version: 66.06
glider: 523
mission: 4
dive: 327
start: 5 29 113 14 14 2
data:
$ID,523
$MISSION,4
$DIVE,327
$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,-42306.434
$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,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
$GPS1,140453,2059.767,-15750.741,16,1.6,16,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.8
$GPS2,141343,2059.837,-15750.742,16,0.9,16,9.8
$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,299.0,25103,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-76.82,0.000,6,0.000,0.000,34,1966,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.2,13,118,9.50,2.25,0.00,0.000,4,0.229,0.048,2388,547,3397,0,0,0,0,0,0
$GC,355,-0.74,-146.0,62.4,-18.8,60,362,0.00,2.17,0.00,0.000,6,0.000,0.035,2379,1960,3399,0,0,0,0,0,0
$GC,692,-0.74,-146.0,104.7,-9.9,102,697,0.00,2.28,0.00,0.000,4,0.000,0.052,2380,551,3400,0,0,0,0,0,0
$GC,947,-0.74,-146.0,140.3,-15.2,125,951,0.12,2.15,0.00,0.000,6,0.175,0.034,2401,1973,3401,0,0,0,0,0,0
$GC,1274,-0.74,-146.0,183.0,-12.4,155,1278,0.00,2.28,0.00,0.000,4,0.000,0.051,2402,550,3401,0,0,0,0,0,0
$GC,1394,-0.74,-146.0,198.0,-12.4,165,1398,0.00,2.15,0.00,0.000,6,0.000,0.034,2394,1969,3401,0,0,0,0,0,0
$GC,1720,-0.74,-146.0,227.1,-8.3,181,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1970,3402,0,0,0,0,0,0
$GC,2034,-0.74,-146.0,255.9,-8.7,196,2038,0.00,2.28,0.00,0.000,4,0.000,0.051,2394,547,3402,0,0,0,0,0,0
$GC,2134,-0.74,-146.0,265.0,-9.3,200,2141,0.00,2.15,0.00,0.000,6,0.000,0.035,2383,1965,3402,0,0,0,0,0,0
$GC,2453,-0.74,-146.0,290.7,-7.3,216,2457,0.00,2.20,0.00,0.000,4,0.000,0.055,2374,3362,3402,0,0,0,0,0,0
$GC,2538,-0.74,-146.0,297.5,-8.7,220,2542,0.00,2.20,0.00,0.000,6,0.000,0.042,2374,1960,3402,0,0,0,0,0,0
$GC,2860,-0.74,-146.0,324.4,-8.1,229,2864,0.00,2.25,0.00,0.000,4,0.000,0.056,2374,550,3401,0,0,0,0,0,0
$GC,3092,-0.74,-146.0,342.6,-7.7,234,3097,0.15,2.15,0.00,0.000,6,0.156,0.037,2404,1958,3400,0,0,0,0,0,0
$GC,3407,-0.74,-146.0,359.2,-5.5,242,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1959,3398,0,0,0,0,0,0
$GC,3732,-0.74,-146.0,382.0,-7.2,250,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1959,3396,0,0,0,0,0,0
$GC,4055,-0.74,-146.0,403.6,-5.9,258,4059,0.00,2.30,0.00,0.000,4,0.000,0.059,2405,544,3394,0,0,0,0,0,0
$GC,4110,-0.74,-146.0,406.9,-5.9,259,4114,0.00,2.20,0.00,0.000,6,0.000,0.039,2397,1970,3393,0,0,0,0,0,0
$GC,4460,-0.74,-146.0,430.6,-7.5,268,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1970,3392,0,0,0,0,0,0
$STATE,4782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4782,begin apogee
$GC,4788,-0.17,0.0,452.6,6.5,276,4910,0.57,0.00,118.97,0.776,6,0.120,0.000,2582,1970,2799,0,0,0,0,0,0
$STATE,4911,end apogee,CONTROL_FINISHED_OK
$STATE,4911,begin climb
$GC,4914,0.74,146.0,453.5,0.0,279,5052,0.82,2.42,126.00,0.746,4,0.074,0.061,2872,3374,2202,0,0,0,0,0,0
