version: 66.06
glider: 523
mission: 4
dive: 200
start: 5 16 113 2 57 27
data:
$ID,523
$MISSION,4
$DIVE,200
$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,-39855.363
$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,21
$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
$GPS1,024304,2102.130,-15753.490,28,1.0,28,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.3
$GPS2,025711,2102.197,-15753.715,19,1.0,19,9.8
$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,298.4,18363,-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,-76.22,0.000,2,0.000,0.000,41,1972,3393,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.4,12,112,9.40,2.22,0.00,0.000,4,0.229,0.049,2385,3381,3395,0,0,0,0,0,0
$GC,236,-0.74,-146.0,34.6,-19.4,37,241,0.00,2.28,0.00,0.000,6,0.000,0.045,2385,1955,3396,0,0,0,0,0,0
$GC,568,-0.74,-146.0,84.8,-13.8,95,575,0.00,2.25,0.00,0.000,4,0.000,0.057,2385,537,3397,0,0,0,0,0,0
$GC,826,-0.74,-146.0,125.0,-14.4,118,833,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1975,3397,0,0,0,0,0,0
$GC,1161,-0.74,-146.0,171.6,-12.0,149,1165,0.00,2.28,0.00,0.000,4,0.000,0.052,2376,546,3398,0,0,0,0,0,0
$GC,1246,-0.74,-146.0,181.9,-11.5,156,1251,0.12,2.15,0.00,0.000,6,0.172,0.035,2398,1971,3398,0,0,0,0,0,0
$GC,1567,-0.74,-146.0,213.3,-8.6,179,1571,0.00,2.28,0.00,0.000,4,0.000,0.053,2398,547,3399,0,0,0,0,0,0
$GC,1711,-0.74,-146.0,226.7,-9.7,185,1717,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1966,3398,0,0,0,0,0,0
$GC,2030,-0.74,-146.0,255.9,-9.1,201,2034,0.00,2.28,0.00,0.000,4,0.000,0.053,2390,548,3398,0,0,0,0,0,0
$GC,2166,-0.74,-146.0,269.4,-9.6,207,2170,0.00,2.15,0.00,0.000,6,0.000,0.038,2380,1960,3398,0,0,0,0,0,0
$GC,2489,-0.74,-146.0,293.4,-7.2,223,2493,0.00,2.25,0.00,0.000,4,0.000,0.055,2380,548,3398,0,0,0,0,0,0
$GC,2747,-0.74,-146.0,319.1,-10.0,230,2753,0.12,2.15,0.00,0.000,6,0.170,0.039,2403,1959,3396,0,0,0,0,0,0
$GC,3079,-0.74,-146.0,341.5,-5.8,239,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1960,3395,0,0,0,0,0,0
$GC,3403,-0.74,-146.0,358.3,-5.4,247,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1960,3392,0,0,0,0,0,0
$GC,3730,-0.74,-146.0,382.0,-7.7,255,3734,0.00,2.22,0.00,0.000,4,0.000,0.061,2394,3360,3390,0,0,0,0,0,0
$GC,3797,-0.74,-146.0,387.7,-7.9,256,3802,0.00,2.22,0.00,0.000,6,0.000,0.045,2395,1949,3390,0,0,0,0,0,0
$GC,4134,-0.74,-146.0,413.9,-7.6,265,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1948,3388,0,0,0,0,0,0
$GC,4459,-0.74,-146.0,438.8,-8.0,273,4463,0.00,2.22,0.00,0.000,4,0.000,0.065,2394,550,3384,0,0,0,0,0,0
$GC,4510,-0.74,-146.0,443.5,-9.5,274,4514,0.00,2.17,0.00,0.000,6,0.000,0.045,2384,1952,3384,0,0,0,0,0,0
$STATE,4623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4623,begin apogee
$GC,4629,-0.17,0.0,452.8,8.0,277,4750,0.62,0.00,116.88,0.788,6,0.127,0.000,2584,1953,2800,0,0,0,0,0,0
$STATE,4750,end apogee,CONTROL_FINISHED_OK
$STATE,4750,begin climb
