version: 66.06
glider: 523
mission: 4
dive: 155
start: 5 11 113 9 28 34
data:
$ID,523
$MISSION,4
$DIVE,155
$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,-38980.758
$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,33
$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
$GPS1,091854,2104.388,-15759.206,14,1.2,14,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.1
$GPS2,092817,2104.407,-15759.306,14,1.1,14,9.8
$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,317.0,8695,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-77.57,0.000,6,0.000,0.000,28,1985,3395,0,0,0,0,0,0
$GC,101,-0.74,-146.0,3.7,-5.5,13,116,9.20,2.33,0.00,0.000,4,0.222,0.048,2390,558,3395,0,0,0,0,0,0
$GC,124,-0.74,-146.0,12.4,-28.1,16,132,0.00,2.20,0.00,0.000,6,0.000,0.038,2382,1952,3396,0,0,0,0,0,0
$GC,294,-0.74,-146.0,44.0,-16.1,47,300,0.00,2.22,0.00,0.000,4,0.000,0.058,2372,3376,3397,0,0,0,0,0,0
$GC,515,-0.74,-146.0,78.3,-16.1,87,521,0.10,2.25,0.00,0.000,6,0.163,0.046,2397,1963,3397,0,0,0,0,0,0
$GC,849,-0.74,-146.0,116.6,-12.0,119,853,0.00,2.20,0.00,0.000,4,0.000,0.054,2397,545,3399,0,0,0,0,0,0
$GC,914,-0.74,-146.0,125.6,-12.9,124,921,0.00,2.17,0.00,0.000,6,0.000,0.032,2389,1976,3399,0,0,0,0,0,0
$GC,1242,-0.74,-146.0,165.4,-10.9,155,1246,0.00,2.30,0.00,0.000,4,0.000,0.051,2389,538,3399,0,0,0,0,0,0
$GC,1282,-0.74,-146.0,169.9,-10.9,158,1289,0.00,2.15,0.00,0.000,6,0.000,0.034,2379,1965,3399,0,0,0,0,0,0
$GC,1624,-0.74,-146.0,206.6,-10.4,187,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1965,3400,0,0,0,0,0,0
$GC,1936,-0.74,-146.0,235.7,-8.5,202,1940,0.00,2.25,0.00,0.000,4,0.000,0.051,2379,536,3401,0,0,0,0,0,0
$GC,2193,-0.74,-146.0,260.7,-9.6,213,2199,0.12,2.15,0.00,0.000,6,0.168,0.034,2403,1965,3400,0,0,0,0,0,0
$GC,2513,-0.74,-146.0,289.1,-8.7,229,2516,0.00,2.17,0.00,0.000,4,0.000,0.054,2394,3366,3401,0,0,0,0,0,0
$GC,2541,-0.74,-146.0,291.9,-9.1,230,2546,0.00,2.17,0.00,0.000,6,0.000,0.042,2394,1954,3400,0,0,0,0,0,0
$GC,2857,-0.74,-146.0,316.3,-7.1,240,2861,0.00,2.20,0.00,0.000,4,0.000,0.056,2394,552,3400,0,0,0,0,0,0
$GC,2963,-0.74,-146.0,324.4,-8.1,242,2967,0.00,2.12,0.00,0.000,6,0.000,0.036,2384,1962,3399,0,0,0,0,0,0
$GC,3277,-0.74,-146.0,345.5,-6.7,250,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1962,3397,0,0,0,0,0,0
$GC,3603,-0.74,-146.0,372.5,-8.1,258,3607,0.00,2.28,0.00,0.000,4,0.000,0.057,2384,552,3395,0,0,0,0,0,0
$GC,3755,-0.74,-146.0,387.7,-10.0,261,3759,0.00,2.15,0.00,0.000,6,0.000,0.039,2374,1961,3393,0,0,0,0,0,0
$GC,4100,-0.74,-146.0,414.0,-7.1,270,4104,0.00,2.17,0.00,0.000,4,0.000,0.058,2364,3370,3391,0,0,0,0,0,0
$GC,4324,-0.74,-146.0,430.7,-7.1,275,4329,0.12,2.17,0.00,0.000,6,0.151,0.042,2398,1953,3391,0,0,0,0,0,0
$GC,4645,-0.74,-146.0,448.8,-5.8,283,4649,0.00,2.22,0.00,0.000,4,0.000,0.058,2390,3367,3388,0,0,0,0,0,0
$STATE,4666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4666,begin apogee
