version: 66.06
glider: 523
mission: 4
dive: 104
start: 5 6 113 1 52 10
data:
$ID,523
$MISSION,4
$DIVE,104
$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,-37943.969
$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,30
$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
$GPS1,014604,2104.615,-15800.505,23,0.8,23,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.2
$GPS2,015153,2104.665,-15800.506,17,0.8,17,9.8
$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,328.6,7308,-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,-78.03,0.000,6,0.000,0.000,36,1982,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.9,13,118,9.43,2.30,0.00,0.000,4,0.234,0.048,2395,554,3396,0,0,0,0,0,0
$GC,354,-0.74,-146.0,54.6,-16.2,60,362,0.00,2.20,0.00,0.000,6,0.000,0.039,2387,1961,3398,0,0,0,0,0,0
$GC,693,-0.74,-146.0,96.5,-11.5,109,697,0.00,2.25,0.00,0.000,4,0.000,0.054,2387,553,3399,0,0,0,0,0,0
$GC,833,-0.74,-146.0,116.5,-14.5,121,837,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1974,3399,0,0,0,0,0,0
$GC,1166,-0.74,-146.0,161.6,-12.4,152,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1975,3400,0,0,0,0,0,0
$GC,1485,-0.74,-146.0,197.7,-11.5,182,1489,0.00,2.12,0.00,0.000,4,0.000,0.054,2367,3362,3400,0,0,0,0,0,0
$GC,1550,-0.74,-146.0,206.1,-12.0,186,1555,0.12,2.20,0.00,0.000,6,0.154,0.044,2401,1953,3400,0,0,0,0,0,0
$GC,1872,-0.74,-146.0,235.7,-7.6,202,1876,0.00,2.17,0.00,0.000,4,0.000,0.049,2392,3363,3401,0,0,0,0,0,0
$GC,1930,-0.74,-146.0,240.7,-8.8,204,1935,0.00,2.17,0.00,0.000,6,0.000,0.041,2392,1957,3401,0,0,0,0,0,0
$GC,2249,-0.74,-146.0,270.9,-9.2,220,2253,0.00,2.20,0.00,0.000,4,0.000,0.053,2392,549,3401,0,0,0,0,0,0
$GC,2369,-0.74,-146.0,282.1,-8.6,225,2373,0.00,2.15,0.00,0.000,6,0.000,0.037,2383,1967,3401,0,0,0,0,0,0
$GC,2709,-0.74,-146.0,306.9,-6.9,239,2713,0.00,2.25,0.00,0.000,4,0.000,0.056,2382,545,3401,0,0,0,0,0,0
$GC,2823,-0.74,-146.0,316.5,-8.1,241,2827,0.00,2.15,0.00,0.000,6,0.000,0.038,2373,1959,3401,0,0,0,0,0,0
$GC,3163,-0.74,-146.0,345.6,-8.7,250,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1959,3399,0,0,0,0,0,0
$GC,3485,-0.74,-146.0,375.9,-9.5,258,3489,0.00,2.17,0.00,0.000,4,0.000,0.060,2365,3366,3398,0,0,0,0,0,0
$GC,3535,-0.74,-146.0,381.0,-10.0,259,3540,0.12,2.17,0.00,0.000,6,0.150,0.041,2399,1958,3397,0,0,0,0,0,0
$GC,3851,-0.74,-146.0,405.2,-7.4,267,3855,0.00,2.22,0.00,0.000,4,0.000,0.059,2392,3365,3395,0,0,0,0,0,0
$GC,3920,-0.74,-146.0,410.5,-7.1,268,3924,0.00,2.20,0.00,0.000,6,0.000,0.043,2391,1953,3395,0,0,0,0,0,0
$GC,4257,-0.74,-146.0,431.4,-5.9,277,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1953,3392,0,0,0,0,0,0
$STATE,4579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4579,begin apogee
$GC,4586,-0.17,0.0,452.5,6.9,285,4707,0.60,0.00,118.43,0.785,6,0.121,0.000,2587,1953,2800,0,0,0,0,0,0
$STATE,4708,end apogee,CONTROL_FINISHED_OK
$STATE,4708,begin climb
