version: 66.06
glider: 523
mission: 4
dive: 202
start: 5 16 113 8 0 46
data:
$ID,523
$MISSION,4
$DIVE,202
$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,-39889.883
$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,29
$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
$GPS1,075452,2103.409,-15756.075,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.2
$GPS2,080029,2103.432,-15756.102,18,1.0,18,9.8
$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,301.6,13730,-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,-75.95,0.000,2,0.000,0.000,45,1984,3375,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-5.1,12,113,9.45,2.20,-0.40,0.000,4,0.232,0.058,2381,3365,3395,0,0,0,0,0,0
$GC,315,-0.74,-146.0,51.8,-16.4,51,320,0.00,2.22,0.00,0.000,6,0.000,0.043,2381,1964,3397,0,0,0,0,0,0
$GC,648,-0.74,-146.0,103.0,-12.5,98,652,0.00,2.25,0.00,0.000,4,0.000,0.055,2381,550,3397,0,0,0,0,0,0
$GC,878,-0.74,-146.0,136.1,-13.3,118,883,0.12,2.15,0.00,0.000,6,0.171,0.033,2403,1973,3398,0,0,0,0,0,0
$GC,1211,-0.74,-146.0,178.1,-12.1,149,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1973,3399,0,0,0,0,0,0
$GC,1524,-0.74,-146.0,215.7,-11.8,173,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1974,3400,0,0,0,0,0,0
$GC,1833,-0.74,-146.0,239.6,-7.9,188,1840,0.00,2.15,0.00,0.000,4,0.000,0.053,2394,3359,3400,0,0,0,0,0,0
$GC,1960,-0.74,-146.0,250.9,-9.4,193,1964,0.00,2.20,0.00,0.000,6,0.000,0.041,2395,1955,3400,0,0,0,0,0,0
$GC,2278,-0.74,-146.0,278.6,-8.6,208,2282,0.00,2.22,0.00,0.000,4,0.000,0.054,2394,550,3400,0,0,0,0,0,0
$GC,2535,-0.74,-146.0,304.4,-10.5,218,2541,0.00,2.12,0.00,0.000,6,0.000,0.035,2385,1956,3400,0,0,0,0,0,0
$GC,2868,-0.74,-146.0,331.3,-7.3,227,2872,0.00,2.20,0.00,0.000,4,0.000,0.055,2375,3359,3400,0,0,0,0,0,0
$GC,2957,-0.74,-146.0,338.1,-6.7,229,2961,0.00,2.17,0.00,0.000,6,0.000,0.039,2375,1960,3400,0,0,0,0,0,0
$GC,3281,-0.74,-146.0,362.0,-7.7,237,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1960,3399,0,0,0,0,0,0
$GC,3602,-0.74,-146.0,386.9,-7.6,245,3606,0.00,2.28,0.00,0.000,4,0.000,0.056,2366,3367,3397,0,0,0,0,0,0
$GC,3670,-0.74,-146.0,391.8,-6.6,246,3674,0.12,2.20,0.00,0.000,6,0.151,0.041,2398,1958,3396,0,0,0,0,0,0
$GC,4009,-0.74,-146.0,415.3,-7.2,255,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1958,3394,0,0,0,0,0,0
$GC,4334,-0.74,-146.0,437.3,-6.6,263,4338,0.00,2.22,0.00,0.000,4,0.000,0.064,2399,555,3392,0,0,0,0,0,0
$GC,4435,-0.74,-146.0,444.8,-7.4,265,4439,0.00,2.15,0.00,0.000,6,0.000,0.042,2391,1954,3391,0,0,0,0,0,0
$STATE,4542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4542,begin apogee
$GC,4549,-0.17,0.0,452.7,7.3,268,4670,0.60,0.00,118.20,0.782,6,0.124,0.000,2584,1955,2799,0,0,0,0,0,0
$STATE,4671,end apogee,CONTROL_FINISHED_OK
$STATE,4671,begin climb