$GC,4675,-0.17,0.0,450.0,5.1,283,4796,0.55,0.00,117.80,0.782,6,0.117,0.000,2576,1972,2799,0,0,0,0,0,0
$STATE,4796,end apogee,CONTROL_FINISHED_OK
$STATE,4797,begin climb
$GC,4799,0.74,146.0,450.2,0.0,286,4931,0.88,0.00,125.65,0.750,6,0.074,0.000,2875,1972,2203,0,0,0,0,0,0
$GC,5258,0.74,146.0,386.8,13.7,298,5262,0.00,2.25,0.00,0.000,4,0.000,0.053,2875,3380,2195,0,0,0,0,0,0
$GC,5280,0.74,146.0,383.7,12.9,298,5284,0.00,2.25,0.00,0.000,6,0.000,0.048,2884,1979,2194,0,0,0,0,0,0
$GC,5616,0.74,146.0,339.2,13.2,307,5620,0.00,2.22,0.00,0.000,4,0.000,0.060,2894,564,2193,0,0,0,0,0,0
$GC,5711,0.74,146.0,325.8,13.6,309,5716,0.00,2.20,0.00,0.000,6,0.000,0.040,2894,1979,2191,0,0,0,0,0,0
$GC,6026,0.74,146.0,280.6,14.4,320,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1980,2190,0,0,0,0,0,0
$GC,6336,0.74,146.0,236.7,13.5,335,6340,0.00,2.17,0.00,0.000,4,0.000,0.054,2894,3384,2189,0,0,0,0,0,0
$GC,6414,0.74,146.0,224.3,15.4,338,6419,0.00,2.20,0.00,0.000,6,0.000,0.043,2904,1971,2188,0,0,0,0,0,0
$GC,6735,0.74,146.0,184.8,10.4,360,6739,0.00,2.20,0.00,0.000,4,0.000,0.059,2914,565,2187,0,0,0,0,0,0
$GC,6775,0.74,146.0,180.8,10.1,363,6780,0.12,2.20,0.00,0.000,6,0.151,0.044,2880,1984,2187,0,0,0,0,0,0
$GC,7102,0.74,146.0,145.4,10.5,393,7106,0.00,2.17,0.00,0.000,4,0.000,0.051,2880,3391,2186,0,0,0,0,0,0
$GC,7133,0.74,146.0,142.0,11.7,395,7137,0.00,2.20,0.00,0.000,6,0.000,0.044,2888,1967,2186,0,0,0,0,0,0
$GC,7461,0.74,146.0,105.7,10.8,425,7465,0.00,2.20,0.00,0.000,4,0.000,0.057,2899,568,2186,0,0,0,0,0,0
$GC,7501,0.74,146.0,100.9,11.8,428,7506,0.00,2.17,0.00,0.000,6,0.000,0.038,2898,1993,2186,0,0,0,0,0,0
$GC,7833,0.74,146.0,66.5,9.9,469,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1993,2186,0,0,0,0,0,0
$GC,8164,0.76,167.4,34.7,8.1,530,8188,0.00,2.20,16.50,0.471,4,0.000,0.051,2898,3374,2116,0,0,0,0,0,0
$GC,8208,0.77,174.5,31.2,8.7,537,8221,0.00,2.17,7.68,0.422,6,0.000,0.041,2907,1979,2087,0,0,0,0,0,0
$STATE,8483,end climb,SURFACE_DEPTH_REACHED
$STATE,8483,begin surface coast
$FINISH,0.5,1.023551
$STATE,8518,end surface coast,CONTROL_FINISHED_OK
$STATE,8518,begin surface
$SM_CCo,8535,56.10,0.446,0,0,1575,300.24
$SM_GC,1.27,0.00,0.00,56.10,0.000,0.000,0.446,24,1974,1575,-8.18,0.40,300.24
$IRIDIUM_FIX,2101.76,-15758.18,050802,090936
$TT8_MAMPS,0.027612
$HUMID,62.24
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.7,12.911
$10V_AH,10.5,14.166
$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,18.325,74.925,267.625,56.100,0.000,54.606,75.246,240.468,19.250,0.000,14.784,1103.223,5113.443,401.954,1929.811,606.522,0.000,1059.416,0.000,1887.038,0.000,121.407,0.000
$DEVICE_MAMPS,221.663,59.826,782.340,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.505,343.210,1174.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31803,595
$CAP_FILE_SIZE,96137,0
$CFSIZE,260165632,247803904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110513,115304,2105.162,-15800.179,39,1.0,39,9.8