version: 66.06
glider: 523
mission: 4
dive: 204
start: 5 16 113 13 8 35
data:
$ID,523
$MISSION,4
$DIVE,204
$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,-39925.582
$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,30
$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
$GPS1,125112,2104.541,-15757.788,14,0.9,14,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.9
$GPS2,130817,2104.467,-15758.045,17,0.8,17,9.8
$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,306.1,9974,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.78,0.000,6,0.000,0.000,39,1941,3397,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.6,-5.8,12,111,9.45,2.25,0.00,0.000,4,0.230,0.044,2383,3373,3399,0,0,0,0,0,0
$GC,355,-0.74,-146.0,57.6,-16.3,59,360,0.00,2.22,0.00,0.000,6,0.000,0.042,2383,1960,3400,0,0,0,0,0,0
$GC,683,-0.74,-146.0,112.4,-16.7,102,687,0.00,2.25,0.00,0.000,4,0.000,0.056,2383,548,3401,0,0,0,0,0,0
$GC,835,-0.74,-146.0,135.6,-13.8,115,839,0.00,2.12,0.00,0.000,6,0.000,0.034,2374,1963,3401,0,0,0,0,0,0
$GC,1162,-0.74,-146.0,179.5,-12.6,145,1167,0.00,2.17,0.00,0.000,4,0.000,0.054,2364,3358,3401,0,0,0,0,0,0
$GC,1241,-0.74,-146.0,190.1,-13.8,152,1246,0.15,2.22,0.00,0.000,6,0.149,0.044,2404,1955,3401,0,0,0,0,0,0
$GC,1565,-0.74,-146.0,215.6,-7.1,172,1569,0.00,2.20,0.00,0.000,4,0.000,0.049,2405,547,3402,0,0,0,0,0,0
$GC,1593,-0.74,-146.0,218.3,-9.2,173,1597,0.00,2.12,0.00,0.000,6,0.000,0.034,2397,1962,3402,0,0,0,0,0,0
$GC,1911,-0.74,-146.0,243.3,-7.6,188,1915,0.00,2.17,0.00,0.000,4,0.000,0.053,2386,3359,3402,0,0,0,0,0,0
$GC,2068,-0.74,-146.0,258.4,-9.2,195,2072,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1946,3402,0,0,0,0,0,0
$GC,2393,-0.74,-146.0,278.5,-4.6,211,2397,0.00,2.20,0.00,0.000,4,0.000,0.055,2386,552,3401,0,0,0,0,0,0
$GC,2651,-0.74,-146.0,299.3,-9.2,222,2657,0.00,2.15,0.00,0.000,6,0.000,0.037,2376,1965,3401,0,0,0,0,0,0
$GC,2963,-0.74,-146.0,326.5,-9.0,231,2967,0.00,2.25,0.00,0.000,4,0.000,0.058,2376,548,3398,0,0,0,0,0,0
$GC,3035,-0.74,-146.0,334.2,-11.0,232,3039,0.12,2.17,0.00,0.000,6,0.168,0.040,2399,1970,3398,0,0,0,0,0,0
$GC,3376,-0.74,-146.0,360.6,-7.3,241,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1970,3396,0,0,0,0,0,0
$GC,3698,-0.74,-146.0,382.0,-6.3,249,3702,0.00,2.30,0.00,0.000,4,0.000,0.061,2400,552,3393,0,0,0,0,0,0
$GC,3783,-0.74,-146.0,387.9,-6.8,251,3787,0.00,2.17,0.00,0.000,6,0.000,0.044,2392,1954,3392,0,0,0,0,0,0
$GC,4109,-0.74,-146.0,409.9,-7.0,259,4114,0.00,2.28,0.00,0.000,4,0.000,0.062,2392,547,3390,0,0,0,0,0,0
$GC,4200,-0.74,-146.0,417.0,-7.6,261,4204,0.00,2.20,0.00,0.000,6,0.000,0.045,2382,1962,3389,0,0,0,0,0,0
$GC,4528,-0.74,-146.0,440.8,-7.4,269,4532,0.00,2.20,0.00,0.000,4,0.000,0.057,2372,3373,3388,0,0,0,0,0,0
$GC,4578,-0.74,-146.0,444.9,-8.1,270,4586,0.10,2.20,0.00,0.000,6,0.163,0.044,2397,1962,3388,0,0,0,0,0,0
$STATE,4655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4655,begin apogee
