version: 66.06
glider: 523
mission: 4
dive: 51
start: 4 30 113 11 43 2
data:
$ID,523
$MISSION,4
$DIVE,51
$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,-36899.438
$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,32
$R_STBD_OVSHOOT,34
$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
$GPS1,113706,2101.667,-15756.772,14,1.3,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.8
$GPS2,114246,2101.639,-15756.727,20,0.9,21,9.8
$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,313.6,15452,-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,-76.25,0.000,2,0.000,0.000,24,1945,3365,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-5.6,12,113,9.18,2.20,-0.68,0.000,4,0.222,0.062,2392,547,3397,0,0,0,0,0,0
$GC,300,-0.74,-146.0,49.1,-19.5,49,306,0.00,2.17,0.00,0.000,6,0.000,0.040,2383,1960,3399,0,0,0,0,0,0
$GC,630,-0.74,-146.0,97.5,-14.2,98,634,0.00,2.25,0.00,0.000,4,0.000,0.055,2383,547,3400,0,0,0,0,0,0
$GC,851,-0.74,-146.0,130.7,-15.0,117,855,0.00,2.15,0.00,0.000,6,0.000,0.036,2374,1965,3401,0,0,0,0,0,0
$GC,1183,-0.74,-146.0,171.5,-9.8,148,1187,0.00,2.25,0.00,0.000,4,0.000,0.054,2374,547,3403,0,0,0,0,0,0
$GC,1202,-0.74,-146.0,173.4,-9.8,149,1207,0.12,2.15,0.00,0.000,6,0.165,0.037,2398,1963,3403,0,0,0,0,0,0
$GC,1527,-0.74,-146.0,202.3,-8.9,178,1531,0.00,2.17,0.00,0.000,4,0.000,0.055,2389,3366,3403,0,0,0,0,0,0
$GC,1634,-0.74,-146.0,214.4,-11.9,183,1641,0.00,2.17,0.00,0.000,6,0.000,0.043,2389,1950,3403,0,0,0,0,0,0
$GC,1969,-0.74,-146.0,247.0,-8.3,199,1973,0.00,2.20,0.00,0.000,4,0.000,0.055,2389,547,3403,0,0,0,0,0,0
$GC,1998,-0.74,-146.0,249.4,-8.7,200,2002,0.00,2.12,0.00,0.000,6,0.000,0.038,2379,1970,3403,0,0,0,0,0,0
$GC,2318,-0.74,-146.0,276.3,-10.1,215,2322,0.00,2.22,0.00,0.000,4,0.000,0.057,2379,558,3403,0,0,0,0,0,0
$GC,2503,-0.74,-146.0,296.0,-10.3,223,2508,0.12,2.15,0.00,0.000,6,0.163,0.041,2405,1962,3403,0,0,0,0,0,0
$GC,2818,-0.74,-146.0,318.8,-6.7,232,2822,0.00,2.15,0.00,0.000,4,0.000,0.057,2396,3366,3403,0,0,0,0,0,0
$GC,2868,-0.74,-146.0,322.7,-7.1,233,2872,0.00,2.15,0.00,0.000,6,0.000,0.042,2396,1958,3403,0,0,0,0,0,0
$GC,3188,-0.74,-146.0,349.3,-9.2,241,3192,0.00,2.20,0.00,0.000,4,0.000,0.056,2386,3364,3401,0,0,0,0,0,0
$GC,3243,-0.74,-146.0,355.0,-10.4,242,3247,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,1962,3401,0,0,0,0,0,0
$GC,3567,-0.74,-146.0,387.5,-10.3,250,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1962,3399,0,0,0,0,0,0
$GC,3886,-0.74,-146.0,417.3,-8.4,258,3890,0.00,2.25,0.00,0.000,4,0.000,0.066,2386,551,3398,0,0,0,0,0,0
$GC,4009,-0.74,-146.0,428.2,-9.8,260,4014,0.00,2.17,0.00,0.000,6,0.000,0.045,2376,1962,3397,0,0,0,0,0,0
$GC,4340,-0.74,-146.0,442.1,-0.0,269,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1963,3395,0,0,0,0,0,0
$STATE,4459,end dive,NO_VERTICAL_VELOCITY
$STATE,4459,begin apogee
$GC,4465,-0.17,0.0,442.1,0.0,272,4587,0.60,0.00,118.68,0.781,6,0.078,0.000,2594,1963,2799,0,0,0,0,0,0
$STATE,4588,end apogee,CONTROL_FINISHED_OK
$STATE,4588,begin climb
