version: 66.06
glider: 523
mission: 4
dive: 203
start: 5 16 113 10 27 17
data:
$ID,523
$MISSION,4
$DIVE,203
$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,-39905.426
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,102133,2104.048,-15757.023,16,1.3,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.0
$GPS2,102700,2104.049,-15757.028,14,1.1,14,9.8
$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,302.6,11776,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.43,0.000,6,0.000,0.000,44,1972,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.2,13,118,9.43,2.20,0.00,0.000,4,0.230,0.050,2384,3373,3398,0,0,0,0,0,0
$GC,287,-0.74,-146.0,45.1,-15.1,47,293,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1958,3400,0,0,0,0,0,0
$GC,620,-0.74,-146.0,90.6,-12.6,100,624,0.00,2.25,0.00,0.000,4,0.000,0.055,2384,543,3401,0,0,0,0,0,0
$GC,868,-0.74,-146.0,125.9,-14.9,122,872,0.00,2.15,0.00,0.000,6,0.000,0.034,2374,1974,3401,0,0,0,0,0,0
$GC,1201,-0.74,-146.0,169.3,-11.7,153,1208,0.00,2.15,0.00,0.000,4,0.000,0.055,2364,3359,3402,0,0,0,0,0,0
$GC,1249,-0.74,-146.0,174.9,-11.9,157,1254,0.12,2.20,0.00,0.000,6,0.157,0.044,2397,1959,3402,0,0,0,0,0,0
$GC,1577,-0.74,-146.0,210.6,-10.0,183,1581,0.00,2.20,0.00,0.000,4,0.000,0.052,2397,543,3403,0,0,0,0,0,0
$GC,1774,-0.74,-146.0,231.9,-9.5,192,1778,0.00,2.15,0.00,0.000,6,0.000,0.035,2389,1970,3403,0,0,0,0,0,0
$GC,2103,-0.74,-146.0,259.1,-8.2,208,2107,0.00,2.17,0.00,0.000,4,0.000,0.054,2378,3359,3403,0,0,0,0,0,0
$GC,2261,-0.74,-146.0,272.6,-8.1,215,2265,0.00,2.20,0.00,0.000,6,0.000,0.042,2378,1949,3403,0,0,0,0,0,0
$GC,2584,-0.74,-146.0,298.6,-8.5,231,2588,0.00,2.20,0.00,0.000,4,0.000,0.056,2378,549,3403,0,0,0,0,0,0
$GC,2841,-0.74,-146.0,324.3,-9.3,237,2845,0.12,2.15,0.00,0.000,6,0.169,0.038,2402,1961,3403,0,0,0,0,0,0
$GC,3174,-0.74,-146.0,348.3,-6.9,245,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1961,3402,0,0,0,0,0,0
$GC,3500,-0.74,-146.0,371.0,-6.3,253,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1961,3400,0,0,0,0,0,0
$GC,3823,-0.74,-146.0,390.7,-6.4,261,3827,0.00,2.30,0.00,0.000,4,0.000,0.061,2403,547,3398,0,0,0,0,0,0
$GC,3943,-0.74,-146.0,400.0,-8.2,263,3947,0.00,2.17,0.00,0.000,6,0.000,0.042,2395,1965,3397,0,0,0,0,0,0
$GC,4280,-0.74,-146.0,425.0,-7.2,272,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1965,3395,0,0,0,0,0,0
$GC,4605,-0.74,-146.0,448.3,-7.1,280,4609,0.00,2.30,0.00,0.000,4,0.000,0.063,2394,544,3393,0,0,0,0,0,0
$STATE,4624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4624,begin apogee
$GC,4633,-0.17,0.0,450.0,7.6,280,4755,0.60,0.00,118.72,0.781,6,0.128,0.000,2581,1977,2800,0,0,0,0,0,0
$STATE,4756,end apogee,CONTROL_FINISHED_OK
