version: 66.06
glider: 523
mission: 4
dive: 195
start: 5 15 113 14 10 16
data:
$ID,523
$MISSION,4
$DIVE,195
$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,-39757.383
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,140342,2058.319,-15749.096,20,0.9,20,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.9
$GPS2,141000,2058.367,-15749.128,20,0.8,20,9.8
$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,299.8,28984,-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,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-75.82,0.000,2,0.000,0.000,40,1992,3377,0,0,0,0,0,0
$GC,100,-0.74,-146.0,3.4,-5.2,12,115,9.40,2.17,-0.35,0.000,4,0.230,0.062,2384,3377,3396,0,0,0,0,0,0
$GC,336,-0.74,-146.0,50.6,-15.2,55,341,0.00,2.25,0.00,0.000,6,0.000,0.042,2385,1954,3398,0,0,0,0,0,0
$GC,668,-0.74,-146.0,100.8,-13.5,102,672,0.00,2.20,0.00,0.000,4,0.000,0.054,2384,549,3398,0,0,0,0,0,0
$GC,742,-0.74,-146.0,111.3,-13.4,108,746,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1984,3398,0,0,0,0,0,0
$GC,1070,-0.74,-146.0,150.8,-12.3,138,1074,0.00,2.28,0.00,0.000,4,0.000,0.051,2375,543,3399,0,0,0,0,0,0
$GC,1321,-0.74,-146.0,189.0,-13.3,160,1327,0.10,2.17,0.00,0.000,6,0.153,0.034,2396,1966,3400,0,0,0,0,0,0
$GC,1639,-0.74,-146.0,228.1,-12.4,180,1643,0.00,2.28,0.00,0.000,4,0.000,0.051,2396,549,3400,0,0,0,0,0,0
$GC,1897,-0.74,-146.0,255.1,-9.0,191,1902,0.00,2.15,0.00,0.000,6,0.000,0.035,2388,1965,3400,0,0,0,0,0,0
$GC,2215,-0.74,-146.0,283.5,-9.8,206,2219,0.00,2.28,0.00,0.000,4,0.000,0.054,2388,550,3401,0,0,0,0,0,0
$GC,2439,-0.74,-146.0,303.9,-7.3,216,2443,0.00,2.15,0.00,0.000,6,0.000,0.038,2378,1962,3401,0,0,0,0,0,0
$GC,2761,-0.74,-146.0,327.0,-7.7,224,2765,0.00,2.20,0.00,0.000,4,0.000,0.057,2368,3367,3401,0,0,0,0,0,0
$GC,2828,-0.74,-146.0,333.1,-8.8,225,2833,0.12,2.20,0.00,0.000,6,0.152,0.042,2401,1954,3400,0,0,0,0,0,0
$GC,3174,-0.74,-146.0,357.0,-6.3,234,3178,0.00,2.22,0.00,0.000,4,0.000,0.061,2402,550,3399,0,0,0,0,0,0
$GC,3433,-0.74,-146.0,374.7,-7.6,239,3440,0.00,2.17,0.00,0.000,6,0.000,0.042,2393,1960,3398,0,0,0,0,0,0
$GC,3765,-0.74,-146.0,397.6,-7.3,248,3769,0.00,2.33,0.00,0.000,4,0.000,0.061,2394,547,3395,0,0,0,0,0,0
$GC,3866,-0.74,-146.0,406.3,-8.9,250,3871,0.00,2.20,0.00,0.000,6,0.000,0.044,2383,1961,3394,0,0,0,0,0,0
$GC,4218,-0.74,-146.0,436.4,-8.7,259,4222,0.00,2.28,0.00,0.000,4,0.000,0.061,2383,555,3392,0,0,0,0,0,0
$GC,4268,-0.74,-146.0,441.2,-8.7,260,4272,0.00,2.17,0.00,0.000,6,0.000,0.046,2374,1961,3392,0,0,0,0,0,0
$STATE,4383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4383,begin apogee
$GC,4390,-0.17,0.0,450.6,8.2,263,4511,0.65,0.00,118.50,0.779,6,0.127,0.000,2582,1961,2799,0,0,0,0,0,0
$STATE,4512,end apogee,CONTROL_FINISHED_OK
$STATE,4512,begin climb
$GC,4515,0.74,146.0,452.5,0.0,266,4644,0.88,0.00,125.85,0.751,6,0.078,0.000,2879,1961,2204,0,0,0,0,0,0