$GC,4711,0.74,146.0,453.4,0.0,288,4846,0.82,2.40,124.78,0.754,4,0.077,0.051,2873,3377,2204,0,0,0,0,0,0
$GC,4890,0.74,146.0,432.6,16.1,292,4895,0.00,2.33,0.00,0.000,6,0.000,0.050,2882,1974,2201,0,0,0,0,0,0
$GC,5238,0.74,146.0,376.5,16.6,301,5242,0.00,2.25,0.00,0.000,4,0.000,0.061,2893,556,2196,0,0,0,0,0,0
$GC,5323,0.74,146.0,362.7,15.0,303,5327,0.00,2.22,0.00,0.000,6,0.000,0.042,2893,1971,2195,0,0,0,0,0,0
$GC,5648,0.74,146.0,313.6,14.8,311,5651,0.00,2.20,0.00,0.000,4,0.000,0.054,2893,3383,2194,0,0,0,0,0,0
$GC,5687,0.74,146.0,307.5,15.5,312,5692,0.00,2.22,0.00,0.000,6,0.000,0.050,2903,1967,2193,0,0,0,0,0,0
$GC,6015,0.74,146.0,261.2,13.4,326,6019,0.00,2.22,0.00,0.000,4,0.000,0.061,2913,566,2191,0,0,0,0,0,0
$GC,6060,0.74,146.0,255.9,11.2,328,6064,0.12,2.20,0.00,0.000,6,0.153,0.044,2880,1975,2191,0,0,0,0,0,0
$GC,6380,0.74,146.0,217.4,14.1,344,6384,0.00,2.17,0.00,0.000,4,0.000,0.054,2880,3389,2190,0,0,0,0,0,0
$GC,6436,0.74,146.0,209.6,14.3,346,6441,0.00,2.22,0.00,0.000,6,0.000,0.050,2887,1975,2189,0,0,0,0,0,0
$GC,6764,0.74,146.0,172.6,12.0,373,6768,0.00,2.20,0.00,0.000,4,0.000,0.061,2898,567,2189,0,0,0,0,0,0
$GC,6785,0.74,146.0,169.2,12.7,374,6792,0.00,2.20,0.00,0.000,6,0.000,0.043,2898,1967,2189,0,0,0,0,0,0
$GC,7112,0.74,146.0,129.6,12.3,405,7115,0.00,2.20,0.00,0.000,4,0.000,0.054,2898,3391,2188,0,0,0,0,0,0
$GC,7131,0.74,146.0,127.2,12.3,406,7135,0.00,2.20,0.00,0.000,6,0.000,0.043,2907,1974,2188,0,0,0,0,0,0
$GC,7459,0.74,146.0,87.0,11.8,436,7463,0.00,2.22,0.00,0.000,4,0.000,0.058,2915,562,2189,0,0,0,0,0,0
$GC,7595,0.74,146.0,71.9,10.7,454,7603,0.10,2.20,0.00,0.000,6,0.114,0.040,2880,1980,2188,0,0,0,0,0,0
$GC,7933,0.74,146.0,45.6,9.5,515,7939,0.00,2.15,0.00,0.000,4,0.000,0.051,2880,3380,2189,0,0,0,0,0,0
$GC,7990,0.74,146.0,39.9,9.9,525,7996,0.00,2.17,0.00,0.000,6,0.000,0.040,2886,1971,2189,0,0,0,0,0,0
$GC,8316,0.76,168.6,11.2,8.1,586,8344,0.00,2.25,18.00,0.454,4,0.000,0.054,2897,576,2110,0,0,0,0,0,0
$STATE,8418,end climb,SURFACE_DEPTH_REACHED
$STATE,8418,begin surface coast
$FINISH,0.4,1.016433
$STATE,8458,end surface coast,CONTROL_FINISHED_OK
$STATE,8458,begin surface
$SM_CCo,8478,58.25,0.448,0,0,1575,300.24
$SM_GC,1.21,0.00,0.00,58.25,0.000,0.000,0.448,49,1974,1575,-8.10,0.37,300.24
$IRIDIUM_FIX,2047.91,-15757.78,300702,232349
$TT8_MAMPS,0.028379
$HUMID,60.63
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.6,8.874
$10V_AH,10.5,9.718
$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,18.525,79.500,261.200,58.250,0.000,31.315,35.343,156.498,19.250,0.000,17.861,1112.349,5000.512,376.996,1948.620,446.924,0.000,1052.025,0.000,1899.484,0.000,117.249,0.000
$DEVICE_MAMPS,233.935,61.360,785.408,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.819,341.422,1189.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,35053,611
$CAP_FILE_SIZE,92790,0
$CFSIZE,260165632,250175488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060513,041525,2105.597,-15800.899,19,0.8,20,9.8