version: 66.06
glider: 523
mission: 4
dive: 326
start: 5 29 113 11 31 49
data:
$ID,523
$MISSION,4
$DIVE,326
$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,-42289.172
$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,20
$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
$GPS1,112528,2059.027,-15749.850,33,0.7,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.8
$GPS2,113133,2059.054,-15749.810,20,1.5,28,9.8
$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,299.3,27267,-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,-76.05,0.000,2,0.000,0.000,49,1975,3375,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.4,12,113,9.52,2.17,-0.45,0.000,4,0.233,0.061,2384,3366,3396,0,0,0,0,0,0
$GC,333,-0.74,-146.0,55.6,-18.7,55,338,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1955,3398,0,0,0,0,0,0
$GC,667,-0.74,-146.0,103.0,-12.7,100,671,0.00,2.22,0.00,0.000,4,0.000,0.057,2384,551,3399,0,0,0,0,0,0
$GC,822,-0.74,-146.0,124.1,-11.4,113,829,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1969,3400,0,0,0,0,0,0
$GC,1150,-0.74,-146.0,165.5,-14.3,144,1154,0.00,2.28,0.00,0.000,4,0.000,0.052,2375,547,3400,0,0,0,0,0,0
$GC,1268,-0.74,-146.0,182.4,-14.2,154,1273,0.12,2.15,0.00,0.000,6,0.166,0.033,2397,1971,3400,0,0,0,0,0,0
$GC,1588,-0.74,-146.0,214.8,-9.1,176,1595,0.00,2.25,0.00,0.000,4,0.000,0.051,2398,545,3402,0,0,0,0,0,0
$GC,1636,-0.74,-146.0,219.3,-10.3,178,1640,0.00,2.12,0.00,0.000,6,0.000,0.035,2390,1959,3401,0,0,0,0,0,0
$GC,1969,-0.74,-146.0,247.2,-8.2,194,1972,0.00,2.28,0.00,0.000,4,0.000,0.052,2390,547,3401,0,0,0,0,0,0
$GC,2024,-0.74,-146.0,251.8,-7.4,196,2028,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1962,3401,0,0,0,0,0,0
$GC,2342,-0.74,-146.0,274.7,-7.5,211,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1962,3401,0,0,0,0,0,0
$GC,2672,-0.74,-146.0,305.9,-11.2,226,2676,0.00,2.28,0.00,0.000,4,0.000,0.053,2380,541,3401,0,0,0,0,0,0
$GC,2829,-0.74,-146.0,323.7,-9.7,229,2834,0.12,2.17,0.00,0.000,6,0.166,0.038,2404,1967,3401,0,0,0,0,0,0
$GC,3168,-0.74,-146.0,346.7,-6.1,238,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1967,3400,0,0,0,0,0,0
$GC,3491,-0.74,-146.0,368.5,-7.1,246,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1968,3398,0,0,0,0,0,0
$GC,3815,-0.74,-146.0,388.2,-5.6,254,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1968,3396,0,0,0,0,0,0
$GC,4143,-0.74,-146.0,406.3,-6.0,262,4147,0.00,2.20,0.00,0.000,4,0.000,0.056,2395,3364,3394,0,0,0,0,0,0
$GC,4268,-0.74,-146.0,415.5,-8.1,264,4274,0.00,2.25,0.00,0.000,6,0.000,0.050,2395,1962,3394,0,0,0,0,0,0
$GC,4601,-0.74,-146.0,439.3,-7.0,273,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1963,3391,0,0,0,0,0,0
$STATE,4760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4760,begin apogee
$GC,4767,-0.17,0.0,451.0,7.2,277,4889,0.57,0.00,119.35,0.779,6,0.118,0.000,2580,1963,2799,0,0,0,0,0,0
$STATE,4890,end apogee,CONTROL_FINISHED_OK
