version: 66.06
glider: 523
mission: 4
dive: 237
start: 5 20 113 0 21 23
data:
$ID,523
$MISSION,4
$DIVE,237
$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,-40538.301
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,001528,2058.324,-15749.409,23,1.1,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.5
$GPS2,002106,2058.335,-15749.430,18,0.8,18,9.8
$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,300.5,28623,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,99,0.00,0.00,-77.43,0.000,6,0.000,0.000,42,1969,3392,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.6,13,118,9.52,2.20,0.00,0.000,4,0.232,0.044,2385,3365,3393,0,0,0,0,0,0
$GC,231,-0.74,-146.0,35.3,-17.1,36,238,0.00,2.25,0.00,0.000,6,0.000,0.042,2385,1954,3395,0,0,0,0,0,0
$GC,565,-0.74,-146.0,90.8,-16.6,91,569,0.00,2.25,0.00,0.000,4,0.000,0.051,2375,3370,3396,0,0,0,0,0,0
$GC,649,-0.74,-146.0,104.8,-16.7,98,653,0.00,2.22,0.00,0.000,6,0.000,0.043,2375,1960,3396,0,0,0,0,0,0
$GC,981,-0.74,-146.0,146.8,-12.5,129,985,0.00,2.22,0.00,0.000,4,0.000,0.056,2375,549,3398,0,0,0,0,0,0
$GC,1154,-0.74,-146.0,168.2,-12.0,144,1158,0.12,2.15,0.00,0.000,6,0.171,0.035,2397,1973,3397,0,0,0,0,0,0
$GC,1478,-0.74,-146.0,202.9,-10.4,173,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1973,3399,0,0,0,0,0,0
$GC,1790,-0.74,-146.0,231.7,-8.8,188,1794,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,3359,3399,0,0,0,0,0,0
$GC,1927,-0.74,-146.0,244.7,-9.5,194,1932,0.00,2.20,0.00,0.000,6,0.000,0.042,2389,1956,3399,0,0,0,0,0,0
$GC,2254,-0.74,-146.0,276.7,-9.3,210,2258,0.00,2.20,0.00,0.000,4,0.000,0.052,2388,550,3399,0,0,0,0,0,0
$GC,2512,-0.74,-146.0,296.9,-6.1,221,2517,0.00,2.12,0.00,0.000,6,0.000,0.035,2378,1961,3399,0,0,0,0,0,0
$GC,2824,-0.74,-146.0,318.1,-7.3,231,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1961,3399,0,0,0,0,0,0
$GC,3150,-0.74,-146.0,343.5,-7.7,239,3154,0.00,2.25,0.00,0.000,4,0.000,0.054,2378,548,3397,0,0,0,0,0,0
$GC,3230,-0.74,-146.0,350.2,-8.2,240,3236,0.12,2.15,0.00,0.000,6,0.172,0.038,2401,1956,3397,0,0,0,0,0,0
$GC,3564,-0.74,-146.0,375.4,-8.4,249,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1956,3395,0,0,0,0,0,0
$GC,3887,-0.74,-146.0,405.3,-8.7,257,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1956,3393,0,0,0,0,0,0
$GC,4211,-0.74,-146.0,429.8,-7.1,265,4216,0.00,2.28,0.00,0.000,4,0.000,0.059,2402,544,3391,0,0,0,0,0,0
$GC,4302,-0.74,-146.0,436.1,-7.3,267,4306,0.00,2.17,0.00,0.000,6,0.000,0.043,2394,1961,3390,0,0,0,0,0,0
$STATE,4509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4509,begin apogee
$GC,4515,-0.17,0.0,450.6,7.1,272,4637,0.60,0.00,118.00,0.780,6,0.125,0.000,2586,1961,2800,0,0,0,0,0,0
$STATE,4637,end apogee,CONTROL_FINISHED_OK
$STATE,4637,begin climb
$GC,4640,0.74,146.0,452.5,0.0,275,4772,0.82,0.00,125.22,0.752,6,0.079,0.000,2874,1961,2204,0,0,0,0,0,0