$GC,5114,0.74,146.0,429.1,15.0,283,5118,0.00,2.30,0.00,0.000,6,0.000,0.050,2881,1980,2199,0,0,0,0,0,0
$GC,5450,0.74,146.0,378.8,15.1,292,5454,0.00,2.33,0.00,0.000,4,0.000,0.067,2892,556,2195,0,0,0,0,0,0
$GC,5500,0.74,146.0,371.1,14.7,293,5504,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1973,2194,0,0,0,0,0,0
$GC,5825,0.74,146.0,328.5,13.2,301,5829,0.00,2.25,0.00,0.000,4,0.000,0.061,2892,3385,2193,0,0,0,0,0,0
$GC,5846,0.74,146.0,325.3,13.9,301,5850,0.00,2.28,0.00,0.000,6,0.000,0.051,2902,1976,2192,0,0,0,0,0,0
$GC,6165,0.74,146.0,281.3,13.3,312,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1976,2191,0,0,0,0,0,0
$GC,6474,0.74,146.0,242.0,12.5,327,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1976,2190,0,0,0,0,0,0
$GC,6783,0.74,146.0,203.2,12.4,342,6787,0.00,2.28,0.00,0.000,4,0.000,0.060,2913,551,2189,0,0,0,0,0,0
$GC,6827,0.74,146.0,197.0,13.5,344,6835,0.10,2.25,0.00,0.000,6,0.118,0.044,2879,1982,2188,0,0,0,0,0,0
$GC,7155,0.74,146.0,162.7,9.8,375,7159,0.00,2.15,0.00,0.000,4,0.000,0.051,2879,3383,2188,0,0,0,0,0,0
$GC,7196,0.74,146.0,159.1,9.0,378,7200,0.00,2.22,0.00,0.000,6,0.000,0.041,2887,1956,2187,0,0,0,0,0,0
$GC,7522,0.74,146.0,125.4,12.7,408,7526,0.00,2.17,0.00,0.000,4,0.000,0.054,2897,569,2187,0,0,0,0,0,0
$GC,7563,0.74,146.0,120.2,12.8,411,7567,0.00,2.15,0.00,0.000,6,0.000,0.036,2897,1979,2186,0,0,0,0,0,0
$GC,7892,0.74,146.0,81.7,10.0,441,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1980,2186,0,0,0,0,0,0
$GC,8226,0.74,146.0,48.9,9.7,501,8231,0.00,2.28,0.00,0.000,4,0.000,0.062,2907,572,2188,0,0,0,0,0,0
$GC,8261,0.74,146.0,45.5,9.6,507,8267,0.00,2.17,0.00,0.000,6,0.000,0.041,2906,1977,2187,0,0,0,0,0,0
$GC,8586,0.77,172.8,17.2,7.9,568,8612,0.00,2.20,20.92,0.453,4,0.000,0.049,2906,3383,2095,0,0,0,0,0,0
$GC,8681,0.77,172.8,8.5,9.7,585,8689,0.00,2.25,0.00,0.000,6,0.000,0.042,2908,1968,2094,0,0,0,0,0,0
$STATE,8746,end climb,SURFACE_DEPTH_REACHED
$STATE,8746,begin surface coast
$FINISH,0.5,1.023019
$STATE,8779,end surface coast,CONTROL_FINISHED_OK
$STATE,8779,begin surface
$SM_CCo,8797,59.08,0.439,0,0,1576,300.24
$SM_GC,1.49,0.00,0.00,59.08,0.000,0.000,0.439,34,1963,1576,-8.15,0.08,300.24
$IRIDIUM_FIX,2050.21,-15724.76,230802,141435
$TT8_MAMPS,0.028379
$HUMID,62.60
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.7,26.822
$10V_AH,10.4,29.418
$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,18.575,66.925,265.900,59.075,0.000,46.740,68.165,216.219,19.000,0.000,16.632,1102.531,5425.882,373.543,1909.943,576.632,0.000,1043.716,0.000,1867.373,0.000,119.395,0.000
$DEVICE_MAMPS,228.566,67.496,776.204,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.747,346.626,1155.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,31814,603
$CAP_FILE_SIZE,93599,0
$CFSIZE,260165632,239636480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290513,164258,2100.365,-15751.844,40,0.8,40,9.8