version: 66.06
glider: 523
mission: 4
dive: 328
start: 5 29 113 16 48 46
data:
$ID,523
$MISSION,4
$DIVE,328
$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,-42322.168
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,164258,2100.365,-15751.844,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.6
$GPS2,164829,2100.410,-15751.831,14,1.1,14,9.8
$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,299.9,22975,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.93,0.000,6,0.000,0.000,34,1963,3397,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.7,-6.2,12,112,9.55,2.25,0.00,0.000,4,0.230,0.047,2392,545,3398,0,0,0,0,0,0
$GC,358,-0.74,-146.0,55.6,-14.0,59,363,0.00,2.20,0.00,0.000,6,0.000,0.041,2384,1963,3400,0,0,0,0,0,0
$GC,694,-0.74,-146.0,103.2,-15.3,107,698,0.00,2.28,0.00,0.000,4,0.000,0.054,2384,546,3402,0,0,0,0,0,0
$GC,801,-0.74,-146.0,118.9,-14.0,116,805,0.00,2.17,0.00,0.000,6,0.000,0.034,2375,1979,3402,0,0,0,0,0,0
$GC,1128,-0.74,-146.0,158.5,-11.9,146,1132,0.00,2.28,0.00,0.000,4,0.000,0.052,2374,545,3403,0,0,0,0,0,0
$GC,1382,-0.74,-146.0,194.4,-13.8,168,1390,0.10,2.15,0.00,0.000,6,0.142,0.034,2396,1956,3403,0,0,0,0,0,0
$GC,1710,-0.74,-146.0,227.5,-8.9,187,1714,0.00,2.22,0.00,0.000,4,0.000,0.052,2397,550,3404,0,0,0,0,0,0
$GC,1968,-0.74,-146.0,251.3,-10.0,198,1973,0.00,2.12,0.00,0.000,6,0.000,0.035,2389,1960,3403,0,0,0,0,0,0
$GC,2286,-0.74,-146.0,280.4,-8.9,214,2290,0.00,2.28,0.00,0.000,4,0.000,0.053,2389,544,3404,0,0,0,0,0,0
$GC,2371,-0.74,-146.0,288.6,-10.1,218,2375,0.00,2.15,0.00,0.000,6,0.000,0.036,2379,1959,3404,0,0,0,0,0,0
$GC,2718,-0.74,-146.0,314.2,-5.9,230,2722,0.00,2.30,0.00,0.000,4,0.000,0.054,2379,547,3404,0,0,0,0,0,0
$GC,2769,-0.74,-146.0,317.5,-6.4,231,2774,0.12,2.17,0.00,0.000,6,0.166,0.039,2402,1965,3403,0,0,0,0,0,0
$GC,3090,-0.74,-146.0,337.9,-7.2,239,3094,0.00,2.28,0.00,0.000,4,0.000,0.057,2403,547,3403,0,0,0,0,0,0
$GC,3207,-0.74,-146.0,348.3,-9.4,241,3211,0.00,2.17,0.00,0.000,6,0.000,0.040,2395,1958,3402,0,0,0,0,0,0
$GC,3547,-0.74,-146.0,376.1,-8.4,250,3551,0.00,2.20,0.00,0.000,4,0.000,0.055,2384,3368,3400,0,0,0,0,0,0
$GC,3661,-0.74,-146.0,385.4,-8.1,252,3665,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,1963,3400,0,0,0,0,0,0
$GC,4004,-0.74,-146.0,412.5,-7.5,261,4008,0.00,2.22,0.00,0.000,4,0.000,0.058,2384,550,3398,0,0,0,0,0,0
$GC,4060,-0.74,-146.0,416.9,-7.6,262,4064,0.00,2.17,0.00,0.000,6,0.000,0.041,2375,1966,3397,0,0,0,0,0,0
$GC,4374,-0.74,-146.0,440.0,-7.4,270,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1966,3395,0,0,0,0,0,0
$STATE,4533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4533,begin apogee
$GC,4540,-0.17,0.0,452.5,7.6,274,4663,0.65,0.00,119.95,0.769,6,0.123,0.000,2582,1966,2800,0,0,0,0,0,0
$STATE,4663,end apogee,CONTROL_FINISHED_OK
$STATE,4664,begin climb
$GC,4667,0.74,146.0,454.1,0.0,277,4804,0.82,2.40,125.57,0.743,4,0.077,0.054,2870,3384,2202,0,0,0,0,0,0
