version: 66.06
glider: 523
mission: 4
dive: 207
start: 5 16 113 20 36 42
data:
$ID,523
$MISSION,4
$DIVE,207
$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,-39980.23
$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,28
$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
$GPS1,202959,2107.135,-15801.287,49,0.9,49,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.2
$GPS2,203625,2107.180,-15801.376,14,0.9,14,9.8
$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,321.1,2445,-17.2,-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,-138.1,0.0,0.0,0,94,0.00,0.00,-75.88,0.000,3,0.000,0.000,26,1972,3364,0,0,0,0,0,0
$GC,97,-0.75,-146.0,3.2,-4.0,12,113,9.43,2.17,-0.68,0.000,4,0.231,0.062,2373,3367,3397,0,0,0,0,0,0
$GC,357,-0.75,-146.0,59.6,-18.5,59,362,0.00,2.20,0.00,0.000,6,0.000,0.040,2373,1953,3398,0,0,0,0,0,0
$GC,691,-0.75,-146.0,117.9,-15.8,101,695,0.00,2.25,0.00,0.000,4,0.000,0.050,2363,3375,3400,0,0,0,0,0,0
$GC,721,-0.75,-146.0,122.8,-16.4,103,726,0.12,2.22,0.00,0.000,6,0.160,0.042,2394,1956,3399,0,0,0,0,0,0
$GC,1048,-0.75,-146.0,164.6,-12.1,133,1052,0.00,2.17,0.00,0.000,4,0.000,0.050,2387,3372,3401,0,0,0,0,0,0
$GC,1116,-0.75,-146.0,172.6,-10.3,139,1120,0.00,2.20,0.00,0.000,6,0.000,0.043,2387,1961,3401,0,0,0,0,0,0
$GC,1449,-0.75,-146.0,211.4,-13.1,166,1453,0.00,2.20,0.00,0.000,4,0.000,0.052,2387,550,3402,0,0,0,0,0,0
$GC,1662,-0.75,-146.0,236.0,-9.6,175,1668,0.00,2.15,0.00,0.000,6,0.000,0.035,2377,1975,3401,0,0,0,0,0,0
$GC,1981,-0.75,-146.0,260.1,-8.0,191,1985,0.00,2.15,0.00,0.000,4,0.000,0.054,2367,3363,3401,0,0,0,0,0,0
$GC,2207,-0.75,-146.0,281.5,-9.9,201,2211,0.00,2.17,0.00,0.000,6,0.000,0.041,2367,1958,3401,0,0,0,0,0,0
$GC,2535,-0.75,-146.0,309.4,-7.0,214,2539,0.00,2.22,0.00,0.000,4,0.000,0.057,2367,546,3402,0,0,0,0,0,0
$GC,2586,-0.75,-146.0,313.0,-6.8,215,2590,0.15,2.15,0.00,0.000,6,0.166,0.036,2396,1966,3401,0,0,0,0,0,0
$GC,2902,-0.75,-146.0,336.0,-8.1,223,2905,0.00,2.17,0.00,0.000,4,0.000,0.055,2388,3365,3401,0,0,0,0,0,0
$GC,3016,-0.75,-146.0,345.5,-8.1,225,3020,0.00,2.17,0.00,0.000,6,0.000,0.040,2388,1959,3400,0,0,0,0,0,0
$GC,3359,-0.75,-146.0,369.0,-5.8,234,3363,0.00,2.25,0.00,0.000,4,0.000,0.060,2387,544,3399,0,0,0,0,0,0
$GC,3618,-0.75,-146.0,388.0,-5.9,239,3624,0.00,2.17,0.00,0.000,6,0.000,0.040,2378,1965,3396,0,0,0,0,0,0
$GC,3951,-0.75,-146.0,408.7,-6.9,248,3955,0.00,2.28,0.00,0.000,4,0.000,0.059,2378,557,3395,0,0,0,0,0,0
$GC,4057,-0.75,-146.0,417.8,-9.1,250,4061,0.00,2.17,0.00,0.000,6,0.000,0.042,2368,1966,3394,0,0,0,0,0,0
$STATE,4399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4399,begin apogee
$GC,4406,-0.17,0.0,450.7,10.6,259,4527,0.68,0.00,118.38,0.773,6,0.136,0.000,2580,1966,2799,0,0,0,0,0,0
$STATE,4528,end apogee,CONTROL_FINISHED_OK
$STATE,4528,begin climb
$GC,4531,0.75,146.0,447.6,0.0,262,4666,0.88,2.40,125.15,0.742,4,0.083,0.061,2890,574,2202,0,0,0,0,0,0
