version: 66.06
glider: 523
mission: 4
dive: 105
start: 5 6 113 4 21 19
data:
$ID,523
$MISSION,4
$DIVE,105
$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,-37968.258
$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,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
$GPS1,041525,2105.597,-15800.899,19,0.8,20,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.8
$GPS2,042103,2105.602,-15800.885,21,0.9,23,9.8
$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,328.3,5455,-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,-78.28,0.000,6,0.000,0.000,48,1974,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.2,13,118,9.45,2.30,0.00,0.000,4,0.235,0.048,2396,549,3396,0,0,0,0,0,0
$GC,359,-0.74,-146.0,53.7,-15.3,60,366,0.00,2.20,0.00,0.000,6,0.000,0.037,2388,1961,3398,0,0,0,0,0,0
$GC,690,-0.74,-146.0,96.6,-12.9,109,694,0.00,2.28,0.00,0.000,4,0.000,0.054,2388,549,3399,0,0,0,0,0,0
$GC,809,-0.74,-146.0,113.3,-14.8,119,813,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1963,3399,0,0,0,0,0,0
$GC,1136,-0.74,-146.0,154.4,-11.3,149,1141,0.00,2.28,0.00,0.000,4,0.000,0.052,2378,551,3400,0,0,0,0,0,0
$GC,1163,-0.74,-146.0,158.2,-12.9,151,1170,0.08,2.15,0.00,0.000,6,0.154,0.035,2393,1949,3400,0,0,0,0,0,0
$GC,1498,-0.74,-146.0,202.6,-12.4,182,1502,0.00,2.20,0.00,0.000,4,0.000,0.054,2384,3363,3401,0,0,0,0,0,0
$GC,1566,-0.74,-146.0,210.2,-11.1,185,1570,0.00,2.20,0.00,0.000,6,0.000,0.043,2385,1955,3401,0,0,0,0,0,0
$GC,1891,-0.74,-146.0,238.7,-8.6,201,1895,0.00,2.20,0.00,0.000,4,0.000,0.051,2376,3362,3401,0,0,0,0,0,0
$GC,1964,-0.74,-146.0,245.9,-9.4,204,1968,0.00,2.17,0.00,0.000,6,0.000,0.044,2376,1954,3401,0,0,0,0,0,0
$GC,2287,-0.74,-146.0,274.0,-9.7,220,2291,0.00,2.20,0.00,0.000,4,0.000,0.054,2376,543,3401,0,0,0,0,0,0
$GC,2500,-0.74,-146.0,295.0,-9.6,229,2506,0.12,2.15,0.00,0.000,6,0.168,0.038,2399,1962,3401,0,0,0,0,0,0
$GC,2835,-0.74,-146.0,316.7,-6.6,240,2839,0.00,2.17,0.00,0.000,4,0.000,0.056,2390,3367,3401,0,0,0,0,0,0
$GC,2876,-0.74,-146.0,319.9,-7.9,241,2881,0.00,2.17,0.00,0.000,6,0.000,0.041,2390,1957,3401,0,0,0,0,0,0
$GC,3209,-0.74,-146.0,346.4,-8.2,249,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1957,3400,0,0,0,0,0,0
$GC,3533,-0.74,-146.0,373.7,-8.3,257,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1957,3397,0,0,0,0,0,0
$GC,3857,-0.74,-146.0,393.3,-5.4,265,3861,0.00,2.22,0.00,0.000,4,0.000,0.063,2390,553,3395,0,0,0,0,0,0
$GC,3918,-0.74,-146.0,397.5,-6.8,266,3922,0.00,2.17,0.00,0.000,6,0.000,0.043,2380,1967,3394,0,0,0,0,0,0
$GC,4264,-0.74,-146.0,420.8,-7.0,275,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,3391,0,0,0,0,0,0
$GC,4587,-0.74,-146.0,442.0,-6.3,283,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,3389,0,0,0,0,0,0
$STATE,4748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4748,begin apogee
$GC,4754,-0.17,0.0,452.1,6.2,287,4875,0.62,0.00,118.25,0.792,6,0.125,0.000,2583,1967,2800,0,0,0,0,0,0
