version: 66.06
glider: 523
mission: 4
dive: 329
start: 5 29 113 19 20 52
data:
$ID,523
$MISSION,4
$DIVE,329
$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,-42340.938
$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,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
$GPS1,191502,2101.071,-15753.146,20,0.9,20,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.3
$GPS2,192035,2101.138,-15753.158,17,0.9,17,9.8
$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,301.1,20354,-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,-76.00,0.000,2,0.000,0.000,29,1989,3380,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.9,12,113,9.60,2.38,-0.30,0.000,4,0.230,0.060,2394,545,3396,0,0,0,0,0,0
$GC,353,-0.74,-146.0,58.6,-19.4,59,358,0.00,2.17,0.00,0.000,6,0.000,0.035,2386,1962,3397,0,0,0,0,0,0
$GC,681,-0.74,-146.0,107.1,-13.8,102,685,0.00,2.28,0.00,0.000,4,0.000,0.051,2386,546,3399,0,0,0,0,0,0
$GC,931,-0.74,-146.0,139.1,-10.0,124,936,0.00,2.15,0.00,0.000,6,0.000,0.033,2376,1966,3399,0,0,0,0,0,0
$GC,1259,-0.74,-146.0,173.4,-11.1,154,1263,0.00,2.25,0.00,0.000,4,0.000,0.051,2376,549,3400,0,0,0,0,0,0
$GC,1475,-0.74,-146.0,198.6,-12.8,173,1480,0.12,2.15,0.00,0.000,6,0.163,0.035,2399,1969,3400,0,0,0,0,0,0
$GC,1801,-0.74,-146.0,224.9,-5.5,189,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1969,3401,0,0,0,0,0,0
$GC,2112,-0.74,-146.0,251.4,-10.1,204,2116,0.00,2.28,0.00,0.000,4,0.000,0.051,2399,547,3401,0,0,0,0,0,0
$GC,2231,-0.74,-146.0,263.6,-10.0,209,2236,0.00,2.15,0.00,0.000,6,0.000,0.035,2392,1962,3401,0,0,0,0,0,0
$GC,2549,-0.74,-146.0,287.5,-6.5,224,2553,0.00,2.22,0.00,0.000,4,0.000,0.055,2381,3370,3401,0,0,0,0,0,0
$GC,2622,-0.74,-146.0,292.7,-6.9,227,2626,0.00,2.20,0.00,0.000,6,0.000,0.041,2380,1958,3401,0,0,0,0,0,0
$GC,2943,-0.74,-146.0,315.6,-7.2,238,2947,0.00,2.22,0.00,0.000,4,0.000,0.055,2381,542,3401,0,0,0,0,0,0
$GC,3093,-0.74,-146.0,331.5,-10.5,241,3098,0.12,2.17,0.00,0.000,6,0.167,0.036,2404,1971,3400,0,0,0,0,0,0
$GC,3438,-0.74,-146.0,360.9,-9.3,250,3442,0.00,2.17,0.00,0.000,4,0.000,0.055,2395,3369,3398,0,0,0,0,0,0
$GC,3557,-0.74,-146.0,371.0,-7.4,252,3561,0.00,2.20,0.00,0.000,6,0.000,0.041,2395,1960,3398,0,0,0,0,0,0
$GC,3896,-0.74,-146.0,390.5,-5.4,261,3900,0.00,2.25,0.00,0.000,4,0.000,0.060,2395,554,3396,0,0,0,0,0,0
$GC,3997,-0.74,-146.0,396.5,-6.9,263,4001,0.00,2.15,0.00,0.000,6,0.000,0.039,2386,1955,3395,0,0,0,0,0,0
$GC,4347,-0.74,-146.0,423.6,-8.3,272,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1955,3394,0,0,0,0,0,0
$GC,4670,-0.74,-146.0,449.1,-7.7,280,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1955,3392,0,0,0,0,0,0
$STATE,4708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4708,begin apogee
$GC,4714,-0.17,0.0,452.1,7.4,281,4837,0.62,0.00,119.20,0.772,6,0.121,0.000,2586,1955,2800,0,0,0,0,0,0
$STATE,4838,end apogee,CONTROL_FINISHED_OK
$STATE,4838,begin climb
