version: 66.06
glider: 523
mission: 4
dive: 197
start: 5 15 113 19 11 17
data:
$ID,523
$MISSION,4
$DIVE,197
$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,-39797.211
$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,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
$GPS1,190200,2059.515,-15751.168,28,0.8,28,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.3
$GPS2,191059,2059.538,-15751.234,13,1.0,13,9.8
$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,301.3,24806,-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,-76.10,0.000,2,0.000,0.000,32,1970,3390,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.4,12,112,9.45,2.20,0.00,0.000,4,0.229,0.047,2385,3365,3391,0,0,0,0,0,0
$GC,341,-0.74,-146.0,47.7,-13.9,57,346,0.00,2.20,0.00,0.000,6,0.000,0.043,2385,1961,3393,0,0,0,0,0,0
$GC,675,-0.74,-146.0,96.6,-14.1,108,679,0.00,2.22,0.00,0.000,4,0.000,0.057,2386,538,3394,0,0,0,0,0,0
$GC,705,-0.74,-146.0,101.1,-14.4,110,709,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1967,3394,0,0,0,0,0,0
$GC,1033,-0.74,-146.0,145.4,-12.2,140,1037,0.00,2.25,0.00,0.000,4,0.000,0.053,2376,546,3394,0,0,0,0,0,0
$GC,1151,-0.74,-146.0,160.8,-13.5,150,1156,0.12,2.15,0.00,0.000,6,0.172,0.034,2398,1966,3395,0,0,0,0,0,0
$GC,1478,-0.74,-146.0,194.8,-9.8,180,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1967,3396,0,0,0,0,0,0
$GC,1790,-0.74,-146.0,225.2,-10.4,198,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1968,3396,0,0,0,0,0,0
$GC,2097,-0.74,-146.0,253.6,-8.6,213,2101,0.00,2.17,0.00,0.000,4,0.000,0.055,2389,3360,3396,0,0,0,0,0,0
$GC,2115,-0.74,-146.0,255.0,-8.1,214,2120,0.00,2.20,0.00,0.000,6,0.000,0.044,2389,1958,3396,0,0,0,0,0,0
$GC,2448,-0.74,-146.0,282.3,-9.4,230,2452,0.00,2.22,0.00,0.000,4,0.000,0.055,2389,546,3395,0,0,0,0,0,0
$GC,2487,-0.74,-146.0,286.1,-9.7,232,2491,0.00,2.15,0.00,0.000,6,0.000,0.038,2379,1958,3395,0,0,0,0,0,0
$GC,2814,-0.74,-146.0,315.1,-8.5,244,2818,0.00,2.17,0.00,0.000,4,0.000,0.056,2369,3367,3395,0,0,0,0,0,0
$GC,2898,-0.74,-146.0,322.1,-7.9,246,2903,0.12,2.22,0.00,0.000,6,0.155,0.042,2402,1950,3395,0,0,0,0,0,0
$GC,3225,-0.74,-146.0,344.5,-6.7,254,3229,0.00,2.22,0.00,0.000,4,0.000,0.058,2402,551,3395,0,0,0,0,0,0
$GC,3483,-0.74,-146.0,365.1,-8.3,259,3487,0.00,2.15,0.00,0.000,6,0.000,0.039,2394,1962,3393,0,0,0,0,0,0
$GC,3815,-0.74,-146.0,388.9,-7.2,267,3819,0.00,2.28,0.00,0.000,4,0.000,0.057,2394,544,3390,0,0,0,0,0,0
$GC,3967,-0.74,-146.0,402.4,-9.1,270,3971,0.00,2.17,0.00,0.000,6,0.000,0.040,2384,1961,3389,0,0,0,0,0,0
$GC,4310,-0.74,-146.0,429.7,-8.1,279,4315,0.00,2.20,0.00,0.000,4,0.000,0.058,2374,3366,3387,0,0,0,0,0,0
$GC,4401,-0.74,-146.0,437.7,-8.8,281,4405,0.00,2.20,0.00,0.000,6,0.000,0.044,2374,1956,3387,0,0,0,0,0,0
$STATE,4562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4562,begin apogee
$GC,4568,-0.17,0.0,451.3,8.2,285,4688,0.65,0.00,117.22,0.782,6,0.127,0.000,2582,1956,2800,0,0,0,0,0,0
