version: 66.06
glider: 523
mission: 4
dive: 206
start: 5 16 113 18 4 10
data:
$ID,523
$MISSION,4
$DIVE,206
$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,-39964.359
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,175830,2106.147,-15800.098,13,2.0,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.3
$GPS2,180354,2106.215,-15800.186,18,2.0,18,9.8
$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,310.6,5093,-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,-76.28,0.000,2,0.000,0.000,50,1974,3362,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-3.9,12,113,9.30,2.20,-0.77,0.000,4,0.227,0.064,2382,3376,3396,0,0,0,0,0,0
$GC,345,-0.74,-146.0,56.4,-18.1,57,350,0.00,2.25,0.00,0.000,6,0.000,0.042,2383,1959,3398,0,0,0,0,0,0
$GC,674,-0.74,-146.0,103.9,-12.8,101,678,0.00,2.25,0.00,0.000,4,0.000,0.054,2383,547,3399,0,0,0,0,0,0
$GC,763,-0.74,-146.0,117.1,-13.9,109,767,0.00,2.17,0.00,0.000,6,0.000,0.034,2373,1983,3399,0,0,0,0,0,0
$GC,1090,-0.74,-146.0,159.6,-13.5,139,1097,0.00,2.28,0.00,0.000,4,0.000,0.051,2373,544,3401,0,0,0,0,0,0
$GC,1290,-0.74,-146.0,186.6,-13.4,157,1294,0.15,2.12,0.00,0.000,6,0.164,0.035,2404,1966,3401,0,0,0,0,0,0
$GC,1610,-0.74,-146.0,218.1,-8.3,178,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1966,3402,0,0,0,0,0,0
$GC,1919,-0.74,-146.0,245.0,-9.3,193,1923,0.00,2.17,0.00,0.000,4,0.000,0.054,2395,3363,3402,0,0,0,0,0,0
$GC,2003,-0.74,-146.0,253.2,-9.4,197,2007,0.00,2.20,0.00,0.000,6,0.000,0.043,2394,1961,3403,0,0,0,0,0,0
$GC,2333,-0.74,-146.0,281.0,-7.5,213,2337,0.00,2.22,0.00,0.000,4,0.000,0.055,2395,551,3402,0,0,0,0,0,0
$GC,2429,-0.74,-146.0,289.3,-8.9,217,2433,0.00,2.12,0.00,0.000,6,0.000,0.036,2385,1960,3402,0,0,0,0,0,0
$GC,2745,-0.74,-146.0,311.5,-6.8,228,2749,0.00,2.25,0.00,0.000,4,0.000,0.054,2385,551,3402,0,0,0,0,0,0
$GC,2857,-0.74,-146.0,319.9,-6.9,230,2864,0.00,2.15,0.00,0.000,6,0.000,0.038,2376,1966,3402,0,0,0,0,0,0
$GC,3201,-0.74,-146.0,349.4,-8.9,239,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1966,3401,0,0,0,0,0,0
$GC,3526,-0.74,-146.0,378.7,-8.4,247,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1966,3400,0,0,0,0,0,0
$GC,3851,-0.74,-146.0,403.4,-7.6,255,3855,0.00,2.30,0.00,0.000,4,0.000,0.061,2375,546,3398,0,0,0,0,0,0
$GC,4109,-0.74,-146.0,424.9,-8.6,260,4119,0.12,2.17,0.00,0.000,6,0.165,0.041,2399,1960,3396,0,0,0,0,0,0
$GC,4443,-0.74,-146.0,448.0,-7.1,269,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1961,3394,0,0,0,0,0,0
$STATE,4479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4479,begin apogee
$GC,4485,-0.17,0.0,450.8,7.1,270,4607,0.57,0.00,118.75,0.778,6,0.122,0.000,2586,1961,2800,0,0,0,0,0,0
$STATE,4608,end apogee,CONTROL_FINISHED_OK
$STATE,4608,begin climb
$GC,4611,0.74,146.0,452.8,0.0,273,4745,0.85,2.45,125.75,0.749,4,0.095,0.063,2884,569,2202,0,0,0,0,0,0
$GC,4767,0.74,146.0,437.1,12.8,277,4771,0.00,2.28,0.00,0.000,6,0.000,0.041,2884,1970,2200,0,0,0,0,0,0