$GC,4673,0.74,146.0,453.5,0.0,271,4808,0.82,2.40,125.35,0.751,4,0.078,0.061,2871,3386,2202,0,0,0,0,0,0
$GC,4825,0.74,146.0,437.4,13.1,274,4829,0.00,2.35,0.00,0.000,6,0.000,0.050,2880,1980,2201,0,0,0,0,0,0
$GC,5156,0.74,146.0,387.0,15.7,282,5160,0.00,2.33,0.00,0.000,4,0.000,0.071,2891,557,2196,0,0,0,0,0,0
$GC,5211,0.74,146.0,377.3,18.0,283,5215,0.00,2.25,0.00,0.000,6,0.000,0.045,2891,1979,2194,0,0,0,0,0,0
$GC,5559,0.74,146.0,320.9,16.3,292,5563,0.00,2.20,0.00,0.000,4,0.000,0.052,2891,3390,2192,0,0,0,0,0,0
$GC,5586,0.74,146.0,316.4,15.6,292,5590,0.00,2.22,0.00,0.000,6,0.000,0.041,2901,1958,2192,0,0,0,0,0,0
$GC,5900,0.74,146.0,270.7,15.3,304,5904,0.00,2.20,0.00,0.000,4,0.000,0.059,2912,561,2191,0,0,0,0,0,0
$GC,6024,0.74,146.0,252.0,15.1,309,6030,0.12,2.17,0.00,0.000,6,0.150,0.039,2878,1993,2190,0,0,0,0,0,0
$GC,6340,0.74,146.0,213.4,13.0,325,6343,0.00,2.15,0.00,0.000,4,0.000,0.052,2878,3389,2189,0,0,0,0,0,0
$GC,6430,0.74,146.0,201.9,11.7,329,6434,0.00,2.20,0.00,0.000,6,0.000,0.039,2887,1969,2188,0,0,0,0,0,0
$GC,6758,0.74,146.0,165.0,12.7,359,6762,0.00,2.22,0.00,0.000,4,0.000,0.050,2887,3389,2188,0,0,0,0,0,0
$GC,6863,0.74,146.0,150.7,13.4,368,6867,0.00,2.17,0.00,0.000,6,0.000,0.038,2897,1976,2187,0,0,0,0,0,0
$GC,7190,0.74,146.0,112.4,10.8,398,7194,0.00,2.20,0.00,0.000,4,0.000,0.057,2907,569,2187,0,0,0,0,0,0
$GC,7231,0.74,146.0,108.1,11.2,401,7235,0.00,2.15,0.00,0.000,6,0.000,0.037,2907,1978,2186,0,0,0,0,0,0
$GC,7558,0.74,146.0,71.4,11.0,438,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1979,2186,0,0,0,0,0,0
$GC,7892,0.74,146.0,33.9,11.8,499,7897,0.00,2.20,0.00,0.000,4,0.000,0.051,2907,3379,2187,0,0,0,0,0,0
$GC,7970,0.74,146.0,25.3,10.9,513,7978,0.10,2.22,0.00,0.000,6,0.121,0.040,2878,1976,2188,0,0,0,0,0,0
$GC,8140,0.78,178.7,12.3,7.7,544,8173,0.00,0.00,25.92,0.459,6,0.000,0.000,2878,1976,2069,0,0,0,0,0,0
$STATE,8270,end climb,SURFACE_DEPTH_REACHED
$STATE,8272,begin surface coast
$FINISH,0.8,1.023348
$STATE,8304,end surface coast,CONTROL_FINISHED_OK
$STATE,8304,begin surface
$SM_CCo,8322,55.38,0.445,0,0,1575,300.24
$SM_GC,1.45,0.00,0.00,55.38,0.000,0.000,0.445,44,1972,1575,-8.12,0.34,300.24
$IRIDIUM_FIX,2057.14,-15756.91,100802,050551
$TT8_MAMPS,0.028379
$HUMID,62.12
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.7,16.705
$10V_AH,10.5,18.290
$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,18.500,66.400,269.475,55.375,0.000,22.643,37.412,145.744,19.250,0.000,18.511,1065.747,4942.065,381.483,1896.489,429.205,0.000,1036.301,0.000,1849.332,0.000,122.928,0.000
$DEVICE_MAMPS,231.634,71.331,781.573,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,390.192,332.602,1133.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31849,574
$CAP_FILE_SIZE,89501,0
$CFSIZE,260165632,245604352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160513,102133,2104.048,-15757.023,16,1.3,30,9.8