version: 66.06
glider: 523
mission: 4
dive: 239
start: 5 20 113 5 18 35
data:
$ID,523
$MISSION,4
$DIVE,239
$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,-40569.098
$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,27
$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
$GPS1,051253,2100.335,-15750.801,14,1.5,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.4
$GPS2,051818,2100.277,-15750.788,13,1.1,13,9.8
$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,297.7,24537,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.70,0.000,2,0.000,0.000,53,1965,3346,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-3.8,12,113,9.43,2.25,-1.10,0.000,4,0.232,0.061,2381,3367,3397,0,0,0,0,0,0
$GC,179,-0.74,-146.0,22.0,-16.9,26,186,0.00,2.25,0.00,0.000,6,0.000,0.041,2381,1958,3399,0,0,0,0,0,0
$GC,350,-0.74,-146.0,49.9,-17.4,57,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1959,3400,0,0,0,0,0,0
$GC,679,-0.74,-146.0,102.5,-13.9,104,683,0.00,2.22,0.00,0.000,4,0.000,0.056,2381,544,3401,0,0,0,0,0,0
$GC,898,-0.74,-146.0,133.9,-13.2,123,906,0.00,2.17,0.00,0.000,6,0.000,0.035,2372,1964,3401,0,0,0,0,0,0
$GC,1226,-0.74,-146.0,173.7,-11.3,154,1231,0.12,2.25,0.00,0.000,4,0.166,0.052,2404,546,3403,0,0,0,0,0,0
$GC,1480,-0.74,-146.0,202.3,-11.9,175,1486,0.00,2.12,0.00,0.000,6,0.000,0.034,2397,1970,3403,0,0,0,0,0,0
$GC,1799,-0.74,-146.0,231.1,-8.9,191,1803,0.00,2.15,0.00,0.000,4,0.000,0.054,2386,3359,3404,0,0,0,0,0,0
$GC,1951,-0.74,-146.0,244.1,-8.1,198,1955,0.00,2.20,0.00,0.000,6,0.000,0.043,2386,1951,3404,0,0,0,0,0,0
$GC,2278,-0.74,-146.0,270.2,-9.2,214,2282,0.00,2.20,0.00,0.000,4,0.000,0.054,2386,550,3404,0,0,0,0,0,0
$GC,2457,-0.74,-146.0,288.5,-9.8,222,2461,0.00,2.15,0.00,0.000,6,0.000,0.036,2376,1966,3403,0,0,0,0,0,0
$GC,2800,-0.74,-146.0,316.5,-7.2,234,2804,0.00,2.28,0.00,0.000,4,0.000,0.054,2377,553,3403,0,0,0,0,0,0
$GC,2931,-0.74,-146.0,329.0,-10.0,237,2935,0.12,2.17,0.00,0.000,6,0.166,0.038,2400,1971,3403,0,0,0,0,0,0
$GC,3259,-0.74,-146.0,356.1,-8.0,245,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1971,3402,0,0,0,0,0,0
$GC,3581,-0.74,-146.0,375.6,-5.6,253,3584,0.00,2.22,0.00,0.000,4,0.000,0.059,2390,3369,3400,0,0,0,0,0,0
$GC,3666,-0.74,-146.0,381.1,-6.2,255,3670,0.00,2.22,0.00,0.000,6,0.000,0.044,2391,1954,3400,0,0,0,0,0,0
$GC,3993,-0.74,-146.0,403.3,-6.8,263,3997,0.00,2.22,0.00,0.000,4,0.000,0.062,2391,552,3398,0,0,0,0,0,0
$GC,4071,-0.74,-146.0,409.2,-7.5,264,4076,0.00,2.17,0.00,0.000,6,0.000,0.041,2380,1959,3397,0,0,0,0,0,0
$GC,4405,-0.74,-146.0,432.4,-7.2,272,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1960,3394,0,0,0,0,0,0
$STATE,4687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4687,begin apogee
$GC,4693,-0.17,0.0,450.8,6.5,279,4815,0.62,0.00,118.62,0.782,6,0.126,0.000,2580,1960,2800,0,0,0,0,0,0