$STATE,4890,begin climb
$GC,4893,0.74,146.0,453.6,0.0,280,5030,0.82,2.47,126.05,0.752,4,0.077,0.057,2870,3381,2202,0,0,0,0,0,0
$GC,5075,0.74,146.0,435.9,13.9,284,5080,0.00,2.35,0.00,0.000,6,0.000,0.051,2880,1977,2200,0,0,0,0,0,0
$GC,5423,0.74,146.0,388.6,14.0,293,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1977,2195,0,0,0,0,0,0
$GC,5748,0.74,146.0,345.1,13.2,301,5752,0.00,2.28,0.00,0.000,4,0.000,0.061,2880,3380,2194,0,0,0,0,0,0
$GC,5770,0.74,146.0,341.8,14.1,301,5775,0.00,2.28,0.00,0.000,6,0.000,0.053,2888,1973,2193,0,0,0,0,0,0
$GC,6113,0.74,146.0,296.0,12.6,310,6117,0.00,2.25,0.00,0.000,4,0.000,0.061,2899,561,2191,0,0,0,0,0,0
$GC,6219,0.74,146.0,282.0,14.0,314,6225,0.00,2.20,0.00,0.000,6,0.000,0.039,2899,1984,2190,0,0,0,0,0,0
$GC,6535,0.74,146.0,238.8,14.4,330,6539,0.00,2.17,0.00,0.000,4,0.000,0.052,2899,3380,2190,0,0,0,0,0,0
$GC,6624,0.74,146.0,226.5,13.7,334,6629,0.12,2.20,0.00,0.000,6,0.156,0.041,2874,1968,2188,0,0,0,0,0,0
$GC,6948,0.74,146.0,194.8,9.1,352,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1968,2187,0,0,0,0,0,0
$GC,7268,0.74,146.0,165.1,9.4,382,7272,0.00,2.20,0.00,0.000,4,0.000,0.051,2874,3383,2187,0,0,0,0,0,0
$GC,7353,0.74,146.0,156.7,9.7,389,7357,0.00,2.20,0.00,0.000,6,0.000,0.040,2882,1970,2186,0,0,0,0,0,0
$GC,7680,0.74,146.0,125.0,10.9,419,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1970,2186,0,0,0,0,0,0
$GC,8000,0.74,146.0,92.9,10.8,449,8004,0.00,2.20,0.00,0.000,4,0.000,0.056,2892,562,2186,0,0,0,0,0,0
$GC,8083,0.74,146.0,84.4,12.2,456,8087,0.00,2.15,0.00,0.000,6,0.000,0.039,2893,1975,2186,0,0,0,0,0,0
$GC,8414,0.76,168.5,53.4,8.1,513,8438,0.00,0.00,17.55,0.479,6,0.000,0.000,2893,1976,2113,0,0,0,0,0,0
$GC,8764,0.77,177.0,24.8,8.7,577,8778,0.00,2.20,8.65,0.416,4,0.000,0.049,2893,3379,2076,0,0,0,0,0,0
$GC,8849,0.77,177.0,17.1,9.4,592,8856,0.00,2.22,0.00,0.000,6,0.000,0.038,2902,1974,2076,0,0,0,0,0,0
$STATE,9015,end climb,SURFACE_DEPTH_REACHED
$STATE,9015,begin surface coast
$FINISH,0.5,1.006989
$STATE,9054,end surface coast,CONTROL_FINISHED_OK
$STATE,9054,begin surface
$SM_CCo,9072,56.30,0.436,0,0,1575,300.24
$SM_GC,1.46,0.00,0.00,56.30,0.000,0.000,0.436,34,1967,1575,-8.15,0.20,300.24
$IRIDIUM_FIX,2050.21,-15740.20,230802,090905
$TT8_MAMPS,0.027612
$HUMID,62.36
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.6,26.739
$10V_AH,10.5,29.330
$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,18.575,62.300,271.600,56.300,0.000,34.286,35.407,152.136,19.250,0.000,29.175,1129.929,5531.574,372.994,2005.384,452.112,0.000,1047.968,0.000,1945.119,0.000,119.188,0.000
$DEVICE_MAMPS,233.168,60.593,779.272,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,428.819,353.640,1225.982,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34979,630
$CAP_FILE_SIZE,91099,0
$CFSIZE,260165632,239677440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290513,140453,2059.767,-15750.741,16,1.6,16,9.8