$GC,4833,0.74,146.0,437.7,13.4,281,4837,0.00,2.33,0.00,0.000,6,0.000,0.045,2879,1978,2200,0,0,0,0,0,0
$GC,5157,0.74,146.0,394.0,13.3,289,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1978,2196,0,0,0,0,0,0
$GC,5482,0.74,146.0,350.3,14.4,297,5486,0.00,2.22,0.00,0.000,4,0.000,0.058,2879,3380,2194,0,0,0,0,0,0
$GC,5555,0.74,146.0,338.4,16.6,298,5559,0.00,2.25,0.00,0.000,6,0.000,0.047,2887,1975,2193,0,0,0,0,0,0
$GC,5866,0.74,146.0,294.3,13.5,306,5870,0.00,2.28,0.00,0.000,4,0.000,0.059,2897,554,2191,0,0,0,0,0,0
$GC,5906,0.74,146.0,289.6,12.6,308,5910,0.00,2.22,0.00,0.000,6,0.000,0.043,2897,1976,2190,0,0,0,0,0,0
$GC,6233,0.74,146.0,250.0,12.0,324,6237,0.00,2.20,0.00,0.000,4,0.000,0.052,2897,3390,2190,0,0,0,0,0,0
$GC,6277,0.74,146.0,244.1,13.0,326,6281,0.00,2.22,0.00,0.000,6,0.000,0.041,2907,1969,2189,0,0,0,0,0,0
$GC,6598,0.74,146.0,201.2,12.3,342,6602,0.00,2.22,0.00,0.000,4,0.000,0.059,2916,558,2188,0,0,0,0,0,0
$GC,6615,0.74,146.0,199.2,11.7,343,6620,0.15,2.20,0.00,0.000,6,0.137,0.040,2873,1983,2188,0,0,0,0,0,0
$GC,6942,0.74,152.6,168.4,8.8,373,6955,0.00,2.33,4.22,0.436,4,0.000,0.064,2882,569,2177,0,0,0,0,0,0
$GC,6991,0.74,152.6,163.5,11.0,377,6995,0.00,2.17,0.00,0.000,6,0.000,0.040,2882,1975,2176,0,0,0,0,0,0
$GC,7318,0.74,152.6,126.5,11.1,407,7322,0.00,2.22,0.00,0.000,4,0.000,0.051,2882,3388,2176,0,0,0,0,0,0
$GC,7426,0.74,152.6,114.5,10.1,416,7433,0.00,2.22,0.00,0.000,6,0.000,0.039,2891,1971,2176,0,0,0,0,0,0
$GC,7753,0.74,152.6,82.0,9.4,447,7757,0.00,2.20,0.00,0.000,4,0.000,0.055,2901,565,2176,0,0,0,0,0,0
$GC,7832,0.74,152.6,73.1,11.1,459,7837,0.00,2.17,0.00,0.000,6,0.000,0.036,2901,1988,2176,0,0,0,0,0,0
$GC,8164,0.78,181.7,40.0,7.8,520,8194,0.00,0.00,25.70,0.476,6,0.000,0.000,2901,1989,2059,0,0,0,0,0,0
$GC,8518,0.78,181.7,10.5,9.2,585,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1989,2058,0,0,0,0,0,0
$STATE,8602,end climb,SURFACE_DEPTH_REACHED
$STATE,8602,begin surface coast
$FINISH,0.6,1.010704
$STATE,8642,end surface coast,CONTROL_FINISHED_OK
$STATE,8644,begin surface
$SM_CCo,8661,54.88,0.439,0,0,1574,300.24
$SM_GC,1.37,0.00,0.00,54.88,0.000,0.000,0.439,29,1989,1574,-8.16,0.82,300.24
$IRIDIUM_FIX,2047.91,-15815.34,230802,141448
$TT8_MAMPS,0.028379
$HUMID,62.79
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.7,26.899
$10V_AH,10.5,29.507
$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,18.725,75.700,275.450,54.875,0.000,27.743,34.224,141.285,19.000,0.000,15.105,1117.820,5100.321,380.483,2012.370,436.872,0.000,1083.217,0.000,1967.351,0.000,117.251,0.000
$DEVICE_MAMPS,230.100,63.661,768.534,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,413.462,344.573,1193.051,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,35061,608
$CAP_FILE_SIZE,94358,0
$CFSIZE,260165632,239583232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290513,191502,2101.071,-15753.146,20,0.9,20,9.8