version: 66.06
glider: 523
mission: 4
dive: 242
start: 5 20 113 12 52 28
data:
$ID,523
$MISSION,4
$DIVE,242
$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,-40635.727
$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,33
$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
$GPS1,124628,2102.065,-15753.868,39,0.8,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.7
$GPS2,125211,2102.068,-15753.875,18,0.8,18,9.8
$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,299.6,18297,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.53,0.000,6,0.000,0.000,52,1971,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-7.0,13,118,9.43,2.17,0.00,0.000,4,0.231,0.047,2381,3367,3398,0,0,0,0,0,0
$GC,249,-0.74,-146.0,37.0,-14.6,40,257,0.00,2.25,0.00,0.000,6,0.000,0.041,2381,1954,3399,0,0,0,0,0,0
$GC,584,-0.74,-146.0,85.0,-14.1,98,589,0.00,2.22,0.00,0.000,4,0.000,0.054,2382,551,3400,0,0,0,0,0,0
$GC,749,-0.74,-146.0,109.7,-15.0,113,757,0.12,2.15,0.00,0.000,6,0.168,0.035,2405,1968,3401,0,0,0,0,0,0
$GC,1084,-0.74,-146.0,147.8,-9.1,144,1089,0.00,2.28,0.00,0.000,4,0.000,0.052,2405,541,3402,0,0,0,0,0,0
$GC,1137,-0.74,-146.0,153.0,-10.4,148,1141,0.00,2.15,0.00,0.000,6,0.000,0.034,2397,1963,3402,0,0,0,0,0,0
$GC,1464,-0.74,-146.0,187.7,-10.6,178,1468,0.00,2.25,0.00,0.000,4,0.000,0.051,2397,550,3402,0,0,0,0,0,0
$GC,1539,-0.74,-146.0,196.6,-11.3,184,1547,0.00,2.17,0.00,0.000,6,0.000,0.035,2387,1965,3403,0,0,0,0,0,0
$GC,1865,-0.74,-146.0,233.7,-10.7,202,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1964,3402,0,0,0,0,0,0
$GC,2178,-0.74,-146.0,260.9,-8.1,217,2182,0.00,2.30,0.00,0.000,4,0.000,0.053,2387,546,3403,0,0,0,0,0,0
$GC,2340,-0.74,-146.0,275.7,-8.5,224,2344,0.00,2.17,0.00,0.000,6,0.000,0.036,2377,1971,3403,0,0,0,0,0,0
$GC,2678,-0.74,-146.0,304.8,-9.1,239,2683,0.00,2.28,0.00,0.000,4,0.000,0.054,2377,551,3402,0,0,0,0,0,0
$GC,2924,-0.74,-146.0,326.5,-9.6,244,2928,0.12,2.15,0.00,0.000,6,0.163,0.037,2401,1969,3402,0,0,0,0,0,0
$GC,3273,-0.74,-146.0,354.7,-8.1,253,3278,0.00,2.20,0.00,0.000,4,0.000,0.058,2392,3361,3402,0,0,0,0,0,0
$GC,3394,-0.74,-146.0,365.1,-8.5,255,3398,0.00,2.20,0.00,0.000,6,0.000,0.043,2392,1955,3401,0,0,0,0,0,0
$GC,3732,-0.74,-146.0,389.8,-6.8,264,3737,0.00,2.25,0.00,0.000,4,0.000,0.060,2392,545,3399,0,0,0,0,0,0
$GC,3962,-0.74,-146.0,407.0,-7.1,269,3967,0.00,2.17,0.00,0.000,6,0.000,0.041,2383,1965,3398,0,0,0,0,0,0
$GC,4282,-0.74,-146.0,428.9,-7.0,277,4286,0.00,2.22,0.00,0.000,4,0.000,0.061,2373,3366,3396,0,0,0,0,0,0
$GC,4425,-0.74,-146.0,440.4,-8.1,280,4429,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,1960,3396,0,0,0,0,0,0
$STATE,4575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4575,begin apogee
$GC,4581,-0.17,0.0,452.1,7.6,284,4703,0.65,0.00,118.95,0.772,6,0.127,0.000,2580,1960,2800,0,0,0,0,0,0
