version: 66.06
glider: 523
mission: 4
dive: 241
start: 5 20 113 10 22 46
data:
$ID,523
$MISSION,4
$DIVE,241
$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,-40616.395
$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,29
$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
$GPS1,101601,2101.428,-15752.706,16,1.4,16,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-75.5
$GPS2,102228,2101.440,-15752.801,27,1.1,27,9.8
$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,298.8,20470,-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,-76.25,0.000,2,0.000,0.000,44,1948,3370,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.7,12,113,9.52,2.22,-0.55,0.000,4,0.232,0.060,2381,3365,3395,0,0,0,0,0,0
$GC,235,-0.74,-146.0,34.5,-19.4,37,241,0.00,2.25,0.00,0.000,6,0.000,0.043,2381,1955,3397,0,0,0,0,0,0
$GC,565,-0.74,-146.0,92.1,-14.9,91,569,0.00,2.22,0.00,0.000,4,0.000,0.055,2381,547,3398,0,0,0,0,0,0
$GC,690,-0.74,-146.0,111.0,-13.7,101,697,0.00,2.17,0.00,0.000,6,0.000,0.035,2372,1965,3398,0,0,0,0,0,0
$GC,1018,-0.74,-146.0,151.3,-12.3,132,1025,0.12,0.00,0.00,0.000,6,0.163,0.000,2404,1966,3399,0,0,0,0,0,0
$GC,1345,-0.74,-146.0,184.9,-10.5,163,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1966,3401,0,0,0,0,0,0
$GC,1669,-0.74,-146.0,215.7,-9.6,186,1673,0.00,2.28,0.00,0.000,4,0.000,0.049,2405,549,3401,0,0,0,0,0,0
$GC,1866,-0.74,-146.0,235.1,-9.3,195,1870,0.00,2.15,0.00,0.000,6,0.000,0.034,2397,1971,3401,0,0,0,0,0,0
$GC,2194,-0.74,-146.0,265.4,-9.5,211,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1972,3401,0,0,0,0,0,0
$GC,2503,-0.74,-146.0,292.5,-8.2,226,2507,0.00,2.30,0.00,0.000,4,0.000,0.054,2397,549,3401,0,0,0,0,0,0
$GC,2762,-0.74,-146.0,313.5,-6.7,233,2766,0.00,2.15,0.00,0.000,6,0.000,0.037,2387,1961,3401,0,0,0,0,0,0
$GC,3093,-0.74,-146.0,339.8,-9.3,241,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1962,3400,0,0,0,0,0,0
$GC,3421,-0.74,-146.0,367.1,-7.7,249,3425,0.00,2.30,0.00,0.000,4,0.000,0.056,2387,543,3399,0,0,0,0,0,0
$GC,3534,-0.74,-146.0,376.2,-8.0,251,3538,0.00,2.17,0.00,0.000,6,0.000,0.039,2377,1962,3399,0,0,0,0,0,0
$GC,3871,-0.74,-146.0,404.2,-8.4,260,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1962,3396,0,0,0,0,0,0
$GC,4196,-0.74,-146.0,429.4,-7.4,268,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1962,3394,0,0,0,0,0,0
$STATE,4478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4478,begin apogee
$GC,4484,-0.17,0.0,451.0,7.6,275,4606,0.65,0.00,118.70,0.776,6,0.129,0.000,2583,1962,2799,0,0,0,0,0,0
$STATE,4607,end apogee,CONTROL_FINISHED_OK
$STATE,4607,begin climb
$GC,4609,0.74,146.0,452.1,0.0,278,4739,0.88,0.00,126.20,0.746,6,0.078,0.000,2879,1962,2204,0,0,0,0,0,0
$GC,5045,0.74,146.0,394.2,14.8,289,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1962,2196,0,0,0,0,0,0
