version: 66.06
glider: 523
mission: 4
dive: 240
start: 5 20 113 7 51 5
data:
$ID,523
$MISSION,4
$DIVE,240
$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,-40587.492
$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,31
$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
$GPS1,074504,2100.910,-15751.648,29,1.0,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.7
$GPS2,075048,2100.868,-15751.681,17,1.3,17,9.8
$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,297.8,22647,-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,-146.0,0.0,0.0,0,101,0.00,0.00,-77.57,0.000,6,0.000,0.000,41,1946,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,4.0,-6.9,13,119,9.50,2.20,0.00,0.000,4,0.232,0.044,2384,3363,3397,0,0,0,0,0,0
$GC,278,-0.74,-146.0,41.6,-15.7,45,283,0.00,2.17,0.00,0.000,6,0.000,0.041,2384,1963,3399,0,0,0,0,0,0
$GC,614,-0.74,-146.0,95.9,-16.5,98,618,0.00,2.20,0.00,0.000,4,0.000,0.055,2384,552,3400,0,0,0,0,0,0
$GC,701,-0.74,-146.0,110.0,-15.3,105,709,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1959,3400,0,0,0,0,0,0
$GC,1028,-0.74,-146.0,154.3,-15.4,136,1035,0.00,2.22,0.00,0.000,4,0.000,0.054,2364,3372,3402,0,0,0,0,0,0
$GC,1043,-0.74,-146.0,156.7,-15.2,137,1048,0.12,2.20,0.00,0.000,6,0.153,0.043,2397,1955,3402,0,0,0,0,0,0
$GC,1370,-0.74,-146.0,194.0,-10.7,167,1374,0.00,2.20,0.00,0.000,4,0.000,0.051,2397,550,3402,0,0,0,0,0,0
$GC,1627,-0.74,-146.0,219.5,-8.8,180,1632,0.00,2.15,0.00,0.000,6,0.000,0.034,2390,1975,3403,0,0,0,0,0,0
$GC,1945,-0.74,-146.0,244.6,-7.3,196,1949,0.00,2.28,0.00,0.000,4,0.000,0.052,2390,541,3403,0,0,0,0,0,0
$GC,2170,-0.74,-146.0,265.5,-9.9,206,2174,0.00,2.15,0.00,0.000,6,0.000,0.036,2380,1958,3403,0,0,0,0,0,0
$GC,2497,-0.74,-146.0,296.1,-8.9,222,2501,0.00,2.22,0.00,0.000,4,0.000,0.057,2369,3372,3403,0,0,0,0,0,0
$GC,2537,-0.74,-146.0,299.9,-9.4,224,2543,0.12,2.22,0.00,0.000,6,0.153,0.042,2403,1946,3403,0,0,0,0,0,0
$GC,2888,-0.74,-146.0,327.8,-7.4,233,2892,0.00,2.22,0.00,0.000,4,0.000,0.058,2404,545,3403,0,0,0,0,0,0
$GC,3013,-0.74,-146.0,338.0,-8.1,235,3019,0.00,2.17,0.00,0.000,6,0.000,0.038,2395,1966,3402,0,0,0,0,0,0
$GC,3345,-0.74,-146.0,362.3,-6.9,244,3349,0.00,2.22,0.00,0.000,4,0.000,0.058,2385,3366,3401,0,0,0,0,0,0
$GC,3492,-0.74,-146.0,373.3,-7.7,247,3495,0.00,2.20,0.00,0.000,6,0.000,0.042,2385,1960,3399,0,0,0,0,0,0
$GC,3841,-0.74,-146.0,395.2,-6.1,256,3845,0.00,2.25,0.00,0.000,4,0.000,0.063,2385,554,3397,0,0,0,0,0,0
$GC,3930,-0.74,-146.0,401.2,-6.6,258,3934,0.00,2.15,0.00,0.000,6,0.000,0.042,2376,1960,3397,0,0,0,0,0,0
$GC,4251,-0.74,-146.0,422.6,-6.5,266,4255,0.00,2.22,0.00,0.000,4,0.000,0.061,2365,3368,3394,0,0,0,0,0,0
$GC,4383,-0.74,-146.0,432.9,-8.4,269,4388,0.12,2.20,0.00,0.000,6,0.150,0.046,2398,1963,3394,0,0,0,0,0,0
$STATE,4629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4631,begin apogee
$GC,4637,-0.17,0.0,450.1,6.6,275,4759,0.57,0.00,118.62,0.782,6,0.123,0.000,2585,1963,2800,0,0,0,0,0,0