$STATE,4756,begin climb
$GC,4759,0.74,146.0,451.3,0.0,283,4890,0.88,0.00,125.57,0.750,6,0.080,0.000,2876,1977,2203,0,0,0,0,0,0
$GC,5215,0.74,146.0,388.5,15.7,295,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1977,2196,0,0,0,0,0,0
$GC,5540,0.74,146.0,341.0,14.8,303,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1977,2193,0,0,0,0,0,0
$GC,5865,0.74,146.0,296.2,13.5,311,5869,0.00,2.17,0.00,0.000,4,0.000,0.054,2876,3383,2192,0,0,0,0,0,0
$GC,5893,0.74,146.0,292.0,14.6,312,5897,0.00,2.22,0.00,0.000,6,0.000,0.049,2885,1979,2192,0,0,0,0,0,0
$GC,6208,0.74,146.0,249.7,13.2,327,6212,0.00,2.25,0.00,0.000,4,0.000,0.059,2896,564,2190,0,0,0,0,0,0
$GC,6348,0.74,146.0,230.8,13.1,333,6352,0.00,2.20,0.00,0.000,6,0.000,0.043,2896,1978,2190,0,0,0,0,0,0
$GC,6674,0.74,146.0,186.9,12.7,353,6678,0.00,2.17,0.00,0.000,4,0.000,0.051,2896,3385,2189,0,0,0,0,0,0
$GC,6854,0.74,146.0,165.7,12.7,369,6858,0.00,2.20,0.00,0.000,6,0.000,0.040,2906,1970,2187,0,0,0,0,0,0
$GC,7182,0.74,146.0,123.4,12.4,399,7186,0.00,2.20,0.00,0.000,4,0.000,0.049,2906,3389,2187,0,0,0,0,0,0
$GC,7244,0.74,146.0,114.8,14.2,404,7249,0.15,2.17,0.00,0.000,6,0.146,0.038,2873,1962,2187,0,0,0,0,0,0
$GC,7571,0.74,146.0,82.5,9.6,434,7575,0.00,2.15,0.00,0.000,4,0.000,0.056,2882,571,2187,0,0,0,0,0,0
$GC,7649,0.74,146.0,74.8,10.0,445,7654,0.00,2.17,0.00,0.000,6,0.000,0.038,2882,1994,2187,0,0,0,0,0,0
$GC,7977,0.74,146.0,41.1,9.4,506,7985,0.00,2.15,0.00,0.000,4,0.000,0.050,2882,3378,2187,0,0,0,0,0,0
$GC,8086,0.76,162.8,31.9,8.3,525,8104,0.00,2.15,12.80,0.460,6,0.000,0.038,2892,1978,2136,0,0,0,0,0,0
$GC,8420,0.76,167.1,4.1,8.9,588,8434,0.00,2.28,5.28,0.367,4,0.000,0.051,2892,3375,2117,0,0,0,0,0,0
$STATE,8440,end climb,SURFACE_DEPTH_REACHED
$STATE,8441,begin surface coast
$FINISH,0.4,1.000536
$STATE,8499,end surface coast,CONTROL_FINISHED_OK
$STATE,8501,begin surface
$SM_CCo,8521,59.83,0.446,0,0,1574,300.24
$SM_GC,1.30,0.00,0.00,59.83,0.000,0.000,0.446,39,1941,1574,-8.13,-0.54,300.24
$IRIDIUM_FIX,2057.14,-15751.76,100802,080835
$TT8_MAMPS,0.027612
$HUMID,62.44
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,5
$24V_AH,24.7,16.781
$10V_AH,10.5,18.377
$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,18.575,66.050,262.375,59.825,0.000,29.645,35.954,137.669,20.000,0.000,14.909,1095.037,5051.998,402.051,1941.931,418.151,0.000,1046.129,0.000,1896.042,0.000,117.258,0.000
$DEVICE_MAMPS,230.100,62.894,780.806,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.384,346.915,1179.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31836,602
$CAP_FILE_SIZE,88078,0
$CFSIZE,260165632,245559296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160513,125112,2104.541,-15757.788,14,0.9,14,9.8