$GC,4591,0.74,146.0,441.5,0.0,275,4725,0.82,2.42,125.78,0.752,4,0.081,0.055,2881,3381,2202,0,0,0,0,0,0
$GC,4766,0.74,146.0,422.1,15.9,279,4771,0.00,2.33,0.00,0.000,6,0.000,0.050,2890,1978,2199,0,0,0,0,0,0
$GC,5109,0.74,146.0,375.5,13.3,288,5113,0.00,2.28,0.00,0.000,4,0.000,0.062,2901,557,2195,0,0,0,0,0,0
$GC,5193,0.74,146.0,364.3,13.1,290,5197,0.00,2.25,0.00,0.000,6,0.000,0.045,2901,1977,2194,0,0,0,0,0,0
$GC,5517,0.74,146.0,317.5,15.1,298,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1978,2192,0,0,0,0,0,0
$GC,5824,0.74,146.0,272.7,13.7,310,5828,0.00,2.30,0.00,0.000,4,0.000,0.067,2909,565,2191,0,0,0,0,0,0
$GC,5873,0.74,146.0,265.5,15.6,312,5878,0.12,2.22,0.00,0.000,6,0.152,0.047,2876,1981,2190,0,0,0,0,0,0
$GC,6189,0.74,146.0,224.8,13.3,327,6193,0.00,2.20,0.00,0.000,4,0.000,0.057,2876,3388,2190,0,0,0,0,0,0
$GC,6306,0.74,146.0,210.4,13.6,332,6310,0.00,2.25,0.00,0.000,6,0.000,0.048,2884,1964,2189,0,0,0,0,0,0
$GC,6632,0.74,146.0,172.0,12.0,358,6636,0.00,2.22,0.00,0.000,4,0.000,0.061,2894,562,2188,0,0,0,0,0,0
$GC,6737,0.74,146.0,158.5,12.5,367,6741,0.00,2.20,0.00,0.000,6,0.000,0.044,2894,1981,2187,0,0,0,0,0,0
$GC,7065,0.74,146.0,121.7,9.5,397,7069,0.00,2.17,0.00,0.000,4,0.000,0.056,2894,3381,2187,0,0,0,0,0,0
$GC,7138,0.74,146.0,113.0,12.2,403,7143,0.00,2.22,0.00,0.000,6,0.000,0.045,2904,1963,2187,0,0,0,0,0,0
$GC,7463,0.74,146.0,78.6,10.1,434,7470,0.00,2.22,0.00,0.000,4,0.000,0.059,2914,565,2187,0,0,0,0,0,0
$GC,7584,0.74,146.0,66.9,9.8,456,7591,0.10,2.20,0.00,0.000,6,0.120,0.043,2879,1974,2187,0,0,0,0,0,0
$GC,7920,0.77,173.5,37.2,7.9,517,7948,0.00,2.30,21.55,0.494,4,0.000,0.061,2886,572,2091,0,0,0,0,0,0
$GC,8011,0.83,222.1,30.8,7.0,533,8062,0.00,2.17,41.08,0.490,6,0.000,0.041,2886,1974,1891,0,0,0,0,0,0
$GC,8224,0.83,222.1,13.6,9.3,571,8231,0.00,2.25,0.00,0.000,4,0.000,0.053,2886,3380,1889,0,0,0,0,0,0
$GC,8296,0.83,222.1,5.9,10.8,584,8304,0.00,2.22,0.00,0.000,6,0.000,0.040,2893,1978,1888,0,0,0,0,0,0
$STATE,8325,end climb,SURFACE_DEPTH_REACHED
$STATE,8325,begin surface coast
$FINISH,0.4,1.023595
$STATE,8354,end surface coast,CONTROL_FINISHED_OK
$STATE,8354,begin surface
$SM_CCo,8372,35.95,0.450,0,0,1574,300.24
$SM_GC,1.31,0.00,0.00,35.95,0.000,0.000,0.450,35,1974,1574,-8.15,0.40,300.24
$IRIDIUM_FIX,2054.83,-15751.76,250702,090916
$TT8_MAMPS,0.027612
$HUMID,61.77
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,387.5,58.1
$24V_AH,24.6,4.640
$10V_AH,10.5,5.047
$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,18.350,79.775,307.075,35.950,0.000,30.383,42.992,138.415,16.000,0.000,21.639,1091.374,4891.257,397.817,1932.025,436.513,0.000,1080.691,0.000,1889.722,0.000,103.882,0.000
$DEVICE_MAMPS,221.663,67.496,780.806,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.595,341.142,1175.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31864,594
$CAP_FILE_SIZE,92036,0
$CFSIZE,260165632,252674048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300413,140428,2101.942,-15757.549,39,0.8,39,9.8