version: 66.06
glider: 523
mission: 4
dive: 147
start: 5 10 113 13 17 5
data:
$ID,523
$MISSION,4
$DIVE,147
$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,-38812.422
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,131104,2058.363,-15750.732,36,0.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.8
$GPS2,131648,2058.378,-15750.793,14,1.4,14,9.8
$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,303.6,26815,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.68,0.000,6,0.000,0.000,24,1973,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.1,13,118,9.30,2.17,0.00,0.000,4,0.223,0.048,2385,3374,3397,0,0,0,0,0,0
$GC,269,-0.74,-146.0,40.0,-15.9,43,275,0.00,2.25,0.00,0.000,6,0.000,0.044,2385,1954,3398,0,0,0,0,0,0
$GC,604,-0.74,-146.0,93.9,-14.3,97,608,0.00,2.22,0.00,0.000,4,0.000,0.057,2385,540,3399,0,0,0,0,0,0
$GC,792,-0.74,-146.0,121.3,-14.9,113,799,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1965,3400,0,0,0,0,0,0
$GC,1119,-0.74,-146.0,162.9,-11.9,144,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1966,3401,0,0,0,0,0,0
$GC,1445,-0.74,-146.0,202.2,-10.6,174,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1966,3402,0,0,0,0,0,0
$GC,1755,-0.74,-146.0,233.8,-10.4,189,1759,0.00,2.17,0.00,0.000,4,0.000,0.054,2365,3368,3402,0,0,0,0,0,0
$GC,1928,-0.74,-146.0,251.8,-9.7,196,1934,0.12,2.22,0.00,0.000,6,0.151,0.044,2398,1957,3402,0,0,0,0,0,0
$GC,2244,-0.74,-146.0,280.5,-9.7,212,2248,0.00,2.22,0.00,0.000,4,0.000,0.054,2399,550,3402,0,0,0,0,0,0
$GC,2408,-0.74,-146.0,295.3,-7.3,219,2412,0.00,2.15,0.00,0.000,6,0.000,0.036,2391,1971,3402,0,0,0,0,0,0
$GC,2721,-0.74,-146.0,320.7,-8.9,228,2725,0.00,2.30,0.00,0.000,4,0.000,0.054,2391,541,3402,0,0,0,0,0,0
$GC,2906,-0.74,-146.0,338.4,-9.2,232,2910,0.00,2.15,0.00,0.000,6,0.000,0.037,2381,1962,3402,0,0,0,0,0,0
$GC,3222,-0.74,-146.0,361.4,-6.9,240,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1962,3400,0,0,0,0,0,0
$GC,3546,-0.74,-146.0,387.0,-8.5,248,3550,0.00,2.25,0.00,0.000,4,0.000,0.058,2381,549,3397,0,0,0,0,0,0
$GC,3678,-0.74,-146.0,400.4,-10.0,251,3683,0.12,2.15,0.00,0.000,6,0.165,0.041,2405,1955,3396,0,0,0,0,0,0
$GC,4005,-0.74,-146.0,425.7,-7.2,259,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1955,3394,0,0,0,0,0,0
$STATE,4326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4327,begin apogee
$GC,4333,-0.17,0.0,450.1,8.0,267,4454,0.52,0.00,118.50,0.782,6,0.115,0.000,2580,1955,2800,0,0,0,0,0,0
$STATE,4455,end apogee,CONTROL_FINISHED_OK
$STATE,4455,begin climb
$GC,4458,0.74,146.0,452.9,0.0,270,4593,0.85,2.40,124.93,0.752,4,0.077,0.059,2883,566,2203,0,0,0,0,0,0
$GC,4626,0.74,146.0,436.6,13.3,274,4631,0.00,2.28,0.00,0.000,6,0.000,0.041,2883,1967,2200,0,0,0,0,0,0
$GC,4945,0.74,146.0,390.9,14.5,282,4949,0.00,2.25,0.00,0.000,4,0.000,0.056,2883,3386,2195,0,0,0,0,0,0