$GC,5085,0.74,146.0,396.9,12.5,285,5089,0.00,2.33,0.00,0.000,4,0.000,0.065,2893,571,2195,0,0,0,0,0,0
$GC,5125,0.74,146.0,391.5,13.5,286,5129,0.00,2.22,0.00,0.000,6,0.000,0.044,2893,1976,2195,0,0,0,0,0,0
$GC,5449,0.74,146.0,343.0,15.1,294,5453,0.00,2.33,0.00,0.000,4,0.000,0.067,2899,569,2193,0,0,0,0,0,0
$GC,5488,0.74,146.0,336.8,15.4,295,5492,0.00,2.22,0.00,0.000,6,0.000,0.047,2899,1976,2192,0,0,0,0,0,0
$GC,5814,0.74,146.0,286.9,15.4,305,5818,0.00,2.20,0.00,0.000,4,0.000,0.053,2899,3395,2191,0,0,0,0,0,0
$GC,5870,0.74,146.0,278.0,16.0,307,5874,0.12,2.22,0.00,0.000,6,0.159,0.042,2876,1975,2190,0,0,0,0,0,0
$GC,6185,0.74,146.0,238.4,10.5,322,6189,0.00,2.25,0.00,0.000,4,0.000,0.061,2885,558,2189,0,0,0,0,0,0
$GC,6224,0.74,146.0,234.4,9.8,323,6229,0.00,2.20,0.00,0.000,6,0.000,0.039,2885,1986,2188,0,0,0,0,0,0
$GC,6540,0.74,146.0,200.7,10.5,339,6544,0.00,2.17,0.00,0.000,4,0.000,0.053,2885,3387,2188,0,0,0,0,0,0
$GC,6646,0.74,146.0,189.3,10.3,348,6650,0.00,2.17,0.00,0.000,6,0.000,0.041,2895,1974,2187,0,0,0,0,0,0
$GC,6972,0.74,146.0,155.7,10.9,378,6976,0.00,2.22,0.00,0.000,4,0.000,0.058,2905,563,2187,0,0,0,0,0,0
$GC,7090,0.74,146.0,142.4,12.4,388,7094,0.00,2.17,0.00,0.000,6,0.000,0.038,2906,1986,2187,0,0,0,0,0,0
$GC,7417,0.74,146.0,104.9,10.4,418,7420,0.00,2.12,0.00,0.000,4,0.000,0.051,2905,3379,2186,0,0,0,0,0,0
$GC,7459,0.74,146.0,100.0,10.7,421,7466,0.10,2.20,0.00,0.000,6,0.130,0.039,2881,1976,2187,0,0,0,0,0,0
$GC,7787,0.75,157.2,71.1,8.6,461,7800,0.00,2.22,8.15,0.456,4,0.000,0.055,2889,564,2158,0,0,0,0,0,0
$GC,7882,0.76,163.7,62.5,8.8,478,7895,0.00,2.17,7.38,0.437,6,0.000,0.036,2889,1974,2131,0,0,0,0,0,0
$GC,8221,0.76,163.7,33.9,9.2,540,8228,0.00,2.30,0.00,0.000,4,0.000,0.060,2897,571,2130,0,0,0,0,0,0
$GC,8243,0.77,175.1,32.2,8.6,543,8261,0.00,2.15,11.05,0.443,6,0.000,0.039,2897,1971,2085,0,0,0,0,0,0
$STATE,8557,end climb,SURFACE_DEPTH_REACHED
$STATE,8557,begin surface coast
$FINISH,0.6,1.023281
$STATE,8587,end surface coast,CONTROL_FINISHED_OK
$STATE,8587,begin surface
$SM_CCo,8604,55.70,0.439,0,0,1574,300.24
$SM_GC,1.41,0.00,0.00,55.70,0.000,0.000,0.439,26,1972,1574,-8.17,0.34,300.24
$IRIDIUM_FIX,2054.83,-15748.75,100802,151551
$TT8_MAMPS,0.028379
$HUMID,62.04
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.7,17.038
$10V_AH,10.5,18.644
$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,18.450,75.500,271.075,55.700,0.000,23.503,36.061,137.410,19.250,0.000,19.345,1108.307,5095.440,411.420,1952.092,417.329,0.000,1066.923,0.000,1903.528,0.000,119.412,0.000
$DEVICE_MAMPS,227.032,67.496,777.738,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.906,344.695,1175.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34979,607
$CAP_FILE_SIZE,92461,0
$CFSIZE,260165632,245411840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160513,202959,2107.135,-15801.287,49,0.9,49,9.8