$GC,5087,0.74,146.0,396.0,13.6,286,5091,0.00,2.30,0.00,0.000,4,0.000,0.062,2883,569,2196,0,0,0,0,0,0
$GC,5132,0.74,146.0,389.1,15.2,287,5136,0.00,2.22,0.00,0.000,6,0.000,0.043,2883,1976,2195,0,0,0,0,0,0
$GC,5450,0.74,146.0,340.5,15.1,295,5454,0.00,2.30,0.00,0.000,4,0.000,0.067,2893,569,2193,0,0,0,0,0,0
$GC,5478,0.74,146.0,336.4,14.1,295,5482,0.00,2.22,0.00,0.000,6,0.000,0.046,2893,1977,2193,0,0,0,0,0,0
$GC,5790,0.74,146.0,291.4,13.6,304,5794,0.00,2.17,0.00,0.000,4,0.000,0.052,2893,3390,2191,0,0,0,0,0,0
$GC,5834,0.74,146.0,284.3,16.8,306,5838,0.00,2.22,0.00,0.000,6,0.000,0.043,2901,1970,2190,0,0,0,0,0,0
$GC,6155,0.74,146.0,238.8,13.2,322,6159,0.00,2.22,0.00,0.000,4,0.000,0.058,2912,562,2189,0,0,0,0,0,0
$GC,6241,0.74,146.0,228.4,13.1,326,6245,0.12,2.20,0.00,0.000,6,0.144,0.038,2878,1994,2189,0,0,0,0,0,0
$GC,6563,0.74,148.6,195.2,8.9,344,6567,0.00,2.15,0.00,0.000,4,0.000,0.051,2878,3380,2188,0,0,0,0,0,0
$GC,6604,0.74,148.6,191.0,9.9,347,6608,0.00,2.20,0.00,0.000,6,0.000,0.040,2886,1967,2187,0,0,0,0,0,0
$GC,6930,0.74,148.6,157.1,11.2,377,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1967,2186,0,0,0,0,0,0
$GC,7251,0.74,148.6,121.8,10.3,407,7255,0.00,2.25,0.00,0.000,4,0.000,0.057,2896,559,2187,0,0,0,0,0,0
$GC,7315,0.74,148.6,114.3,11.5,412,7323,0.00,2.17,0.00,0.000,6,0.000,0.037,2897,1967,2186,0,0,0,0,0,0
$GC,7639,0.75,153.8,79.1,8.8,444,7652,0.00,2.25,5.18,0.416,4,0.000,0.051,2897,3385,2170,0,0,0,0,0,0
$GC,7674,0.75,153.8,75.8,9.1,450,7682,0.00,2.22,0.00,0.000,6,0.000,0.040,2906,1977,2170,0,0,0,0,0,0
$GC,8011,0.75,153.8,42.7,9.4,511,8017,0.00,2.20,0.00,0.000,4,0.000,0.050,2906,3383,2170,0,0,0,0,0,0
$GC,8029,0.75,153.8,40.9,9.2,514,8037,0.10,2.22,0.00,0.000,6,0.122,0.040,2880,1969,2171,0,0,0,0,0,0
$GC,8359,0.81,208.8,15.7,6.7,575,8411,0.00,2.22,46.88,0.464,4,0.000,0.053,2889,567,1947,0,0,0,0,0,0
$STATE,8521,end climb,SURFACE_DEPTH_REACHED
$STATE,8521,begin surface coast
$FINISH,1.8,1.022995
$STATE,8533,end surface coast,CONTROL_FINISHED_OK
$STATE,8533,begin surface
$SM_CCo,8553,42.15,0.437,0,0,1574,300.24
$SM_GC,1.48,0.00,0.00,42.15,0.000,0.000,0.437,52,1976,1574,-8.09,0.45,300.24
$IRIDIUM_FIX,2045.60,-15758.64,130802,212140
$TT8_MAMPS,0.028379
$HUMID,62.01
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.7,19.523
$10V_AH,10.5,21.364
$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,18.650,70.850,295.275,42.150,0.000,23.494,35.240,148.793,19.000,0.000,18.534,1090.867,5068.091,373.489,1957.028,443.427,0.000,1059.950,0.000,1916.417,0.000,117.260,0.000
$DEVICE_MAMPS,232.401,66.729,780.039,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.409,344.861,1202.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34998,606
$CAP_FILE_SIZE,91137,0
$CFSIZE,260165632,243929088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200513,024558,2059.415,-15750.135,40,0.9,40,9.8