$GC,4949,0.74,146.0,394.7,15.0,277,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1961,2196,0,0,0,0,0,0
$GC,5273,0.74,146.0,348.9,13.6,285,5278,0.00,2.28,0.00,0.000,4,0.000,0.065,2888,565,2193,0,0,0,0,0,0
$GC,5352,0.74,146.0,337.7,14.0,286,5357,0.00,2.22,0.00,0.000,6,0.000,0.044,2888,1978,2192,0,0,0,0,0,0
$GC,5663,0.74,146.0,295.2,13.1,295,5667,0.00,2.20,0.00,0.000,4,0.000,0.054,2888,3390,2191,0,0,0,0,0,0
$GC,5736,0.74,146.0,285.6,13.0,298,5740,0.00,2.25,0.00,0.000,6,0.000,0.051,2897,1979,2190,0,0,0,0,0,0
$GC,6052,0.74,146.0,247.0,13.4,313,6056,0.00,2.22,0.00,0.000,4,0.000,0.059,2908,562,2189,0,0,0,0,0,0
$GC,6113,0.74,146.0,238.7,13.5,315,6119,0.12,2.17,0.00,0.000,6,0.146,0.040,2874,1980,2188,0,0,0,0,0,0
$GC,6429,0.74,146.0,204.2,11.2,331,6433,0.00,2.20,0.00,0.000,4,0.000,0.054,2874,3388,2187,0,0,0,0,0,0
$GC,6493,0.74,146.0,196.5,12.8,335,6497,0.00,2.22,0.00,0.000,6,0.000,0.048,2881,1971,2186,0,0,0,0,0,0
$GC,6819,0.74,146.0,160.0,11.4,365,6823,0.00,2.22,0.00,0.000,4,0.000,0.059,2892,557,2186,0,0,0,0,0,0
$GC,6937,0.74,146.0,147.4,11.3,375,6941,0.00,2.17,0.00,0.000,6,0.000,0.040,2892,1977,2186,0,0,0,0,0,0
$GC,7264,0.74,146.0,108.6,11.9,405,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1977,2186,0,0,0,0,0,0
$GC,7582,0.74,146.0,71.7,9.8,442,7589,0.00,2.28,0.00,0.000,4,0.000,0.058,2900,564,2186,0,0,0,0,0,0
$GC,7617,0.74,146.0,68.0,10.8,448,7625,0.00,2.20,0.00,0.000,6,0.000,0.041,2900,1974,2186,0,0,0,0,0,0
$GC,7953,0.74,146.0,28.3,11.7,509,7960,0.00,2.20,0.00,0.000,4,0.000,0.052,2900,3377,2187,0,0,0,0,0,0
$GC,7975,0.74,146.0,26.0,10.8,512,7983,0.08,2.20,0.00,0.000,6,0.126,0.040,2881,1971,2187,0,0,0,0,0,0
$GC,8145,0.80,198.2,13.2,6.9,543,8191,0.00,0.00,41.15,0.464,6,0.000,0.000,2881,1971,1991,0,0,0,0,0,0
$STATE,8282,end climb,SURFACE_DEPTH_REACHED
$STATE,8283,begin surface coast
$FINISH,0.5,1.018073
$STATE,8320,end surface coast,CONTROL_FINISHED_OK
$STATE,8320,begin surface
$SM_CCo,8338,46.17,0.440,0,0,1575,300.24
$SM_GC,1.20,0.00,0.00,46.17,0.000,0.000,0.440,27,1958,1575,-8.17,-0.06,300.24
$IRIDIUM_FIX,2052.52,-15751.76,090802,111115
$TT8_MAMPS,0.028379
$HUMID,61.89
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,10
$24V_AH,24.7,16.131
$10V_AH,10.5,17.676
$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,18.675,70.925,285.500,46.175,0.000,24.704,37.774,183.206,21.500,0.000,20.480,1070.307,4879.571,402.821,1934.694,474.537,0.000,1073.998,0.000,1886.101,0.000,120.123,0.000
$DEVICE_MAMPS,230.100,65.195,779.272,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,389.526,333.736,1125.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,31830,574
$CAP_FILE_SIZE,91714,0
$CFSIZE,260165632,245927936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150513,163105,2058.803,-15750.092,25,1.2,25,9.8