version: 66.06
glider: 523
mission: 4
dive: 43
start: 4 29 113 15 34 58
data:
$ID,523
$MISSION,4
$DIVE,43
$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,-36740.855
$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,22
$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
$GPS1,152904,2057.937,-15749.098,39,0.8,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.6
$GPS2,153441,2057.990,-15749.074,15,1.4,15,9.8
$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,300.7,29504,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-77.62,0.000,6,0.000,0.000,42,1970,3394,0,0,0,0,0,0
$GC,101,-0.74,-146.0,3.9,-6.4,13,116,9.35,2.28,0.00,0.000,4,0.232,0.050,2391,541,3396,0,0,0,0,0,0
$GC,358,-0.74,-146.0,55.9,-15.7,60,365,0.00,2.20,0.00,0.000,6,0.000,0.038,2383,1958,3397,0,0,0,0,0,0
$GC,689,-0.74,-146.0,107.4,-13.7,104,693,0.00,2.25,0.00,0.000,4,0.000,0.053,2383,544,3398,0,0,0,0,0,0
$GC,719,-0.74,-146.0,111.8,-14.1,106,724,0.00,2.17,0.00,0.000,6,0.000,0.036,2374,1970,3398,0,0,0,0,0,0
$GC,1046,-0.74,-146.0,159.5,-14.9,136,1053,0.00,2.25,0.00,0.000,4,0.000,0.051,2374,540,3400,0,0,0,0,0,0
$GC,1115,-0.74,-146.0,169.9,-15.6,142,1123,0.15,2.15,0.00,0.000,6,0.166,0.035,2405,1974,3400,0,0,0,0,0,0
$GC,1457,-0.74,-146.0,204.9,-9.6,172,1464,0.00,2.25,0.00,0.000,4,0.000,0.051,2404,539,3401,0,0,0,0,0,0
$GC,1717,-0.74,-146.0,231.7,-8.9,183,1721,0.00,2.12,0.00,0.000,6,0.000,0.037,2396,1963,3401,0,0,0,0,0,0
$GC,2036,-0.74,-146.0,257.9,-9.6,198,2040,0.00,2.22,0.00,0.000,4,0.000,0.054,2396,546,3401,0,0,0,0,0,0
$GC,2108,-0.74,-146.0,265.7,-10.0,201,2112,0.00,2.15,0.00,0.000,6,0.000,0.039,2386,1962,3401,0,0,0,0,0,0
$GC,2431,-0.74,-146.0,293.3,-8.0,217,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1962,3401,0,0,0,0,0,0
$GC,2736,-0.74,-146.0,318.2,-8.3,227,2740,0.00,2.20,0.00,0.000,4,0.000,0.056,2376,3364,3400,0,0,0,0,0,0
$GC,2797,-0.74,-146.0,324.0,-8.9,228,2801,0.00,2.17,0.00,0.000,6,0.000,0.041,2376,1950,3400,0,0,0,0,0,0
$GC,3141,-0.74,-146.0,354.8,-9.1,237,3147,0.00,2.22,0.00,0.000,4,0.000,0.056,2367,3365,3399,0,0,0,0,0,0
$GC,3226,-0.74,-146.0,363.2,-10.6,238,3232,0.12,2.17,0.00,0.000,6,0.150,0.041,2401,1956,3398,0,0,0,0,0,0
$GC,3560,-0.74,-146.0,392.2,-9.2,247,3564,0.00,2.20,0.00,0.000,4,0.000,0.062,2401,551,3396,0,0,0,0,0,0
$GC,3628,-0.74,-146.0,399.0,-9.5,248,3632,0.00,2.17,0.00,0.000,6,0.000,0.044,2393,1966,3396,0,0,0,0,0,0
$GC,3964,-0.74,-146.0,424.1,-6.9,257,3968,0.00,2.25,0.00,0.000,4,0.000,0.062,2393,556,3394,0,0,0,0,0,0
$GC,4071,-0.74,-146.0,433.4,-8.8,259,4075,0.00,2.17,0.00,0.000,6,0.000,0.046,2384,1959,3393,0,0,0,0,0,0
$STATE,4335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4335,begin apogee
$GC,4342,-0.17,0.0,452.9,7.3,266,4462,0.62,0.00,117.62,0.791,6,0.125,0.000,2587,1959,2800,0,0,0,0,0,0
$STATE,4463,end apogee,CONTROL_FINISHED_OK
$STATE,4463,begin climb
