version: 66.06
glider: 523
mission: 4
dive: 245
start: 5 20 113 20 27 46
data:
$ID,523
$MISSION,4
$DIVE,245
$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,-40687.363
$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,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
$GPS1,201933,2104.397,-15756.098,27,0.8,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-76.9
$GPS2,202729,2104.469,-15756.118,13,1.0,13,9.8
$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,295.1,12520,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.53,0.000,6,0.000,0.000,30,1977,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.7,13,118,9.60,2.20,0.00,0.000,4,0.234,0.043,2382,3365,3396,0,0,0,0,0,0
$GC,359,-0.74,-146.0,57.5,-15.4,60,367,0.00,2.25,0.00,0.000,6,0.000,0.042,2382,1967,3399,0,0,0,0,0,0
$GC,696,-0.74,-146.0,109.4,-16.7,105,700,0.00,2.25,0.00,0.000,4,0.000,0.055,2382,543,3400,0,0,0,0,0,0
$GC,838,-0.74,-146.0,131.2,-15.8,118,842,0.00,2.15,0.00,0.000,6,0.000,0.035,2373,1971,3400,0,0,0,0,0,0
$GC,1170,-0.74,-146.0,173.9,-12.3,149,1174,0.00,2.28,0.00,0.000,4,0.000,0.051,2373,543,3401,0,0,0,0,0,0
$GC,1348,-0.74,-146.0,196.2,-12.4,164,1354,0.10,2.17,0.00,0.000,6,0.146,0.034,2395,1968,3401,0,0,0,0,0,0
$GC,1675,-0.74,-146.0,227.6,-8.8,182,1679,0.00,2.25,0.00,0.000,4,0.000,0.051,2395,541,3401,0,0,0,0,0,0
$GC,1900,-0.74,-146.0,249.9,-10.2,192,1907,0.00,2.15,0.00,0.000,6,0.000,0.035,2387,1957,3402,0,0,0,0,0,0
$GC,2234,-0.74,-146.0,277.2,-7.5,208,2238,0.00,2.20,0.00,0.000,4,0.000,0.055,2377,3361,3402,0,0,0,0,0,0
$GC,2250,-0.74,-146.0,278.4,-6.8,208,2256,0.00,2.22,0.00,0.000,6,0.000,0.043,2377,1948,3402,0,0,0,0,0,0
$GC,2569,-0.74,-146.0,303.5,-8.4,223,2573,0.00,2.20,0.00,0.000,4,0.000,0.055,2377,541,3402,0,0,0,0,0,0
$GC,2736,-0.74,-146.0,319.2,-8.3,226,2742,0.12,2.15,0.00,0.000,6,0.164,0.037,2400,1962,3401,0,0,0,0,0,0
$GC,3072,-0.74,-146.0,341.8,-6.7,235,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1962,3401,0,0,0,0,0,0
$GC,3393,-0.74,-146.0,367.6,-8.5,243,3397,0.00,2.20,0.00,0.000,4,0.000,0.057,2391,3366,3399,0,0,0,0,0,0
$GC,3472,-0.74,-146.0,375.1,-9.7,244,3478,0.00,2.17,0.00,0.000,6,0.000,0.041,2391,1958,3399,0,0,0,0,0,0
$GC,3806,-0.74,-146.0,401.4,-7.6,253,3810,0.00,2.25,0.00,0.000,4,0.000,0.062,2391,555,3396,0,0,0,0,0,0
$GC,3945,-0.74,-146.0,412.7,-8.0,256,3949,0.00,2.15,0.00,0.000,6,0.000,0.042,2382,1952,3395,0,0,0,0,0,0
$GC,4264,-0.74,-146.0,433.7,-5.9,264,4268,0.00,2.28,0.00,0.000,4,0.000,0.061,2371,3375,3393,0,0,0,0,0,0
$GC,4373,-0.74,-146.0,440.2,-6.0,266,4378,0.12,2.22,0.00,0.000,6,0.154,0.045,2404,1955,3393,0,0,0,0,0,0
$STATE,4556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4556,begin apogee
$GC,4563,-0.17,0.0,450.3,5.3,271,4684,0.55,0.00,118.68,0.782,6,0.120,0.000,2584,1955,2800,0,0,0,0,0,0
$STATE,4685,end apogee,CONTROL_FINISHED_OK
$STATE,4685,begin climb
