version: 66.06
glider: 523
mission: 4
dive: 152
start: 5 11 113 2 2 19
data:
$ID,523
$MISSION,4
$DIVE,152
$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,-38927.754
$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,23
$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
$GPS1,015556,2101.742,-15755.780,14,0.7,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-74.4
$GPS2,020203,2101.766,-15755.869,17,1.3,31,9.8
$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,308.9,16202,-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,-76.05,0.000,2,0.000,0.000,38,1966,3360,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.1,12,113,9.18,2.20,-0.80,0.000,4,0.222,0.061,2386,3366,3396,0,0,0,0,0,0
$GC,310,-0.74,-146.0,44.5,-15.6,51,315,0.00,2.22,0.00,0.000,6,0.000,0.044,2386,1958,3398,0,0,0,0,0,0
$GC,642,-0.74,-146.0,93.2,-13.1,103,646,0.00,2.22,0.00,0.000,4,0.000,0.056,2386,549,3398,0,0,0,0,0,0
$GC,857,-0.74,-146.0,121.5,-11.9,122,861,0.00,2.15,0.00,0.000,6,0.000,0.033,2377,1975,3399,0,0,0,0,0,0
$GC,1184,-0.74,-146.0,162.7,-13.5,152,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1976,3400,0,0,0,0,0,0
$GC,1503,-0.74,-146.0,200.5,-11.9,182,1507,0.00,2.20,0.00,0.000,4,0.000,0.056,2366,3365,3401,0,0,0,0,0,0
$GC,1624,-0.74,-146.0,215.7,-12.3,187,1629,0.12,2.22,0.00,0.000,6,0.146,0.044,2400,1951,3401,0,0,0,0,0,0
$GC,1942,-0.74,-146.0,245.6,-9.5,202,1946,0.00,2.20,0.00,0.000,4,0.000,0.051,2402,538,3402,0,0,0,0,0,0
$GC,2149,-0.74,-146.0,264.8,-8.9,211,2154,0.00,2.12,0.00,0.000,6,0.000,0.034,2393,1967,3401,0,0,0,0,0,0
$GC,2473,-0.74,-146.0,292.7,-8.4,227,2477,0.00,2.28,0.00,0.000,4,0.000,0.053,2393,549,3401,0,0,0,0,0,0
$GC,2604,-0.74,-146.0,304.5,-9.5,232,2609,0.00,2.12,0.00,0.000,6,0.000,0.035,2382,1959,3401,0,0,0,0,0,0
$GC,2937,-0.74,-146.0,331.5,-8.1,240,2940,0.00,2.17,0.00,0.000,4,0.000,0.056,2373,3358,3401,0,0,0,0,0,0
$GC,2987,-0.74,-146.0,336.7,-9.3,241,2991,0.00,2.17,0.00,0.000,6,0.000,0.042,2373,1956,3400,0,0,0,0,0,0
$GC,3302,-0.74,-146.0,368.0,-10.3,249,3304,0.10,0.00,0.00,0.000,6,0.173,0.000,2398,1956,3399,0,0,0,0,0,0
$GC,3627,-0.74,-146.0,391.8,-6.8,257,3631,0.00,2.20,0.00,0.000,4,0.000,0.053,2391,3361,3396,0,0,0,0,0,0
$GC,3668,-0.74,-146.0,394.9,-7.6,258,3673,0.00,2.17,0.00,0.000,6,0.000,0.041,2391,1956,3397,0,0,0,0,0,0
$GC,4001,-0.74,-146.0,422.8,-8.7,266,4005,0.00,2.22,0.00,0.000,4,0.000,0.061,2391,555,3394,0,0,0,0,0,0
$GC,4181,-0.74,-146.0,438.3,-7.8,270,4185,0.00,2.15,0.00,0.000,6,0.000,0.041,2381,1962,3393,0,0,0,0,0,0
$STATE,4375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4375,begin apogee
$GC,4381,-0.17,0.0,451.3,6.7,275,4503,0.62,0.00,118.50,0.781,6,0.117,0.000,2587,1963,2800,0,0,0,0,0,0
$STATE,4503,end apogee,CONTROL_FINISHED_OK
$STATE,4503,begin climb
$GC,4506,0.74,146.0,452.7,0.0,278,4638,0.82,0.00,124.93,0.752,6,0.074,0.000,2875,1963,2204,0,0,0,0,0,0