$GC,5370,0.74,146.0,350.5,12.6,297,5374,0.00,2.30,0.00,0.000,4,0.000,0.062,2889,561,2193,0,0,0,0,0,0
$GC,5411,0.74,146.0,345.6,12.5,298,5415,0.00,2.20,0.00,0.000,6,0.000,0.043,2889,1975,2193,0,0,0,0,0,0
$GC,5735,0.74,146.0,303.2,12.9,306,5739,0.00,2.17,0.00,0.000,4,0.000,0.052,2889,3387,2191,0,0,0,0,0,0
$GC,5774,0.74,146.0,297.7,14.0,307,5778,0.00,2.22,0.00,0.000,6,0.000,0.044,2898,1972,2190,0,0,0,0,0,0
$GC,6101,0.74,146.0,255.0,12.5,323,6105,0.00,2.25,0.00,0.000,4,0.000,0.059,2909,563,2189,0,0,0,0,0,0
$GC,6212,0.74,146.0,239.9,13.1,328,6217,0.12,2.17,0.00,0.000,6,0.146,0.038,2875,1990,2188,0,0,0,0,0,0
$GC,6533,0.74,146.0,202.8,12.7,344,6537,0.00,2.15,0.00,0.000,4,0.000,0.051,2875,3380,2188,0,0,0,0,0,0
$GC,6566,0.74,146.0,198.4,13.5,345,6571,0.00,2.20,0.00,0.000,6,0.000,0.039,2883,1965,2187,0,0,0,0,0,0
$GC,6893,0.74,146.0,158.6,12.5,376,6897,0.00,2.22,0.00,0.000,4,0.000,0.057,2893,559,2187,0,0,0,0,0,0
$GC,6923,0.74,146.0,154.8,12.7,378,6927,0.00,2.17,0.00,0.000,6,0.000,0.038,2893,1979,2186,0,0,0,0,0,0
$GC,7250,0.74,146.0,117.0,10.0,408,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1979,2186,0,0,0,0,0,0
$GC,7570,0.74,146.0,84.6,10.7,438,7574,0.00,2.17,0.00,0.000,4,0.000,0.051,2893,3381,2186,0,0,0,0,0,0
$GC,7722,0.74,146.0,66.3,12.0,461,7727,0.00,2.17,0.00,0.000,6,0.000,0.038,2902,1976,2186,0,0,0,0,0,0
$GC,8053,0.74,146.0,32.5,11.6,522,8060,0.00,2.25,0.00,0.000,4,0.000,0.056,2913,568,2187,0,0,0,0,0,0
$GC,8106,0.74,146.0,27.2,10.5,531,8113,0.10,2.17,0.00,0.000,6,0.108,0.039,2877,1973,2187,0,0,0,0,0,0
$GC,8274,0.78,184.7,15.3,7.4,562,8314,0.00,2.25,30.65,0.461,4,0.000,0.050,2877,3374,2045,0,0,0,0,0,0
$GC,8363,0.79,185.6,8.0,9.0,577,8371,0.00,2.20,0.00,0.000,6,0.000,0.039,2885,1983,2043,0,0,0,0,0,0
$STATE,8429,end climb,SURFACE_DEPTH_REACHED
$STATE,8429,begin surface coast
$FINISH,0.6,1.023233
$STATE,8473,end surface coast,CONTROL_FINISHED_OK
$STATE,8473,begin surface
$SM_CCo,8491,52.22,0.440,0,0,1575,300.24
$SM_GC,1.37,0.00,0.00,52.22,0.000,0.000,0.440,52,1972,1575,-8.09,0.34,300.24
$IRIDIUM_FIX,2059.45,-15758.18,140802,070750
$TT8_MAMPS,0.028379
$HUMID,62.08
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,24.7,19.836
$10V_AH,10.5,21.711
$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,18.650,57.525,275.550,52.225,0.000,27.610,31.549,187.298,19.500,0.000,28.272,1070.538,5103.552,401.630,1884.162,472.389,0.000,1018.822,0.000,1833.025,0.000,119.126,0.000
$DEVICE_MAMPS,232.401,62.127,776.204,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.135,341.957,1185.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,31806,597
$CAP_FILE_SIZE,86253,0
$CFSIZE,260165632,243748864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200513,124628,2102.065,-15753.868,39,0.8,39,9.8