$GC,4995,0.74,146.0,382.9,15.4,283,4999,0.00,2.28,0.00,0.000,6,0.000,0.050,2893,1976,2194,0,0,0,0,0,0
$GC,5308,0.74,146.0,337.9,13.5,291,5312,0.00,2.28,0.00,0.000,4,0.000,0.061,2902,553,2192,0,0,0,0,0,0
$GC,5393,0.74,146.0,325.6,14.9,293,5397,0.00,2.25,0.00,0.000,6,0.000,0.044,2902,1985,2191,0,0,0,0,0,0
$GC,5719,0.74,146.0,280.3,14.1,304,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1987,2190,0,0,0,0,0,0
$GC,6029,0.74,146.0,239.5,12.6,319,6033,0.00,2.28,0.00,0.000,4,0.000,0.059,2912,564,2189,0,0,0,0,0,0
$GC,6061,0.74,146.0,235.8,10.7,320,6068,0.12,2.20,0.00,0.000,6,0.146,0.039,2878,1996,2188,0,0,0,0,0,0
$GC,6377,0.74,146.0,203.9,10.7,336,6381,0.00,2.15,0.00,0.000,4,0.000,0.054,2878,3381,2187,0,0,0,0,0,0
$GC,6572,0.74,146.0,181.8,11.7,352,6579,0.00,2.25,0.00,0.000,6,0.000,0.045,2885,1963,2186,0,0,0,0,0,0
$GC,6899,0.74,146.0,146.6,10.1,383,6903,0.00,2.20,0.00,0.000,4,0.000,0.058,2895,564,2186,0,0,0,0,0,0
$GC,6931,0.74,146.0,142.9,10.7,385,6938,0.00,2.17,0.00,0.000,6,0.000,0.037,2896,1979,2185,0,0,0,0,0,0
$GC,7258,0.74,146.0,110.4,10.6,416,7262,0.00,2.15,0.00,0.000,4,0.000,0.053,2895,3384,2185,0,0,0,0,0,0
$GC,7312,0.74,146.0,103.6,12.2,420,7320,0.00,2.25,0.00,0.000,6,0.000,0.045,2905,1971,2185,0,0,0,0,0,0
$GC,7642,0.74,146.0,68.3,10.0,461,7647,0.00,2.20,0.00,0.000,4,0.000,0.056,2914,558,2185,0,0,0,0,0,0
$GC,7732,0.74,146.0,59.5,9.8,477,7738,0.12,2.17,0.00,0.000,6,0.137,0.042,2879,1972,2185,0,0,0,0,0,0
$GC,8062,0.75,155.5,31.5,8.6,538,8074,0.00,2.17,6.50,0.407,4,0.000,0.049,2879,3388,2165,0,0,0,0,0,0
$GC,8161,0.75,155.5,22.8,9.1,556,8168,0.00,2.22,0.00,0.000,6,0.000,0.039,2885,1966,2165,0,0,0,0,0,0
$GC,8329,0.79,187.0,9.3,7.7,587,8362,0.00,2.20,27.60,0.453,4,0.000,0.052,2894,572,2037,0,0,0,0,0,0
$GC,8401,0.79,187.0,3.4,9.1,599,8409,0.00,2.17,0.00,0.000,6,0.000,0.035,2893,1975,2036,0,0,0,0,0,0
$STATE,8415,end climb,SURFACE_DEPTH_REACHED
$STATE,8415,begin surface coast
$FINISH,0.6,1.020683
$STATE,8447,end surface coast,CONTROL_FINISHED_OK
$STATE,8448,begin surface
$SM_CCo,8465,51.12,0.443,0,0,1575,300.24
$SM_GC,1.44,0.00,0.00,51.12,0.000,0.000,0.443,32,1976,1575,-8.15,0.48,300.24
$IRIDIUM_FIX,2052.52,-15749.62,040802,101016
$TT8_MAMPS,0.028379
$HUMID,60.90
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.7,12.270
$10V_AH,10.5,13.456
$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,18.500,70.975,277.525,51.125,0.000,23.165,37.027,159.183,19.000,0.000,15.072,1106.853,4928.355,377.889,2005.583,442.011,0.000,1082.671,0.000,1959.119,0.000,123.224,0.000
$DEVICE_MAMPS,223.197,61.360,781.573,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.774,341.090,1198.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,35017,607
$CAP_FILE_SIZE,92313,0
$CFSIZE,260165632,248184832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100513,154003,2058.748,-15752.083,21,0.9,22,9.8