$GC,4957,0.74,146.0,396.8,12.9,289,4961,0.00,2.28,0.00,0.000,4,0.000,0.061,2884,568,2196,0,0,0,0,0,0
$GC,4985,0.74,146.0,393.0,12.6,289,4989,0.00,2.22,0.00,0.000,6,0.000,0.041,2884,1978,2195,0,0,0,0,0,0
$GC,5321,0.74,146.0,345.9,13.7,298,5325,0.00,2.17,0.00,0.000,4,0.000,0.054,2884,3385,2192,0,0,0,0,0,0
$GC,5377,0.74,146.0,337.2,15.6,299,5381,0.00,2.22,0.00,0.000,6,0.000,0.044,2893,1976,2191,0,0,0,0,0,0
$GC,5705,0.74,146.0,290.6,13.4,309,5709,0.00,2.25,0.00,0.000,4,0.000,0.061,2903,567,2190,0,0,0,0,0,0
$GC,5754,0.74,146.0,283.1,14.5,311,5759,0.00,2.20,0.00,0.000,6,0.000,0.043,2903,1981,2190,0,0,0,0,0,0
$GC,6070,0.74,146.0,236.0,14.1,326,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1982,2189,0,0,0,0,0,0
$GC,6380,0.74,146.0,198.6,12.4,341,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1982,2187,0,0,0,0,0,0
$GC,6702,0.74,146.0,158.7,11.4,371,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1982,2186,0,0,0,0,0,0
$GC,7033,0.74,146.0,119.0,12.4,402,7037,0.00,2.17,0.00,0.000,4,0.000,0.053,2903,3387,2186,0,0,0,0,0,0
$GC,7116,0.74,146.0,108.4,12.9,409,7121,0.12,2.22,0.00,0.000,6,0.156,0.047,2879,1973,2185,0,0,0,0,0,0
$GC,7441,0.74,146.0,76.0,10.6,442,7449,0.00,2.25,0.00,0.000,4,0.000,0.055,2887,562,2185,0,0,0,0,0,0
$GC,7541,0.74,146.0,66.3,9.3,460,7548,0.00,2.17,0.00,0.000,6,0.000,0.038,2887,1970,2184,0,0,0,0,0,0
$GC,7875,0.74,146.0,38.3,9.0,521,7880,0.00,2.17,0.00,0.000,4,0.000,0.051,2887,3381,2187,0,0,0,0,0,0
$GC,7964,0.74,146.0,29.4,10.5,537,7972,0.00,2.20,0.00,0.000,6,0.000,0.040,2895,1971,2186,0,0,0,0,0,0
$GC,8135,0.74,150.3,15.0,8.9,568,8142,0.00,2.25,0.00,0.000,4,0.000,0.051,2895,3378,2187,0,0,0,0,0,0
$GC,8218,0.78,179.2,7.8,7.8,583,8251,0.00,2.20,25.88,0.453,6,0.000,0.041,2904,1973,2070,0,0,0,0,0,0
$STATE,8277,end climb,SURFACE_DEPTH_REACHED
$STATE,8277,begin surface coast
$FINISH,0.4,1.002811
$STATE,8312,end surface coast,CONTROL_FINISHED_OK
$STATE,8312,begin surface
$SM_CCo,8330,55.10,0.445,0,0,1575,300.24
$SM_GC,1.22,0.00,0.00,55.10,0.000,0.000,0.445,25,1966,1575,-8.17,0.17,300.24
$IRIDIUM_FIX,2050.21,-15759.92,040802,232334
$TT8_MAMPS,0.027612
$HUMID,61.65
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,405.1,59.3
$24V_AH,24.7,12.672
$10V_AH,10.6,13.901
$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,18.275,66.050,269.300,55.100,0.000,30.968,36.962,156.255,18.750,0.000,31.956,1090.845,4858.806,367.337,1978.789,455.056,0.000,1054.041,0.000,1924.893,0.000,106.343,0.000
$DEVICE_MAMPS,222.430,61.360,780.806,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.617,342.917,1186.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31716,599
$CAP_FILE_SIZE,89617,0
$CFSIZE,260165632,247951360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110513,042259,2102.679,-15757.118,16,1.2,16,9.8