$GC,4779,0.75,146.0,414.3,13.6,267,4784,0.00,2.25,0.00,0.000,6,0.000,0.041,2891,1983,2198,0,0,0,0,0,0
$GC,5110,0.75,146.0,365.1,15.5,276,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1983,2195,0,0,0,0,0,0
$GC,5435,0.75,146.0,317.2,14.3,284,5439,0.00,2.33,0.00,0.000,4,0.000,0.065,2900,562,2192,0,0,0,0,0,0
$GC,5541,0.75,146.0,301.5,14.6,286,5545,0.00,2.22,0.00,0.000,6,0.000,0.044,2900,1979,2192,0,0,0,0,0,0
$GC,5867,0.75,146.0,253.7,13.8,302,5871,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3383,2190,0,0,0,0,0,0
$GC,5912,0.75,146.0,247.3,14.3,304,5916,0.00,2.20,0.00,0.000,6,0.000,0.041,2909,1973,2189,0,0,0,0,0,0
$GC,6233,0.75,146.0,203.2,12.8,320,6237,0.00,2.22,0.00,0.000,4,0.000,0.051,2909,3384,2188,0,0,0,0,0,0
$GC,6298,0.75,146.0,194.4,14.3,324,6306,0.10,2.20,0.00,0.000,6,0.130,0.041,2885,1982,2187,0,0,0,0,0,0
$GC,6626,0.75,146.0,161.9,10.1,355,6630,0.00,2.25,0.00,0.000,4,0.000,0.059,2893,554,2187,0,0,0,0,0,0
$GC,6798,0.75,146.0,143.1,11.0,370,6802,0.00,2.17,0.00,0.000,6,0.000,0.038,2893,1981,2186,0,0,0,0,0,0
$GC,7125,0.75,146.0,109.3,10.8,400,7129,0.00,2.15,0.00,0.000,4,0.000,0.051,2893,3377,2186,0,0,0,0,0,0
$GC,7179,0.75,146.0,102.4,12.5,404,7186,0.00,2.20,0.00,0.000,6,0.000,0.039,2902,1969,2186,0,0,0,0,0,0
$GC,7509,0.75,146.0,67.1,10.2,445,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1969,2187,0,0,0,0,0,0
$GC,7842,0.75,146.0,32.7,9.4,506,7849,0.00,2.25,0.00,0.000,4,0.000,0.058,2902,3370,2187,0,0,0,0,0,0
$GC,7874,0.75,146.0,29.6,10.4,511,7882,0.00,2.20,0.00,0.000,6,0.000,0.047,2911,1980,2188,0,0,0,0,0,0
$GC,8042,0.75,146.0,13.4,9.7,542,8050,0.00,2.25,0.00,0.000,4,0.000,0.056,2922,564,2188,0,0,0,0,0,0
$GC,8086,0.77,162.6,9.6,8.3,549,8108,0.08,2.20,12.55,0.430,6,0.117,0.045,2893,1963,2137,0,0,0,0,0,0
$STATE,8155,end climb,SURFACE_DEPTH_REACHED
$STATE,8155,begin surface coast
$FINISH,0.4,1.023340
$STATE,8189,end surface coast,CONTROL_FINISHED_OK
$STATE,8189,begin surface
$SM_CCo,8206,64.10,0.442,0,0,1575,300.24
$SM_GC,1.44,0.00,0.00,64.10,0.000,0.000,0.442,40,1964,1575,-8.13,0.11,300.24
$IRIDIUM_FIX,2057.14,-15751.76,100802,181808
$TT8_MAMPS,0.028379
$HUMID,61.89
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.7,17.116
$10V_AH,10.5,18.730
$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,18.725,75.175,256.075,64.100,0.000,23.398,53.689,181.429,19.250,0.000,15.244,1064.984,4775.716,378.954,1947.726,489.576,0.000,1071.246,0.000,1901.612,0.000,117.249,0.000
$DEVICE_MAMPS,230.867,65.195,773.136,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,384.918,329.130,1120.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,31823,567
$CAP_FILE_SIZE,92419,0
$CFSIZE,260165632,245370880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160513,225525,2107.887,-15801.705,13,1.0,13,9.8