version: 66.06
glider: 523
mission: 4
dive: 243
start: 5 20 113 15 20 46
data:
$ID,523
$MISSION,4
$DIVE,243
$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,-40656.559
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,151505,2102.698,-15754.648,22,1.4,22,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.6
$GPS2,152030,2102.713,-15754.662,19,1.1,19,9.8
$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,299.3,16487,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-78.00,0.000,6,0.000,0.000,31,1973,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.7,13,118,9.52,2.15,0.00,0.000,4,0.231,0.044,2382,3366,3398,0,0,0,0,0,0
$GC,219,-0.74,-146.0,33.8,-18.7,34,227,0.00,2.25,0.00,0.000,6,0.000,0.042,2382,1952,3399,0,0,0,0,0,0
$GC,560,-0.74,-146.0,90.7,-14.0,89,564,0.00,2.20,0.00,0.000,4,0.000,0.056,2382,549,3400,0,0,0,0,0,0
$GC,689,-0.74,-146.0,108.8,-13.7,100,693,0.00,2.15,0.00,0.000,6,0.000,0.036,2373,1965,3401,0,0,0,0,0,0
$GC,1017,-0.74,-146.0,151.6,-14.2,130,1021,0.10,2.28,0.00,0.000,4,0.175,0.052,2398,551,3402,0,0,0,0,0,0
$GC,1082,-0.74,-146.0,160.8,-12.9,135,1090,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1958,3402,0,0,0,0,0,0
$GC,1410,-0.74,-146.0,195.9,-11.8,166,1414,0.00,2.22,0.00,0.000,4,0.000,0.051,2390,547,3403,0,0,0,0,0,0
$GC,1505,-0.74,-146.0,206.6,-10.5,171,1508,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1971,3403,0,0,0,0,0,0
$GC,1824,-0.74,-146.0,234.7,-8.4,186,1828,0.00,2.30,0.00,0.000,4,0.000,0.051,2380,546,3403,0,0,0,0,0,0
$GC,1998,-0.74,-146.0,252.9,-10.6,193,2004,0.12,2.15,0.00,0.000,6,0.168,0.035,2403,1959,3403,0,0,0,0,0,0
$GC,2314,-0.74,-146.0,278.1,-7.6,209,2318,0.00,2.17,0.00,0.000,4,0.000,0.054,2394,3365,3403,0,0,0,0,0,0
$GC,2407,-0.74,-146.0,285.1,-7.9,213,2411,0.00,2.20,0.00,0.000,6,0.000,0.043,2394,1963,3403,0,0,0,0,0,0
$GC,2755,-0.74,-146.0,309.1,-6.4,227,2759,0.00,2.22,0.00,0.000,4,0.000,0.059,2394,553,3403,0,0,0,0,0,0
$GC,2896,-0.74,-146.0,320.6,-7.3,230,2900,0.00,2.15,0.00,0.000,6,0.000,0.038,2384,1962,3402,0,0,0,0,0,0
$GC,3211,-0.74,-146.0,339.9,-6.3,238,3215,0.00,2.20,0.00,0.000,4,0.000,0.058,2374,3365,3401,0,0,0,0,0,0
$GC,3341,-0.74,-146.0,349.6,-8.1,240,3350,0.00,2.20,0.00,0.000,6,0.000,0.044,2375,1962,3400,0,0,0,0,0,0
$GC,3674,-0.74,-146.0,375.3,-8.2,249,3678,0.00,2.28,0.00,0.000,4,0.000,0.062,2374,548,3399,0,0,0,0,0,0
$GC,3893,-0.74,-146.0,397.8,-10.1,254,3897,0.12,2.17,0.00,0.000,6,0.167,0.041,2397,1965,3397,0,0,0,0,0,0
$GC,4225,-0.74,-146.0,419.9,-6.2,262,4230,0.00,2.20,0.00,0.000,4,0.000,0.060,2389,3374,3396,0,0,0,0,0,0
$GC,4392,-0.74,-146.0,431.8,-8.3,265,4396,0.00,2.22,0.00,0.000,6,0.000,0.045,2389,1956,3395,0,0,0,0,0,0
$STATE,4640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4640,begin apogee
$GC,4646,-0.17,0.0,450.9,7.5,271,4769,0.60,0.00,118.93,0.777,6,0.124,0.000,2582,1956,2800,0,0,0,0,0,0
