version: 66.06
glider: 523
mission: 4
dive: 151
start: 5 10 113 23 28 37
data:
$ID,523
$MISSION,4
$DIVE,151
$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,-38895.168
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,231504,2101.234,-15754.390,22,1.4,22,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.7
$GPS2,232820,2101.174,-15754.649,16,0.7,17,9.8
$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,306.2,18436,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.18,0.000,2,0.000,0.000,30,1944,3377,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-4.2,12,115,9.25,2.25,-0.40,0.000,4,0.222,0.065,2385,3372,3397,0,0,0,0,0,0
$GC,291,-0.74,-146.0,40.2,-15.8,47,297,0.00,2.25,0.00,0.000,6,0.000,0.048,2385,1962,3399,0,0,0,0,0,0
$GC,622,-0.74,-146.0,92.9,-16.6,101,626,0.00,2.25,0.00,0.000,4,0.000,0.055,2375,3370,3400,0,0,0,0,0,0
$GC,752,-0.74,-146.0,108.7,-11.8,112,756,0.00,2.25,0.00,0.000,6,0.000,0.049,2375,1950,3400,0,0,0,0,0,0
$GC,1079,-0.74,-146.0,147.5,-11.5,142,1083,0.00,2.22,0.00,0.000,4,0.000,0.055,2375,542,3400,0,0,0,0,0,0
$GC,1273,-0.74,-146.0,171.2,-12.7,159,1277,0.12,2.15,0.00,0.000,6,0.166,0.035,2398,1963,3400,0,0,0,0,0,0
$GC,1612,-0.74,-146.0,203.1,-10.0,190,1616,0.00,2.17,0.00,0.000,4,0.000,0.057,2389,3366,3401,0,0,0,0,0,0
$GC,1870,-0.74,-146.0,228.2,-7.9,201,1875,0.00,2.22,0.00,0.000,6,0.000,0.046,2389,1949,3401,0,0,0,0,0,0
$GC,2188,-0.74,-146.0,254.8,-8.9,217,2195,0.00,2.22,0.00,0.000,4,0.000,0.054,2389,553,3401,0,0,0,0,0,0
$GC,2425,-0.74,-146.0,277.1,-8.2,227,2429,0.00,2.12,0.00,0.000,6,0.000,0.036,2379,1963,3401,0,0,0,0,0,0
$GC,2748,-0.74,-146.0,298.3,-6.6,243,2752,0.00,2.17,0.00,0.000,4,0.000,0.057,2369,3363,3400,0,0,0,0,0,0
$GC,2848,-0.74,-146.0,305.9,-7.5,246,2853,0.12,2.20,0.00,0.000,6,0.153,0.045,2403,1958,3400,0,0,0,0,0,0
$GC,3199,-0.74,-146.0,330.9,-8.1,255,3203,0.00,2.22,0.00,0.000,4,0.000,0.064,2403,551,3398,0,0,0,0,0,0
$GC,3324,-0.74,-146.0,343.0,-10.7,257,3329,0.00,2.12,0.00,0.000,6,0.000,0.040,2395,1958,3397,0,0,0,0,0,0
$GC,3660,-0.74,-146.0,375.4,-9.0,266,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1959,3394,0,0,0,0,0,0
$GC,3981,-0.74,-146.0,401.8,-8.1,274,3985,0.00,2.30,0.00,0.000,4,0.000,0.063,2395,553,3392,0,0,0,0,0,0
$GC,4095,-0.74,-146.0,412.2,-8.4,276,4100,0.00,2.17,0.00,0.000,6,0.000,0.044,2385,1963,3390,0,0,0,0,0,0
$GC,4438,-0.74,-146.0,438.9,-7.4,285,4442,0.00,2.22,0.00,0.000,4,0.000,0.056,2375,3380,3389,0,0,0,0,0,0
$GC,4541,-0.74,-146.0,447.0,-7.6,287,4545,0.00,2.20,0.00,0.000,6,0.000,0.042,2375,1954,3388,0,0,0,0,0,0
$STATE,4609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4609,begin apogee
$GC,4615,-0.17,0.0,452.4,7.8,289,4736,0.62,0.00,117.80,0.787,6,0.119,0.000,2579,1954,2799,0,0,0,0,0,0
$STATE,4737,end apogee,CONTROL_FINISHED_OK
$STATE,4737,begin climb
$GC,4740,0.74,146.0,453.8,0.0,292,4872,0.85,0.00,125.38,0.754,6,0.077,0.000,2876,1955,2203,0,0,0,0,0,0