$GC,4841,0.74,146.0,453.1,0.0,284,4978,0.82,2.45,125.88,0.746,4,0.074,0.058,2873,3377,2202,0,0,0,0,0,0
$GC,5047,0.74,146.0,427.2,16.0,288,5053,0.00,2.33,0.00,0.000,6,0.000,0.048,2882,1983,2198,0,0,0,0,0,0
$GC,5378,0.74,146.0,379.3,13.8,297,5383,0.00,2.35,0.00,0.000,4,0.000,0.068,2893,561,2195,0,0,0,0,0,0
$GC,5411,0.74,146.0,374.4,14.1,297,5417,0.00,2.25,0.00,0.000,6,0.000,0.043,2893,1980,2195,0,0,0,0,0,0
$GC,5743,0.74,146.0,331.5,12.9,306,5747,0.00,2.20,0.00,0.000,4,0.000,0.052,2893,3388,2193,0,0,0,0,0,0
$GC,5867,0.74,146.0,314.2,13.4,308,5871,0.00,2.25,0.00,0.000,6,0.000,0.041,2901,1964,2191,0,0,0,0,0,0
$GC,6181,0.74,146.0,270.2,14.1,320,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1964,2190,0,0,0,0,0,0
$GC,6490,0.74,146.0,224.8,14.9,335,6494,0.00,2.22,0.00,0.000,4,0.000,0.058,2911,566,2189,0,0,0,0,0,0
$GC,6512,0.74,146.0,221.2,15.7,336,6517,0.12,2.20,0.00,0.000,6,0.143,0.038,2878,1994,2188,0,0,0,0,0,0
$GC,6839,0.74,146.0,182.0,10.6,359,6843,0.00,2.12,0.00,0.000,4,0.000,0.051,2877,3380,2188,0,0,0,0,0,0
$GC,6880,0.74,146.0,177.7,10.0,362,6884,0.00,2.20,0.00,0.000,6,0.000,0.039,2885,1969,2187,0,0,0,0,0,0
$GC,7209,0.74,146.0,144.7,12.4,392,7212,0.00,2.20,0.00,0.000,4,0.000,0.057,2896,567,2187,0,0,0,0,0,0
$GC,7271,0.74,146.0,136.6,12.9,397,7275,0.00,2.17,0.00,0.000,6,0.000,0.038,2896,1981,2187,0,0,0,0,0,0
$GC,7598,0.74,146.0,94.1,12.2,427,7602,0.00,2.17,0.00,0.000,4,0.000,0.051,2897,3389,2187,0,0,0,0,0,0
$GC,7660,0.74,146.0,86.9,12.0,432,7664,0.00,2.20,0.00,0.000,6,0.000,0.039,2906,1977,2187,0,0,0,0,0,0
$GC,7993,0.75,154.5,53.6,8.7,487,8006,0.00,2.28,5.50,0.405,4,0.000,0.054,2917,563,2170,0,0,0,0,0,0
$GC,8096,0.81,202.8,46.3,7.0,505,8143,0.00,2.17,41.78,0.491,6,0.000,0.037,2916,1984,1972,0,0,0,0,0,0
$GC,8466,0.81,202.8,9.9,10.1,573,8474,0.00,2.22,0.00,0.000,4,0.000,0.051,2916,3377,1969,0,0,0,0,0,0
$GC,8503,0.81,202.8,5.9,10.8,579,8511,0.00,2.28,0.00,0.000,6,0.000,0.046,2925,1966,1969,0,0,0,0,0,0
$STATE,8533,end climb,SURFACE_DEPTH_REACHED
$STATE,8533,begin surface coast
$FINISH,0.6,1.022992
$STATE,8566,end surface coast,CONTROL_FINISHED_OK
$STATE,8566,begin surface
$SM_CCo,8583,46.58,0.440,0,0,1574,300.24
$SM_GC,1.33,0.00,0.00,46.58,0.000,0.000,0.440,35,1963,1574,-8.15,0.06,300.24
$IRIDIUM_FIX,2050.21,-15752.63,230802,161645
$TT8_MAMPS,0.027612
$HUMID,63.50
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.7,26.978
$10V_AH,10.5,29.593
$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,18.750,75.675,292.350,46.575,0.000,28.403,34.354,140.807,19.000,0.000,18.141,1091.697,5117.729,379.234,1939.448,435.484,0.000,1067.729,0.000,1887.468,0.000,119.549,0.000
$DEVICE_MAMPS,230.100,68.263,771.602,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,400.902,336.949,1133.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,31717,590
$CAP_FILE_SIZE,93427,0
$CFSIZE,260165632,239542272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290513,214559,2102.056,-15754.118,37,0.8,37,9.8