$STATE,4769,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4772,0.74,146.0,450.7,0.0,274,4909,0.85,2.47,125.45,0.746,4,0.080,0.058,2874,3375,2202,0,0,0,0,0,0
$GC,4932,0.74,146.0,431.2,15.5,277,4937,0.00,2.33,0.00,0.000,6,0.000,0.048,2883,1977,2200,0,0,0,0,0,0
$GC,5263,0.74,146.0,377.9,15.1,286,5267,0.00,2.30,0.00,0.000,4,0.000,0.064,2894,559,2195,0,0,0,0,0,0
$GC,5318,0.74,146.0,369.9,14.4,287,5322,0.00,2.22,0.00,0.000,6,0.000,0.040,2893,1982,2194,0,0,0,0,0,0
$GC,5666,0.74,146.0,323.0,13.3,296,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1983,2192,0,0,0,0,0,0
$GC,5973,0.74,146.0,280.7,14.8,306,5977,0.00,2.17,0.00,0.000,4,0.000,0.051,2894,3382,2192,0,0,0,0,0,0
$GC,6028,0.74,146.0,271.7,15.9,308,6034,0.00,2.22,0.00,0.000,6,0.000,0.041,2903,1962,2191,0,0,0,0,0,0
$GC,6344,0.74,146.0,225.9,13.8,324,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1963,2190,0,0,0,0,0,0
$GC,6659,0.74,146.0,185.3,11.6,344,6663,0.00,2.22,0.00,0.000,4,0.000,0.058,2913,564,2188,0,0,0,0,0,0
$GC,6689,0.74,146.0,181.5,13.0,346,6694,0.12,2.15,0.00,0.000,6,0.143,0.038,2880,1979,2187,0,0,0,0,0,0
$GC,7017,0.74,146.0,146.8,10.2,376,7021,0.00,2.17,0.00,0.000,4,0.000,0.051,2880,3385,2187,0,0,0,0,0,0
$GC,7079,0.74,146.0,139.1,12.4,381,7083,0.00,2.20,0.00,0.000,6,0.000,0.038,2887,1965,2187,0,0,0,0,0,0
$GC,7405,0.74,146.0,103.2,10.4,411,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1964,2187,0,0,0,0,0,0
$GC,7725,0.74,146.0,73.8,9.2,447,7730,0.00,2.20,0.00,0.000,4,0.000,0.048,2887,3379,2187,0,0,0,0,0,0
$GC,7760,0.74,146.0,70.4,9.8,453,7766,0.00,2.17,0.00,0.000,6,0.000,0.039,2896,1974,2187,0,0,0,0,0,0
$GC,8093,0.77,175.1,39.3,7.8,514,8123,0.00,0.00,22.55,0.479,6,0.000,0.000,2897,1974,2086,0,0,0,0,0,0
$GC,8444,0.78,181.2,8.9,8.8,579,8458,0.00,2.25,6.85,0.391,4,0.000,0.054,2907,575,2059,0,0,0,0,0,0
$STATE,8501,end climb,SURFACE_DEPTH_REACHED
$STATE,8501,begin surface coast
$FINISH,1.2,1.826258
$STATE,8518,end surface coast,CONTROL_FINISHED_OK
$STATE,8518,begin surface
$SM_CCo,8539,53.72,0.442,0,0,1575,300.24
$SM_GC,1.36,0.00,0.00,53.72,0.000,0.000,0.442,38,1965,1575,-8.13,0.14,300.24
$IRIDIUM_FIX,2057.14,-15756.04,140802,121216
$TT8_MAMPS,0.027612
$HUMID,62.44
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.7,19.991
$10V_AH,10.5,21.888
$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,18.775,75.300,273.775,53.725,0.000,23.658,32.511,137.235,19.250,0.000,20.201,1093.567,5014.700,383.585,1991.035,433.596,0.000,1091.780,0.000,1947.527,0.000,117.266,0.000
$DEVICE_MAMPS,230.867,63.661,776.971,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.044,337.933,1156.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,35020,592
$CAP_FILE_SIZE,93630,0
$CFSIZE,260165632,243646464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200513,174505,2103.505,-15755.335,27,0.9,27,9.8