$STATE,4876,end apogee,CONTROL_FINISHED_OK
$STATE,4876,begin climb
$GC,4879,0.74,146.0,452.9,0.0,290,5016,0.82,2.40,125.35,0.760,4,0.077,0.054,2872,3381,2203,0,0,0,0,0,0
$GC,5055,0.74,146.0,432.1,15.1,294,5059,0.00,2.30,0.00,0.000,6,0.000,0.048,2880,1984,2199,0,0,0,0,0,0
$GC,5367,0.74,146.0,387.5,13.9,302,5371,0.00,2.30,0.00,0.000,4,0.000,0.062,2891,557,2195,0,0,0,0,0,0
$GC,5457,0.74,146.0,374.8,14.3,304,5461,0.00,2.25,0.00,0.000,6,0.000,0.044,2891,1980,2193,0,0,0,0,0,0
$GC,5775,0.74,146.0,327.2,15.6,312,5779,0.00,2.20,0.00,0.000,4,0.000,0.055,2891,3386,2192,0,0,0,0,0,0
$GC,5819,0.74,146.0,319.9,16.4,313,5823,0.00,2.28,0.00,0.000,6,0.000,0.051,2901,1963,2191,0,0,0,0,0,0
$GC,6140,0.74,146.0,269.8,16.0,325,6144,0.00,2.20,0.00,0.000,4,0.000,0.062,2912,564,2190,0,0,0,0,0,0
$GC,6195,0.74,146.0,260.7,16.3,327,6201,0.12,2.20,0.00,0.000,6,0.156,0.044,2879,1977,2189,0,0,0,0,0,0
$GC,6511,0.74,146.0,222.3,11.1,343,6515,0.00,2.20,0.00,0.000,4,0.000,0.054,2878,3387,2188,0,0,0,0,0,0
$GC,6622,0.74,146.0,210.7,10.1,348,6626,0.00,2.25,0.00,0.000,6,0.000,0.048,2886,1964,2187,0,0,0,0,0,0
$GC,6955,0.74,146.0,173.7,11.7,374,6959,0.00,2.20,0.00,0.000,4,0.000,0.060,2897,557,2186,0,0,0,0,0,0
$GC,6985,0.74,146.0,170.0,11.5,376,6989,0.00,2.20,0.00,0.000,6,0.000,0.042,2897,1979,2185,0,0,0,0,0,0
$GC,7313,0.74,146.0,129.8,12.3,406,7317,0.00,2.15,0.00,0.000,4,0.000,0.054,2897,3384,2185,0,0,0,0,0,0
$GC,7407,0.74,146.0,117.8,12.7,414,7411,0.00,2.22,0.00,0.000,6,0.000,0.045,2906,1964,2185,0,0,0,0,0,0
$GC,7732,0.74,146.0,77.2,12.2,446,7739,0.00,2.20,0.00,0.000,4,0.000,0.058,2916,575,2186,0,0,0,0,0,0
$GC,7796,0.74,146.0,69.6,12.1,457,7802,0.15,2.15,0.00,0.000,6,0.140,0.040,2873,1979,2185,0,0,0,0,0,0
$GC,8128,0.76,166.0,38.9,8.2,518,8147,0.00,0.00,15.23,0.483,6,0.000,0.000,2873,1981,2121,0,0,0,0,0,0
$GC,8469,0.85,240.2,10.7,6.0,581,8535,0.12,0.00,61.95,0.469,6,0.077,0.000,2947,1980,1818,0,0,0,0,0,0
$STATE,8541,end climb,SURFACE_DEPTH_REACHED
$STATE,8541,begin surface coast
$FINISH,0.4,1.013044
$STATE,8565,end surface coast,CONTROL_FINISHED_OK
$STATE,8565,begin surface
$SM_CCo,8583,28.60,0.443,0,0,1575,300.24
$SM_GC,0.96,0.00,0.00,28.60,0.000,0.000,0.443,31,1995,1575,-8.16,0.99,300.24
$IRIDIUM_FIX,2052.52,-15802.06,310702,010153
$TT8_MAMPS,0.028379
$HUMID,62.91
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.6,8.956
$10V_AH,10.5,9.803
$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,19.100,70.925,320.775,28.600,0.000,27.459,40.111,139.801,19.000,0.000,23.659,1082.774,5165.334,369.072,1908.252,423.521,0.000,1064.364,0.000,1851.277,0.000,117.253,0.000
$DEVICE_MAMPS,234.702,62.894,792.311,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.952,334.009,1132.181,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31853,596
$CAP_FILE_SIZE,91853,0
$CFSIZE,260165632,250134528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060513,064547,2106.367,-15801.325,17,1.0,17,9.8