$GC,4466,0.74,146.0,453.9,0.0,269,4601,0.85,2.40,125.10,0.759,4,0.075,0.060,2878,3384,2203,0,0,0,0,0,0
$GC,4623,0.74,146.0,437.0,15.3,273,4627,0.00,2.35,0.00,0.000,6,0.000,0.051,2887,1982,2201,0,0,0,0,0,0
$GC,4941,0.74,146.0,389.3,15.1,281,4945,0.00,2.33,0.00,0.000,4,0.000,0.070,2898,564,2195,0,0,0,0,0,0
$GC,4990,0.74,146.0,381.9,14.2,282,4995,0.00,2.25,0.00,0.000,6,0.000,0.046,2897,1979,2194,0,0,0,0,0,0
$GC,5303,0.74,146.0,332.6,16.1,290,5307,0.00,2.25,0.00,0.000,4,0.000,0.064,2897,3387,2192,0,0,0,0,0,0
$GC,5381,0.74,146.0,319.5,16.3,291,5387,0.00,2.22,0.00,0.000,6,0.000,0.043,2907,1967,2191,0,0,0,0,0,0
$GC,5695,0.74,146.0,274.0,14.2,304,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1967,2191,0,0,0,0,0,0
$GC,6004,0.74,146.0,231.8,13.8,319,6008,0.00,2.22,0.00,0.000,4,0.000,0.061,2916,566,2189,0,0,0,0,0,0
$GC,6105,0.74,146.0,217.8,12.5,323,6111,0.15,2.20,0.00,0.000,6,0.149,0.041,2875,1994,2187,0,0,0,0,0,0
$GC,6428,0.74,146.0,185.1,10.5,345,6432,0.00,2.28,0.00,0.000,4,0.000,0.059,2883,567,2187,0,0,0,0,0,0
$GC,6589,0.74,146.0,167.5,11.4,359,6597,0.00,2.17,0.00,0.000,6,0.000,0.040,2883,1967,2186,0,0,0,0,0,0
$GC,6916,0.74,146.0,134.3,11.1,390,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1967,2186,0,0,0,0,0,0
$GC,7237,0.74,146.0,99.8,11.0,420,7241,0.00,2.17,0.00,0.000,4,0.000,0.055,2883,3382,2186,0,0,0,0,0,0
$GC,7301,0.74,146.0,92.4,10.4,425,7308,0.00,2.20,0.00,0.000,6,0.000,0.041,2892,1975,2186,0,0,0,0,0,0
$GC,7630,0.74,146.0,64.2,9.2,473,7635,0.00,2.20,0.00,0.000,4,0.000,0.058,2902,562,2186,0,0,0,0,0,0
$GC,7762,0.74,146.0,52.0,9.4,497,7768,0.00,2.15,0.00,0.000,6,0.000,0.038,2902,1978,2186,0,0,0,0,0,0
$GC,8088,0.74,151.9,22.0,8.8,558,8096,0.00,2.28,0.00,0.000,4,0.000,0.055,2912,565,2187,0,0,0,0,0,0
$GC,8171,0.74,151.9,14.0,9.5,573,8179,0.08,2.17,0.00,0.000,6,0.115,0.038,2884,1978,2187,0,0,0,0,0,0
$STATE,8307,end climb,SURFACE_DEPTH_REACHED
$STATE,8307,begin surface coast
$FINISH,0.4,1.023448
$STATE,8340,end surface coast,CONTROL_FINISHED_OK
$STATE,8340,begin surface
$SM_CCo,8357,67.62,0.454,0,0,1575,300.24
$SM_GC,1.22,0.00,0.00,67.62,0.000,0.000,0.454,40,1991,1575,-8.13,0.88,300.24
$IRIDIUM_FIX,2052.52,-15751.76,240702,131327
$TT8_MAMPS,0.028379
$HUMID,60.12
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,441.1,54.1
$24V_AH,24.6,3.995
$10V_AH,10.5,4.345
$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,18.500,75.475,242.725,67.625,0.000,33.222,39.714,141.946,18.750,0.000,16.083,1106.688,4859.765,392.764,1975.661,428.184,0.000,1062.179,0.000,1927.998,0.000,117.183,0.000
$DEVICE_MAMPS,231.634,69.797,790.777,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.078,336.543,1194.323,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34939,604
$CAP_FILE_SIZE,91503,0
$CFSIZE,260165632,253046784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290413,175623,2058.118,-15750.373,20,1.0,20,9.8