,1962,3390,0,0,0,0,0,0
$STATE,4724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4724,begin apogee
$GC,4730,-0.17,0.0,451.1,5.7,291,4852,0.62,0.00,118.45,0.791,6,0.120,0.000,2587,1963,2800,0,0,0,0,0,0
$STATE,4853,end apogee,CONTROL_FINISHED_OK
$STATE,4853,begin climb
$GC,4856,0.74,146.0,451.1,0.0,294,4986,0.85,0.00,126.40,0.759,6,0.077,0.000,2876,1962,2204,0,0,0,0,0,0
$GC,5290,0.74,146.0,395.8,13.3,305,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1962,2195,0,0,0,0,0,0
$GC,5615,0.74,146.0,351.7,13.9,313,5619,0.00,2.28,0.00,0.000,4,0.000,0.056,2876,3390,2192,0,0,0,0,0,0
$GC,5665,0.74,146.0,344.5,14.3,314,5669,0.00,2.28,0.00,0.000,6,0.000,0.048,2885,1978,2191,0,0,0,0,0,0
$GC,5977,0.74,146.0,303.9,11.8,322,5981,0.00,2.28,0.00,0.000,4,0.000,0.061,2896,552,2190,0,0,0,0,0,0
$GC,6043,0.74,146.0,296.5,10.6,324,6047,0.00,2.22,0.00,0.000,6,0.000,0.043,2895,1977,2189,0,0,0,0,0,0
$GC,6365,0.74,146.0,250.5,15.6,340,6369,0.00,2.30,0.00,0.000,4,0.000,0.066,2905,560,2188,0,0,0,0,0,0
$GC,6404,0.74,146.0,244.3,15.3,342,6409,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,1982,2188,0,0,0,0,0,0
$GC,6725,0.74,146.0,198.1,13.2,358,6729,0.00,2.17,0.00,0.000,4,0.000,0.054,2905,3386,2187,0,0,0,0,0,0
$GC,6819,0.74,146.0,184.3,14.0,366,6824,0.15,2.25,0.00,0.000,6,0.150,0.050,2874,1964,2187,0,0,0,0,0,0
$GC,7148,0.74,146.0,151.0,9.8,396,7152,0.00,2.20,0.00,0.000,4,0.000,0.059,2882,563,2186,0,0,0,0,0,0
$GC,7253,0.74,146.0,140.1,9.5,405,7257,0.00,2.20,0.00,0.000,6,0.000,0.041,2882,1991,2185,0,0,0,0,0,0
$GC,7581,0.75,158.0,111.0,8.5,435,7591,0.00,0.00,8.40,0.511,6,0.000,0.000,2882,1991,2155,0,0,0,0,0,0
$GC,7909,0.75,158.0,79.6,10.3,466,7916,0.00,2.33,0.00,0.000,4,0.000,0.060,2893,564,2154,0,0,0,0,0,0
$GC,7985,0.75,158.0,71.1,11.6,479,7990,0.00,2.17,0.00,0.000,6,0.000,0.040,2892,1972,2153,0,0,0,0,0,0
$GC,8314,0.75,158.0,36.4,10.4,540,8321,0.00,2.20,0.00,0.000,4,0.000,0.051,2892,3384,2153,0,0,0,0,0,0
$GC,8420,0.75,158.0,25.9,9.6,559,8428,0.00,2.22,0.00,0.000,6,0.000,0.040,2901,1962,2154,0,0,0,0,0,0
$GC,8587,0.77,176.8,11.9,8.3,590,8615,0.00,2.25,17.65,0.459,4,0.000,0.055,2908,571,2076,0,0,0,0,0,0
$GC,8692,0.78,180.9,3.2,8.9,608,8701,0.00,2.17,2.72,0.237,6,0.000,0.036,2907,1974,2061,0,0,0,0,0,0
$STATE,8707,end climb,SURFACE_DEPTH_REACHED
$STATE,8707,begin surface coast
$FINISH,0.3,1.023384
$STATE,8739,end surface coast,CONTROL_FINISHED_OK
$STATE,8739,begin surface
$SM_CCo,8756,53.03,0.453,0,0,1576,300.24
$SM_GC,1.09,0.00,0.00,53.03,0.000,0.000,0.453,35,1986,1576,-8.14,0.74,300.24
$IRIDIUM_FIX,2050.21,-15735.06,300702,181815
$TT8_MAMPS,0.028379
$HUMID,62.08
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.6,8.708
$10V_AH,10.5,9.541
$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,18.525,70.925,273.625,53.025,0.000,27.888,42.527,137.113,19.000,0.000,36.969,1126.943,5232.384,409.713,1958.668,432.530,0.000,1050.936,0.000,1901.418,0.000,119.361,0.000
$DEVICE_MAMPS,232.401,65.962,790.777,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,419.342,361.879,1242.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,34868,616
$CAP_FILE_SIZE,91500,0
$CFSIZE,260165632,250269696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,231436,2103.489,-15759.464,17,1.1,17,9.8