$GC,4688,0.74,146.0,450.6,0.0,274,4823,0.82,2.42,125.22,0.751,4,0.078,0.057,2871,3383,2204,0,0,0,0,0,0
$GC,4857,0.74,146.0,432.9,13.9,278,4861,0.00,2.30,0.00,0.000,6,0.000,0.041,2880,1971,2201,0,0,0,0,0,0
$GC,5176,0.74,146.0,388.0,13.9,286,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1970,2197,0,0,0,0,0,0
$GC,5500,0.74,146.0,341.6,14.9,294,5504,0.00,2.22,0.00,0.000,4,0.000,0.056,2890,566,2194,0,0,0,0,0,0
$GC,5540,0.74,146.0,335.3,15.7,295,5544,0.00,2.17,0.00,0.000,6,0.000,0.037,2890,1982,2194,0,0,0,0,0,0
$GC,5865,0.74,146.0,289.0,13.4,304,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1982,2192,0,0,0,0,0,0
$GC,6174,0.74,146.0,247.3,13.3,319,6178,0.00,2.28,0.00,0.000,4,0.000,0.055,2900,554,2191,0,0,0,0,0,0
$GC,6229,0.74,146.0,239.8,12.9,321,6235,0.00,2.17,0.00,0.000,6,0.000,0.037,2900,1975,2191,0,0,0,0,0,0
$GC,6545,0.74,146.0,198.7,14.1,337,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1975,2190,0,0,0,0,0,0
$GC,6867,0.74,146.0,157.1,11.8,367,6871,0.00,2.17,0.00,0.000,4,0.000,0.051,2900,3380,2189,0,0,0,0,0,0
$GC,6919,0.74,146.0,150.6,13.2,371,6924,0.12,2.22,0.00,0.000,6,0.158,0.048,2875,1974,2188,0,0,0,0,0,0
$GC,7246,0.75,157.0,119.2,8.6,401,7260,0.00,2.22,7.85,0.505,4,0.000,0.053,2884,564,2160,0,0,0,0,0,0
$GC,7287,0.75,157.0,114.9,10.5,404,7294,0.00,2.20,0.00,0.000,6,0.000,0.036,2884,1983,2159,0,0,0,0,0,0
$GC,7614,0.75,157.0,81.7,11.3,435,7618,0.00,2.20,0.00,0.000,4,0.000,0.049,2884,3386,2159,0,0,0,0,0,0
$GC,7670,0.75,157.0,75.1,11.4,443,7676,0.00,2.22,0.00,0.000,6,0.000,0.047,2893,1974,2159,0,0,0,0,0,0
$GC,7999,0.76,164.3,43.5,8.7,504,8018,0.00,2.30,8.32,0.442,4,0.000,0.056,2901,563,2128,0,0,0,0,0,0
$GC,8110,0.76,166.1,33.3,9.0,523,8115,0.00,2.15,0.00,0.000,6,0.000,0.039,2901,1977,2127,0,0,0,0,0,0
$GC,8431,0.76,166.1,3.5,9.2,584,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1978,2127,0,0,0,0,0,0
$STATE,8444,end climb,SURFACE_DEPTH_REACHED
$STATE,8444,begin surface coast
$FINISH,0.5,1.725007
$STATE,8476,end surface coast,CONTROL_FINISHED_OK
$STATE,8476,begin surface
$SM_CCo,8494,60.58,0.444,0,0,1575,300.24
$SM_GC,1.37,0.00,0.00,60.58,0.000,0.000,0.444,44,1978,1575,-8.11,0.51,300.24
$IRIDIUM_FIX,2054.83,-15751.76,140802,181856
$TT8_MAMPS,0.027612
$HUMID,61.89
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,24.7,20.161
$10V_AH,10.5,22.061
$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,18.675,71.025,260.075,60.575,0.000,25.463,31.817,295.608,19.500,0.000,13.660,1084.403,5038.851,383.012,1938.371,586.979,0.000,1066.080,0.000,1895.815,0.000,117.259,0.000
$DEVICE_MAMPS,233.935,62.127,781.573,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.222,335.858,1145.550,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,34987,592
$CAP_FILE_SIZE,94004,0
$CFSIZE,260165632,243568640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200513,225117,2105.148,-15757.077,17,1.8,17,9.8