$GC,5187,0.74,146.0,393.8,14.7,303,5191,0.00,2.20,0.00,0.000,4,0.000,0.058,2886,571,2195,0,0,0,0,0,0
$GC,5214,0.74,146.0,389.8,14.1,303,5218,0.00,2.22,0.00,0.000,6,0.000,0.041,2886,1982,2195,0,0,0,0,0,0
$GC,5545,0.74,146.0,344.8,13.5,311,5549,0.00,2.20,0.00,0.000,4,0.000,0.053,2886,3388,2192,0,0,0,0,0,0
$GC,5595,0.74,146.0,337.4,14.3,312,5599,0.00,2.22,0.00,0.000,6,0.000,0.043,2895,1973,2191,0,0,0,0,0,0
$GC,5908,0.74,146.0,294.0,13.8,321,5912,0.00,2.22,0.00,0.000,4,0.000,0.060,2906,563,2191,0,0,0,0,0,0
$GC,5947,0.74,146.0,288.2,14.4,323,5952,0.00,2.20,0.00,0.000,6,0.000,0.040,2906,1982,2190,0,0,0,0,0,0
$GC,6274,0.74,146.0,246.2,11.9,339,6278,0.00,2.28,0.00,0.000,4,0.000,0.061,2915,567,2189,0,0,0,0,0,0
$GC,6308,0.74,146.0,242.0,12.7,340,6314,0.12,2.17,0.00,0.000,6,0.155,0.041,2882,1979,2189,0,0,0,0,0,0
$GC,6623,0.74,146.0,205.5,10.3,356,6627,0.00,2.28,0.00,0.000,4,0.000,0.062,2890,567,2187,0,0,0,0,0,0
$GC,6721,0.74,146.0,196.0,11.6,362,6725,0.00,2.17,0.00,0.000,6,0.000,0.042,2891,1970,2187,0,0,0,0,0,0
$GC,7047,0.74,146.0,161.8,9.6,392,7051,0.00,2.20,0.00,0.000,4,0.000,0.054,2890,3390,2186,0,0,0,0,0,0
$GC,7175,0.74,146.0,149.2,11.0,403,7179,0.00,2.22,0.00,0.000,6,0.000,0.048,2898,1976,2185,0,0,0,0,0,0
$GC,7503,0.74,146.0,111.0,10.4,433,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1976,2185,0,0,0,0,0,0
$GC,7832,0.75,155.5,81.1,8.6,464,7845,0.00,2.28,6.05,0.444,4,0.000,0.056,2909,561,2166,0,0,0,0,0,0
$GC,7925,0.75,155.5,71.4,10.9,479,7930,0.00,2.17,0.00,0.000,6,0.000,0.038,2909,1980,2165,0,0,0,0,0,0
$GC,8255,0.75,155.5,38.6,11.4,540,8262,0.00,2.17,0.00,0.000,4,0.000,0.051,2909,3377,2165,0,0,0,0,0,0
$GC,8301,0.75,155.5,33.3,12.1,548,8308,0.10,2.20,0.00,0.000,6,0.123,0.038,2884,1973,2165,0,0,0,0,0,0
$GC,8624,0.77,174.7,6.9,8.2,609,8645,0.00,0.00,18.30,0.448,6,0.000,0.000,2884,1973,2086,0,0,0,0,0,0
$STATE,8671,end climb,SURFACE_DEPTH_REACHED
$STATE,8671,begin surface coast
$FINISH,0.5,1.000533
$STATE,8710,end surface coast,CONTROL_FINISHED_OK
$STATE,8710,begin surface
$SM_CCo,8728,56.20,0.446,0,0,1575,300.24
$SM_GC,1.33,0.00,0.00,56.20,0.000,0.000,0.446,38,1966,1575,-8.13,0.17,300.24
$IRIDIUM_FIX,2050.21,-15755.64,040802,232356
$TT8_MAMPS,0.028379
$HUMID,61.30
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.7,12.595
$10V_AH,10.5,13.813
$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,18.425,75.175,267.525,56.200,0.000,91.240,102.376,338.258,19.000,0.000,17.975,1157.040,5150.118,377.965,2106.967,788.073,0.000,1102.497,0.000,2062.990,0.000,117.240,0.000
$DEVICE_MAMPS,221.663,65.195,786.942,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,425.348,365.340,1251.038,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,35088,624
$CAP_FILE_SIZE,103527,0
$CFSIZE,260165632,247980032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110513,015556,2101.742,-15755.780,14,0.7,15,9.8