$GC,4753,0.74,146.0,454.4,0.0,280,4883,0.85,0.00,126.03,0.755,6,0.078,0.000,2873,1953,2204,0,0,0,0,0,0
$GC,5190,0.74,146.0,397.1,14.5,291,5194,0.00,2.25,0.00,0.000,4,0.000,0.054,2873,3383,2196,0,0,0,0,0,0
$GC,5212,0.74,146.0,393.7,15.0,291,5216,0.00,2.28,0.00,0.000,6,0.000,0.044,2882,1966,2195,0,0,0,0,0,0
$GC,5548,0.74,146.0,345.2,13.6,300,5553,0.00,2.25,0.00,0.000,4,0.000,0.059,2893,557,2193,0,0,0,0,0,0
$GC,5604,0.74,146.0,337.0,14.1,301,5608,0.00,2.22,0.00,0.000,6,0.000,0.044,2893,1974,2192,0,0,0,0,0,0
$GC,5932,0.74,146.0,287.8,15.6,311,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1975,2191,0,0,0,0,0,0
$GC,6242,0.74,146.0,242.7,15.6,326,6246,0.00,2.22,0.00,0.000,4,0.000,0.052,2893,3393,2190,0,0,0,0,0,0
$GC,6282,0.74,146.0,236.3,16.3,328,6286,0.00,2.22,0.00,0.000,6,0.000,0.040,2899,1967,2190,0,0,0,0,0,0
$GC,6601,0.74,146.0,194.6,11.7,345,6605,0.00,2.22,0.00,0.000,4,0.000,0.058,2909,569,2188,0,0,0,0,0,0
$GC,6642,0.74,146.0,190.7,9.6,348,6647,0.12,2.15,0.00,0.000,6,0.145,0.038,2876,1982,2188,0,0,0,0,0,0
$GC,6969,0.74,146.0,159.2,9.5,378,6972,0.00,2.15,0.00,0.000,4,0.000,0.051,2876,3386,2187,0,0,0,0,0,0
$GC,7053,0.74,146.0,150.7,10.6,385,7057,0.00,2.17,0.00,0.000,6,0.000,0.039,2883,1976,2186,0,0,0,0,0,0
$GC,7380,0.74,146.0,117.2,10.9,415,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1976,2187,0,0,0,0,0,0
$GC,7701,0.76,164.6,85.4,8.3,445,7720,0.00,2.25,14.40,0.512,4,0.000,0.054,2894,561,2126,0,0,0,0,0,0
$GC,7737,0.78,177.1,81.8,8.5,448,7756,0.00,2.20,11.93,0.492,6,0.000,0.037,2894,1981,2077,0,0,0,0,0,0
$GC,8083,0.78,177.1,49.4,9.6,509,8088,0.00,2.28,0.00,0.000,4,0.000,0.057,2904,566,2075,0,0,0,0,0,0
$GC,8107,0.78,177.1,47.2,9.2,513,8113,0.00,2.15,0.00,0.000,6,0.000,0.037,2904,1984,2075,0,0,0,0,0,0
$GC,8438,0.78,177.1,16.1,10.5,574,8445,0.00,2.30,0.00,0.000,4,0.000,0.052,2913,575,2075,0,0,0,0,0,0
$GC,8480,0.78,177.1,11.5,10.2,581,8488,0.00,2.17,0.00,0.000,6,0.000,0.036,2913,1979,2075,0,0,0,0,0,0
$STATE,8566,end climb,SURFACE_DEPTH_REACHED
$STATE,8566,begin surface coast
$FINISH,0.5,1.012743
$STATE,8600,end surface coast,CONTROL_FINISHED_OK
$STATE,8601,begin surface
$SM_CCo,8618,54.33,0.445,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,54.33,0.000,0.000,0.445,38,1983,1575,-8.13,0.65,300.24
$IRIDIUM_FIX,2052.52,-15749.62,100802,020250
$TT8_MAMPS,0.028379
$HUMID,62.24
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.7,16.549
$10V_AH,10.5,18.118
$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,18.525,70.925,269.225,54.325,0.000,126.298,186.070,212.155,19.000,0.000,19.987,1098.873,5339.056,410.172,1913.688,757.729,0.000,1047.866,0.000,1865.622,0.000,123.304,0.000
$DEVICE_MAMPS,228.566,65.195,788.476,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.562,341.094,1169.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31899,603
$CAP_FILE_SIZE,94684,0
$CFSIZE,260165632,245686272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160513,052305,2102.614,-15754.905,26,1.3,26,9.8