$GC,4661,-0.17,0.0,450.1,6.7,272,4782,0.57,0.00,117.50,0.786,6,0.123,0.000,2584,1961,2799,0,0,0,0,0,0
$STATE,4783,end apogee,CONTROL_FINISHED_OK
$STATE,4783,begin climb
$GC,4786,0.74,146.0,451.7,0.0,275,4915,0.85,0.00,125.93,0.753,6,0.077,0.000,2874,1961,2204,0,0,0,0,0,0
$GC,5221,0.74,146.0,399.5,12.9,286,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1961,2196,0,0,0,0,0,0
$GC,5546,0.74,146.0,356.7,13.6,294,5550,0.00,2.22,0.00,0.000,4,0.000,0.058,2884,568,2193,0,0,0,0,0,0
$GC,5646,0.74,146.0,341.8,14.8,296,5651,0.00,2.20,0.00,0.000,6,0.000,0.044,2884,1984,2192,0,0,0,0,0,0
$GC,5959,0.74,146.0,295.7,14.4,304,5963,0.00,2.17,0.00,0.000,4,0.000,0.053,2884,3382,2191,0,0,0,0,0,0
$GC,5987,0.74,146.0,291.5,14.6,305,5991,0.00,2.25,0.00,0.000,6,0.000,0.051,2893,1965,2191,0,0,0,0,0,0
$GC,6308,0.74,146.0,244.1,15.1,321,6312,0.00,2.22,0.00,0.000,4,0.000,0.059,2902,568,2190,0,0,0,0,0,0
$GC,6432,0.74,146.0,226.3,14.1,326,6437,0.00,2.20,0.00,0.000,6,0.000,0.044,2902,1979,2189,0,0,0,0,0,0
$GC,6753,0.74,146.0,184.3,12.3,347,6757,0.00,2.15,0.00,0.000,4,0.000,0.052,2902,3381,2188,0,0,0,0,0,0
$GC,6847,0.74,146.0,172.8,11.3,355,6852,0.12,2.20,0.00,0.000,6,0.156,0.041,2877,1970,2187,0,0,0,0,0,0
$GC,7175,0.74,146.0,137.1,10.5,385,7179,0.00,2.22,0.00,0.000,4,0.000,0.058,2886,565,2186,0,0,0,0,0,0
$GC,7196,0.74,146.0,134.3,10.7,386,7204,0.00,2.17,0.00,0.000,6,0.000,0.038,2886,1977,2186,0,0,0,0,0,0
$GC,7523,0.74,146.6,99.9,9.0,417,7527,0.00,2.17,0.00,0.000,4,0.000,0.051,2886,3386,2186,0,0,0,0,0,0
$GC,7564,0.74,146.6,95.8,9.7,420,7568,0.00,2.17,0.00,0.000,6,0.000,0.039,2896,1968,2186,0,0,0,0,0,0
$GC,7891,0.74,146.6,66.1,9.0,464,7898,0.00,2.22,0.00,0.000,4,0.000,0.048,2896,3372,2187,0,0,0,0,0,0
$GC,7923,0.74,146.6,63.0,10.4,469,7929,0.00,2.17,0.00,0.000,6,0.000,0.038,2906,1965,2187,0,0,0,0,0,0
$GC,8257,0.77,173.6,33.8,7.9,530,8281,0.00,0.00,21.48,0.476,6,0.000,0.000,2906,1965,2091,0,0,0,0,0,0
$STATE,8587,end climb,SURFACE_DEPTH_REACHED
$STATE,8587,begin surface coast
$FINISH,0.5,1.023543
$STATE,8633,end surface coast,CONTROL_FINISHED_OK
$STATE,8633,begin surface
$SM_CCo,8650,56.22,0.446,0,0,1575,300.24
$SM_GC,1.27,0.00,0.00,56.22,0.000,0.000,0.446,36,1960,1575,-8.14,0.00,300.24
$IRIDIUM_FIX,2059.45,-15753.90,100802,131311
$TT8_MAMPS,0.028379
$HUMID,62.28
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.7,16.882
$10V_AH,10.5,18.470
$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,18.650,74.850,264.900,56.225,0.000,108.186,162.691,397.025,19.000,0.000,19.528,1113.708,5319.278,404.334,1944.458,952.274,0.000,1059.911,0.000,1900.626,0.000,125.576,0.000
$DEVICE_MAMPS,230.100,62.127,786.175,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.968,341.608,1146.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31786,601
$CAP_FILE_SIZE,101971,0
$CFSIZE,260165632,245501952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160513,153503,2105.230,-15758.950,39,1.7,42,9.8