$STATE,4689,end apogee,CONTROL_FINISHED_OK
$STATE,4689,begin climb
$GC,4692,0.74,146.0,453.4,0.0,288,4827,0.82,2.42,124.75,0.752,4,0.079,0.054,2870,3377,2203,0,0,0,0,0,0
$GC,4838,0.74,146.0,439.3,12.9,291,4842,0.00,2.35,0.00,0.000,6,0.000,0.051,2879,1980,2201,0,0,0,0,0,0
$GC,5174,0.74,146.0,391.4,14.1,300,5178,0.00,2.28,0.00,0.000,4,0.000,0.061,2890,561,2196,0,0,0,0,0,0
$GC,5269,0.74,146.0,377.9,14.3,302,5273,0.00,2.22,0.00,0.000,6,0.000,0.045,2890,1972,2194,0,0,0,0,0,0
$GC,5588,0.74,146.0,331.8,14.3,310,5592,0.00,2.30,0.00,0.000,4,0.000,0.066,2900,561,2192,0,0,0,0,0,0
$GC,5633,0.74,146.0,325.6,14.4,311,5637,0.00,2.25,0.00,0.000,6,0.000,0.048,2900,1981,2192,0,0,0,0,0,0
$GC,5965,0.74,146.0,279.8,14.4,322,5969,0.00,2.17,0.00,0.000,4,0.000,0.051,2900,3394,2191,0,0,0,0,0,0
$GC,6027,0.74,146.0,270.6,15.9,325,6032,0.12,2.22,0.00,0.000,6,0.161,0.041,2876,1966,2190,0,0,0,0,0,0
$GC,6353,0.74,146.0,228.7,12.4,341,6357,0.00,2.20,0.00,0.000,4,0.000,0.060,2885,567,2188,0,0,0,0,0,0
$GC,6432,0.74,146.0,219.0,12.9,344,6437,0.00,2.17,0.00,0.000,6,0.000,0.039,2885,1982,2188,0,0,0,0,0,0
$GC,6755,0.74,146.0,180.4,10.7,367,6759,0.00,2.15,0.00,0.000,4,0.000,0.051,2885,3390,2188,0,0,0,0,0,0
$GC,6796,0.74,146.0,176.1,10.4,370,6800,0.00,2.20,0.00,0.000,6,0.000,0.040,2894,1971,2187,0,0,0,0,0,0
$GC,7123,0.74,146.0,140.5,12.4,400,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1971,2187,0,0,0,0,0,0
$GC,7443,0.74,146.0,106.2,11.5,430,7447,0.00,2.20,0.00,0.000,4,0.000,0.058,2904,568,2187,0,0,0,0,0,0
$GC,7505,0.74,146.0,98.5,12.6,435,7509,0.00,2.12,0.00,0.000,6,0.000,0.038,2904,1977,2186,0,0,0,0,0,0
$GC,7832,0.74,146.0,62.2,10.9,480,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1977,2187,0,0,0,0,0,0
$GC,8164,0.74,146.0,29.8,9.7,541,8171,0.00,2.20,0.00,0.000,4,0.000,0.051,2904,3377,2187,0,0,0,0,0,0
$GC,8290,0.77,175.8,18.4,7.8,564,8324,0.00,2.20,23.35,0.466,6,0.000,0.042,2912,1980,2082,0,0,0,0,0,0
$STATE,8441,end climb,SURFACE_DEPTH_REACHED
$STATE,8441,begin surface coast
$FINISH,0.5,1.023321
$STATE,8469,end surface coast,CONTROL_FINISHED_OK
$STATE,8469,begin surface
$SM_CCo,8487,55.50,0.449,0,0,1575,300.24
$SM_GC,1.40,0.00,0.00,55.50,0.000,0.000,0.449,24,1976,1575,-8.18,0.45,300.24
$IRIDIUM_FIX,2050.21,-15755.64,090802,191946
$TT8_MAMPS,0.028379
$HUMID,63.66
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,24.7,16.298
$10V_AH,10.5,17.853
$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,18.575,75.250,265.325,55.500,0.000,57.819,72.789,219.137,19.000,0.000,14.268,1111.135,5056.655,366.887,1964.421,583.857,0.000,1060.012,0.000,1919.664,0.000,125.623,0.000
$DEVICE_MAMPS,228.566,65.962,781.573,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,405.621,346.606,1163.392,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31892,596
$CAP_FILE_SIZE,96682,0
$CFSIZE,260165632,245829632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150513,213436,2100.410,-15751.965,17,0.8,17,9.8