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4707,0.74,146.0,453.4,0.0,287,4844,0.85,2.47,125.43,0.743,4,0.077,0.058,2877,3378,2202,0,0,0,0,0,0
$GC,4883,0.74,146.0,431.6,17.0,291,4887,0.00,2.30,0.00,0.000,6,0.000,0.048,2886,1982,2200,0,0,0,0,0,0
$GC,5196,0.74,146.0,378.5,16.9,299,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1982,2196,0,0,0,0,0,0
$GC,5521,0.74,146.0,329.7,14.9,307,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1982,2193,0,0,0,0,0,0
$GC,5827,0.74,146.0,289.3,12.1,316,5831,0.00,2.28,0.00,0.000,4,0.000,0.061,2897,556,2192,0,0,0,0,0,0
$GC,5933,0.74,146.0,275.4,12.5,320,5938,0.00,2.20,0.00,0.000,6,0.000,0.038,2896,1980,2191,0,0,0,0,0,0
$GC,6249,0.74,146.0,234.7,13.5,336,6253,0.00,2.20,0.00,0.000,4,0.000,0.051,2896,3382,2190,0,0,0,0,0,0
$GC,6360,0.74,146.0,217.8,14.9,341,6365,0.00,2.22,0.00,0.000,6,0.000,0.041,2906,1958,2188,0,0,0,0,0,0
$GC,6692,0.74,146.0,174.2,12.4,366,6696,0.00,2.20,0.00,0.000,4,0.000,0.058,2916,562,2188,0,0,0,0,0,0
$GC,6767,0.74,146.0,163.5,13.5,372,6774,0.10,2.20,0.00,0.000,6,0.119,0.038,2881,1981,2187,0,0,0,0,0,0
$GC,7095,0.74,146.0,128.2,10.1,403,7099,0.00,2.15,0.00,0.000,4,0.000,0.051,2881,3387,2187,0,0,0,0,0,0
$GC,7191,0.74,146.0,117.8,10.4,411,7199,0.00,2.20,0.00,0.000,6,0.000,0.039,2889,1980,2187,0,0,0,0,0,0
$GC,7518,0.74,146.0,85.7,10.3,442,7522,0.00,2.20,0.00,0.000,4,0.000,0.048,2889,3390,2187,0,0,0,0,0,0
$GC,7548,0.74,146.0,82.4,11.3,444,7552,0.00,2.20,0.00,0.000,6,0.000,0.039,2899,1966,2187,0,0,0,0,0,0
$GC,7878,0.76,168.1,49.8,8.1,502,7902,0.00,2.22,17.10,0.482,4,0.000,0.055,2909,548,2113,0,0,0,0,0,0
$GC,7966,0.77,169.5,42.4,9.0,517,7971,0.00,2.20,0.00,0.000,6,0.000,0.035,2909,1987,2111,0,0,0,0,0,0
$GC,8292,0.81,202.4,13.8,7.7,578,8326,0.00,2.25,29.58,0.459,4,0.000,0.051,2909,3384,1973,0,0,0,0,0,0
$GC,8375,0.81,202.4,5.0,11.6,592,8383,0.00,2.22,0.00,0.000,6,0.000,0.039,2919,1979,1972,0,0,0,0,0,0
$STATE,8399,end climb,SURFACE_DEPTH_REACHED
$STATE,8399,begin surface coast
$FINISH,0.5,1.801530
$STATE,8432,end surface coast,CONTROL_FINISHED_OK
$STATE,8432,begin surface
$SM_CCo,8450,44.97,0.441,0,0,1574,300.24
$SM_GC,1.37,0.00,0.00,44.97,0.000,0.000,0.441,30,1974,1574,-8.16,0.40,300.24
$IRIDIUM_FIX,2057.14,-15756.04,140802,101045
$TT8_MAMPS,0.028379
$HUMID,62.40
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.7,19.914
$10V_AH,10.5,21.801
$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,18.725,75.525,291.050,44.975,0.000,31.160,36.305,145.876,19.000,0.000,18.702,1109.233,4839.405,376.970,2073.081,440.622,0.000,1115.161,0.000,2018.770,0.000,117.270,0.000
$DEVICE_MAMPS,230.867,60.593,771.602,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.980,335.444,1195.065,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,35105,602
$CAP_FILE_SIZE,94731,0
$CFSIZE,260165632,243691520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200513,151505,2102.698,-15754.648,22,1.4,22,9.8