version: 66.06
glider: 523
mission: 4
dive: 281
start: 5 24 113 15 9 16
data:
$ID,523
$MISSION,4
$DIVE,281
$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,-41376.664
$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,30
$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
$GPS1,150329,2059.207,-15751.924,14,1.4,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.5
$GPS2,150859,2059.239,-15751.938,16,1.4,16,9.8
$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,304.1,24284,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.12,0.000,2,0.000,0.000,38,1981,3382,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.6,12,113,9.30,2.17,-0.28,0.000,4,0.225,0.061,2382,3374,3396,0,0,0,0,0,0
$GC,344,-0.74,-146.0,55.8,-15.7,57,350,0.00,2.25,0.00,0.000,6,0.000,0.044,2382,1960,3398,0,0,0,0,0,0
$GC,673,-0.74,-146.0,102.4,-12.9,102,677,0.00,2.28,0.00,0.000,4,0.000,0.058,2382,549,3399,0,0,0,0,0,0
$GC,825,-0.74,-146.0,123.1,-14.1,115,829,0.00,2.12,0.00,0.000,6,0.000,0.035,2372,1965,3399,0,0,0,0,0,0
$GC,1152,-0.74,-146.0,166.9,-13.5,145,1157,0.12,2.30,0.00,0.000,4,0.162,0.052,2406,540,3400,0,0,0,0,0,0
$GC,1269,-0.74,-146.0,179.0,-9.3,155,1273,0.00,2.15,0.00,0.000,6,0.000,0.033,2398,1965,3401,0,0,0,0,0,0
$GC,1602,-0.74,-146.0,210.8,-9.9,181,1606,0.00,2.25,0.00,0.000,4,0.000,0.051,2398,544,3401,0,0,0,0,0,0
$GC,1674,-0.74,-146.0,218.7,-10.3,184,1678,0.00,2.15,0.00,0.000,6,0.000,0.034,2388,1966,3401,0,0,0,0,0,0
$GC,1992,-0.74,-146.0,244.7,-7.7,199,1997,0.00,2.25,0.00,0.000,4,0.000,0.051,2388,549,3401,0,0,0,0,0,0
$GC,2020,-0.74,-146.0,247.4,-8.7,200,2024,0.00,2.15,0.00,0.000,6,0.000,0.036,2378,1971,3401,0,0,0,0,0,0
$GC,2344,-0.74,-146.0,274.5,-8.1,216,2349,0.00,2.28,0.00,0.000,4,0.000,0.051,2378,547,3401,0,0,0,0,0,0
$GC,2506,-0.74,-146.0,290.2,-10.3,223,2511,0.12,2.12,0.00,0.000,6,0.163,0.036,2402,1957,3401,0,0,0,0,0,0
$GC,2834,-0.74,-146.0,315.5,-7.4,234,2838,0.00,2.17,0.00,0.000,4,0.000,0.057,2394,3365,3401,0,0,0,0,0,0
$GC,2977,-0.74,-146.0,326.6,-7.7,237,2981,0.00,2.22,0.00,0.000,6,0.000,0.043,2394,1949,3401,0,0,0,0,0,0
$GC,3291,-0.74,-146.0,348.5,-6.4,245,3295,0.00,2.22,0.00,0.000,4,0.000,0.058,2394,544,3400,0,0,0,0,0,0
$GC,3505,-0.74,-146.0,363.2,-7.1,249,3509,0.00,2.17,0.00,0.000,6,0.000,0.038,2384,1969,3400,0,0,0,0,0,0
$GC,3836,-0.74,-146.0,383.6,-6.4,257,3840,0.00,2.20,0.00,0.000,4,0.000,0.058,2374,3369,3397,0,0,0,0,0,0
$GC,4015,-0.74,-146.0,397.6,-8.2,261,4019,0.00,2.22,0.00,0.000,6,0.000,0.043,2374,1948,3396,0,0,0,0,0,0
$GC,4339,-0.74,-146.0,422.7,-7.8,269,4343,0.00,2.20,0.00,0.000,4,0.000,0.061,2374,553,3394,0,0,0,0,0,0
$GC,4507,-0.74,-146.0,436.9,-7.6,272,4513,0.12,2.17,0.00,0.000,6,0.166,0.042,2398,1959,3392,0,0,0,0,0,0
$STATE,4755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4755,begin apogee
$GC,4761,-0.17,0.0,450.5,5.1,279,4883,0.57,0.00,118.82,0.775,6,0.119,0.000,2586,1960,2800,0,0,0,0,0,0