$STATE,4760,end apogee,CONTROL_FINISHED_OK
$STATE,4760,begin climb
$GC,4763,0.74,146.0,450.5,0.0,278,4897,0.82,2.38,124.88,0.750,4,0.077,0.051,2872,3388,2204,0,0,0,0,0,0
$GC,4914,0.74,146.0,433.4,14.0,281,4919,0.00,2.35,0.00,0.000,6,0.000,0.049,2881,1974,2202,0,0,0,0,0,0
$GC,5246,0.74,146.0,382.7,15.0,289,5250,0.00,2.28,0.00,0.000,4,0.000,0.061,2892,561,2196,0,0,0,0,0,0
$GC,5279,0.74,146.0,377.2,15.4,289,5284,0.00,2.25,0.00,0.000,6,0.000,0.044,2892,1981,2196,0,0,0,0,0,0
$GC,5610,0.74,146.0,330.5,12.8,298,5614,0.00,2.20,0.00,0.000,4,0.000,0.052,2892,3394,2195,0,0,0,0,0,0
$GC,5637,0.74,146.0,326.9,12.6,298,5641,0.00,2.25,0.00,0.000,6,0.000,0.042,2902,1965,2193,0,0,0,0,0,0
$GC,5955,0.74,146.0,280.8,15.7,309,5959,0.00,2.20,0.00,0.000,4,0.000,0.058,2913,568,2192,0,0,0,0,0,0
$GC,6011,0.74,146.0,273.1,13.1,311,6017,0.12,2.17,0.00,0.000,6,0.152,0.038,2880,1983,2192,0,0,0,0,0,0
$GC,6327,0.74,146.0,233.5,12.3,327,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1983,2191,0,0,0,0,0,0
$GC,6636,0.74,146.0,200.1,10.8,342,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1983,2189,0,0,0,0,0,0
$GC,6958,0.74,146.0,166.9,10.6,371,6962,0.00,2.25,0.00,0.000,4,0.000,0.055,2888,568,2189,0,0,0,0,0,0
$GC,6998,0.74,146.0,162.1,11.3,374,7002,0.00,2.17,0.00,0.000,6,0.000,0.038,2888,1984,2188,0,0,0,0,0,0
$GC,7325,0.74,146.0,125.6,10.5,404,7329,0.00,2.28,0.00,0.000,4,0.000,0.054,2898,558,2189,0,0,0,0,0,0
$GC,7356,0.74,146.0,122.3,10.4,406,7359,0.00,2.17,0.00,0.000,6,0.000,0.037,2897,1977,2188,0,0,0,0,0,0
$GC,7683,0.74,146.0,85.3,12.1,436,7686,0.00,2.17,0.00,0.000,4,0.000,0.050,2898,3388,2189,0,0,0,0,0,0
$GC,7783,0.74,146.0,74.1,10.6,449,7789,0.00,2.20,0.00,0.000,6,0.000,0.038,2907,1966,2188,0,0,0,0,0,0
$GC,8116,0.74,146.0,42.0,10.1,510,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1966,2189,0,0,0,0,0,0
$GC,8446,0.77,171.6,10.1,8.0,571,8473,0.00,2.30,20.00,0.452,4,0.000,0.055,2907,3371,2100,0,0,0,0,0,0
$STATE,8527,end climb,SURFACE_DEPTH_REACHED
$STATE,8527,begin surface coast
$FINISH,0.5,1.005574
$STATE,8562,end surface coast,CONTROL_FINISHED_OK
$STATE,8562,begin surface
$SM_CCo,8582,58.03,0.443,0,0,1575,300.24
$SM_GC,1.36,0.00,0.00,58.03,0.000,0.000,0.443,44,1948,1575,-8.12,-0.34,300.24
$IRIDIUM_FIX,2054.83,-15836.36,140802,050541
$TT8_MAMPS,0.027612
$HUMID,62.67
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.7,19.756
$10V_AH,10.5,21.624
$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,18.725,79.900,263.500,58.025,0.000,28.827,33.165,153.950,19.000,0.000,17.766,1096.792,5089.005,381.342,1966.770,450.908,0.000,1079.274,0.000,1918.151,0.000,121.529,0.000
$DEVICE_MAMPS,231.634,62.894,782.340,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,401.860,336.189,1140.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,31762,591
$CAP_FILE_SIZE,94538,0
$CFSIZE,260165632,243789824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200513,101601,2101.428,-15752.706,16,1.4,16,9.8