$STATE,4816,end apogee,CONTROL_FINISHED_OK
$STATE,4816,begin climb
$GC,4819,0.74,146.0,451.9,0.0,282,4949,0.85,0.00,125.75,0.752,6,0.081,0.000,2871,1960,2203,0,0,0,0,0,0
$GC,5265,0.74,146.0,394.8,13.9,293,5269,0.00,2.28,0.00,0.000,4,0.000,0.053,2871,3389,2195,0,0,0,0,0,0
$GC,5305,0.74,146.0,388.8,15.1,294,5309,0.00,2.28,0.00,0.000,6,0.000,0.042,2881,1970,2195,0,0,0,0,0,0
$GC,5630,0.74,146.0,342.0,14.4,302,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1970,2193,0,0,0,0,0,0
$GC,5955,0.74,146.0,295.3,15.0,310,5959,0.00,2.25,0.00,0.000,4,0.000,0.058,2891,565,2192,0,0,0,0,0,0
$GC,6089,0.74,146.0,275.8,13.5,316,6093,0.00,2.17,0.00,0.000,6,0.000,0.038,2892,1990,2190,0,0,0,0,0,0
$GC,6410,0.74,146.0,236.8,12.5,332,6414,0.00,2.25,0.00,0.000,4,0.000,0.056,2901,567,2190,0,0,0,0,0,0
$GC,6478,0.74,146.0,227.9,13.6,335,6482,0.00,2.15,0.00,0.000,6,0.000,0.038,2901,1975,2189,0,0,0,0,0,0
$GC,6804,0.74,146.0,184.5,12.9,356,6808,0.00,2.17,0.00,0.000,4,0.000,0.051,2901,3380,2188,0,0,0,0,0,0
$GC,6898,0.74,146.0,172.8,12.1,364,6903,0.12,2.20,0.00,0.000,6,0.159,0.040,2877,1970,2187,0,0,0,0,0,0
$GC,7226,0.74,146.0,140.0,9.4,394,7230,0.00,2.20,0.00,0.000,4,0.000,0.056,2886,568,2187,0,0,0,0,0,0
$GC,7278,0.74,146.0,134.9,9.7,398,7282,0.00,2.15,0.00,0.000,6,0.000,0.036,2885,1977,2186,0,0,0,0,0,0
$GC,7607,0.74,148.1,100.6,8.9,428,7611,0.00,2.17,0.00,0.000,4,0.000,0.050,2886,3386,2186,0,0,0,0,0,0
$GC,7723,0.75,157.1,89.4,8.7,438,7737,0.00,2.20,7.80,0.476,6,0.000,0.039,2895,1968,2158,0,0,0,0,0,0
$GC,8058,0.77,169.7,59.3,8.5,490,8078,0.00,2.22,12.30,0.478,4,0.000,0.054,2905,575,2107,0,0,0,0,0,0
$GC,8114,0.77,169.7,54.3,9.3,499,8119,0.00,2.15,0.00,0.000,6,0.000,0.035,2905,1984,2105,0,0,0,0,0,0
$GC,8444,0.77,169.7,20.7,9.8,560,8451,0.00,2.17,0.00,0.000,4,0.000,0.048,2905,3367,2105,0,0,0,0,0,0
$STATE,8613,end climb,SURFACE_DEPTH_REACHED
$STATE,8613,begin surface coast
$FINISH,0.4,1.013418
$STATE,8640,end surface coast,CONTROL_FINISHED_OK
$STATE,8640,begin surface
$SM_CCo,8660,59.78,0.446,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,59.78,0.000,0.000,0.446,41,1946,1575,-8.12,-0.40,300.24
$IRIDIUM_FIX,2052.52,-15751.76,140802,020246
$TT8_MAMPS,0.028379
$HUMID,63.11
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.7,19.679
$10V_AH,10.5,21.537
$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,18.600,70.500,264.475,59.775,0.000,31.173,33.081,135.921,19.000,0.000,14.314,1113.219,5142.668,387.707,1976.280,425.737,0.000,1066.568,0.000,1931.944,0.000,119.169,0.000
$DEVICE_MAMPS,231.634,62.127,781.573,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.693,342.781,1160.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31762,597
$CAP_FILE_SIZE,92189,0
$CFSIZE,260165632,243838976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200513,074504,2100.910,-15751.648,29,1.0,29,9.8