$STATE,4884,end apogee,CONTROL_FINISHED_OK
$STATE,4884,begin climb
$GC,4887,0.74,146.0,450.0,0.0,282,5022,0.82,2.38,125.03,0.746,4,0.076,0.061,2884,566,2204,0,0,0,0,0,0
$GC,5039,0.74,146.0,433.1,13.4,285,5043,0.00,2.30,0.00,0.000,6,0.000,0.043,2884,1975,2202,0,0,0,0,0,0
$GC,5370,0.74,146.0,382.5,16.0,293,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1974,2196,0,0,0,0,0,0
$GC,5695,0.74,146.0,332.6,14.9,301,5699,0.00,2.20,0.00,0.000,4,0.000,0.053,2884,3386,2194,0,0,0,0,0,0
$GC,5756,0.74,146.0,323.5,14.3,302,5760,0.00,2.25,0.00,0.000,6,0.000,0.043,2893,1967,2193,0,0,0,0,0,0
$GC,6086,0.74,146.0,276.8,14.0,314,6090,0.00,2.25,0.00,0.000,4,0.000,0.051,2893,3388,2192,0,0,0,0,0,0
$GC,6119,0.74,146.0,271.7,15.4,315,6124,0.00,2.22,0.00,0.000,6,0.000,0.040,2902,1965,2192,0,0,0,0,0,0
$GC,6434,0.74,146.0,227.1,14.8,331,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1965,2190,0,0,0,0,0,0
$GC,6749,0.74,146.0,185.2,12.5,351,6753,0.00,2.22,0.00,0.000,4,0.000,0.057,2912,555,2189,0,0,0,0,0,0
$GC,6779,0.74,146.0,181.0,14.2,353,6784,0.12,2.20,0.00,0.000,6,0.142,0.038,2878,1989,2188,0,0,0,0,0,0
$GC,7107,0.74,146.0,139.5,11.8,383,7111,0.00,2.17,0.00,0.000,4,0.000,0.051,2878,3386,2188,0,0,0,0,0,0
$GC,7247,0.74,146.0,122.4,12.1,395,7251,0.00,2.20,0.00,0.000,6,0.000,0.040,2886,1971,2187,0,0,0,0,0,0
$GC,7575,0.74,146.0,85.1,10.4,425,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1971,2187,0,0,0,0,0,0
$GC,7905,0.76,166.7,54.1,8.2,482,7924,0.00,0.00,16.15,0.492,6,0.000,0.000,2886,1971,2120,0,0,0,0,0,0
$GC,8248,0.80,201.4,26.2,7.6,545,8289,0.00,2.28,30.02,0.475,4,0.000,0.054,2896,571,1977,0,0,0,0,0,0
$GC,8335,0.83,220.8,19.2,8.2,559,8362,0.00,2.20,17.33,0.449,6,0.000,0.035,2896,1982,1898,0,0,0,0,0,0
$GC,8523,0.84,231.9,3.6,8.6,593,8531,0.00,0.00,6.18,0.375,2,0.000,0.000,2896,1981,1871,0,0,0,0,0,0
$STATE,8531,end climb,SURFACE_DEPTH_REACHED
$STATE,8531,begin surface coast
$FINISH,0.5,1.009911
$STATE,8568,end surface coast,CONTROL_FINISHED_OK
$STATE,8569,begin surface
$SM_CCo,8586,34.25,0.438,0,0,1575,300.24
$SM_GC,1.48,0.00,0.00,34.25,0.000,0.000,0.438,24,1981,1575,-8.18,0.59,300.24
$IRIDIUM_FIX,2054.83,-15751.76,180802,121209
$TT8_MAMPS,0.028379
$HUMID,63.66
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,24.7,23.006
$10V_AH,10.5,25.247
$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,18.525,70.950,313.525,34.250,0.000,27.122,31.892,142.256,19.500,0.000,17.336,1117.904,5013.009,369.520,2016.097,434.700,0.000,1098.766,0.000,1963.013,0.000,119.393,0.000
$DEVICE_MAMPS,224.731,60.593,774.670,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.909,340.232,1169.969,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,31803,601
$CAP_FILE_SIZE,94871,0
$CFSIZE,260165632,241860608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240513,173404,2100.178,-15752.899,27,0.8,27,9.8