version: 66.06
glider: 523
mission: 4
dive: 330
start: 5 29 113 21 51 59
data:
$ID,523
$MISSION,4
$DIVE,330
$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,275
$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,-42367.539
$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,2650
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2950
$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
$GPS1,214559,2102.056,-15754.118,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.2
$GPS2,215143,2102.123,-15754.102,25,0.9,25,9.8
$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,300.1,17931,-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,-76.20,0.000,2,0.000,0.000,34,1962,3390,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.1,12,119,9.55,2.25,-3.28,0.000,4,0.230,0.065,2392,3361,3547,0,0,0,0,0,0
$GC,327,-0.74,-146.0,52.7,-18.2,54,334,0.00,2.25,0.00,0.000,6,0.000,0.044,2392,1954,3549,0,0,0,0,0,0
$GC,664,-0.74,-146.0,105.1,-13.1,100,668,0.00,2.22,0.00,0.000,4,0.000,0.054,2392,541,3550,0,0,0,0,0,0
$GC,807,-0.74,-146.0,124.9,-13.6,112,818,0.00,2.17,0.00,0.000,6,0.000,0.035,2382,1965,3550,0,0,0,0,0,0
$GC,1135,-0.74,-146.0,167.4,-12.0,143,1139,0.10,2.28,0.00,0.000,4,0.179,0.052,2408,544,3552,0,0,0,0,0,0
$GC,1188,-0.74,-146.0,173.8,-11.4,147,1196,0.00,2.17,0.00,0.000,6,0.000,0.035,2400,1962,3552,0,0,0,0,0,0
$GC,1512,-0.74,-146.0,210.0,-11.8,174,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1962,3552,0,0,0,0,0,0
$GC,1821,-0.74,-146.0,240.7,-9.8,189,1825,0.00,2.28,0.00,0.000,4,0.000,0.052,2400,538,3552,0,0,0,0,0,0
$GC,2028,-0.74,-146.0,260.8,-10.1,198,2032,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1958,3552,0,0,0,0,0,0
$GC,2352,-0.74,-146.0,291.4,-8.9,214,2356,0.00,2.17,0.00,0.000,4,0.000,0.054,2380,3362,3553,0,0,0,0,0,0
$GC,2392,-0.74,-146.0,295.4,-9.7,216,2397,0.12,2.20,0.00,0.000,6,0.146,0.041,2415,1953,3552,0,0,0,0,0,0
$GC,2738,-0.74,-146.0,322.5,-8.1,226,2742,0.00,2.22,0.00,0.000,4,0.000,0.058,2415,548,3552,0,0,0,0,0,0
$GC,2871,-0.74,-146.0,336.2,-10.1,229,2875,0.00,2.15,0.00,0.000,6,0.000,0.038,2407,1955,3552,0,0,0,0,0,0
$GC,3193,-0.74,-146.0,363.1,-8.3,237,3197,0.00,2.20,0.00,0.000,4,0.000,0.057,2396,3365,3550,0,0,0,0,0,0
$GC,3320,-0.74,-146.0,375.4,-10.2,239,3325,0.00,2.22,0.00,0.000,6,0.000,0.043,2396,1949,3550,0,0,0,0,0,0
$GC,3654,-0.74,-146.0,405.9,-8.5,248,3658,0.00,2.25,0.00,0.000,4,0.000,0.061,2397,546,3547,0,0,0,0,0,0
$GC,3779,-0.74,-146.0,416.6,-8.4,250,3785,0.00,2.17,0.00,0.000,6,0.000,0.040,2387,1955,3547,0,0,0,0,0,0
$GC,4111,-0.74,-146.0,445.0,-8.7,259,4115,0.00,2.20,0.00,0.000,4,0.000,0.055,2377,3364,3544,0,0,0,0,0,0
$STATE,4171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4171,begin apogee
$GC,4179,-0.17,0.0,450.1,8.5,260,4302,0.65,0.00,118.93,0.767,6,0.117,0.000,2591,1971,2949,0,0,0,0,0,0
$STATE,4302,end apogee,CONTROL_FINISHED_OK
$STATE,4303,begin climb
$GC,4305,0.74,146.0,451.6,0.0,263,4436,0.85,2.35,124.32,0.739,4,0.064,0.052,2892,3384,2353,0,0,0,0,0,0
$GC,4492,0.74,146.0,430.5,14.7,267,4496,0.00,2.30,0.00,0.000,6,0.000,0.047,2901,1982,2348,0,0,0,0,0,0
$GC,4811,0.74,146.0,384.7,14.1,275,4815,0.00,2.33,0.00,0.000,4,0.000,0.067,2911,568,2345,0,0,0,0,0,0
$GC,4844,0.74,146.0,379.6,15.5,275,4848,0.00,2.22,0.00,0.000,6,0.000,0.043,2911,1979,2344,0,0,0,0,0,0
$GC,5175,0.74,146.0,332.0,14.3,283,5179,0.00,2.25,0.00,0.000,4,0.000,0.061,2911,3387,2342,0,0,0,0,0,0
$GC,5259,0.74,146.0,318.7,15.0,285,5264,0.12,2.22,0.00,0.000,6,0.167,0.039,2889,1968,2341,0,0,0,0,0,0
$GC,5586,0.74,146.0,275.3,12.8,297,5590,0.00,2.20,0.00,0.000,4,0.000,0.059,2897,575,2339,0,0,0,0,0,0
$GC,5625,0.74,146.0,270.2,13.2,299,5629,0.00,2.20,0.00,0.000,6,0.000,0.042,2898,1989,2338,0,0,0,0,0,0
$GC,5951,0.74,146.0,233.3,10.6,315,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1989,2337,0,0,0,0,0,0
$GC,6261,0.74,146.0,199.2,10.5,330,6265,0.00,2.17,0.00,0.000,4,0.000,0.053,2898,3388,2336,0,0,0,0,0,0
$GC,6324,0.74,146.0,192.0,12.3,335,6328,0.00,2.20,0.00,0.000,6,0.000,0.040,2907,1981,2336,0,0,0,0,0,0
$GC,6650,0.74,146.0,156.6,10.9,365,6654,0.00,2.22,0.00,0.000,4,0.000,0.052,2907,3390,2335,0,0,0,0,0,0
$GC,6716,0.74,146.0,148.9,11.4,370,6723,0.00,2.22,0.00,0.000,6,0.000,0.040,2916,1978,2336,0,0,0,0,0,0
$GC,7043,0.74,146.0,113.1,10.4,401,7047,0.00,2.20,0.00,0.000,4,0.000,0.050,2916,3390,2335,0,0,0,0,0,0
$GC,7118,0.74,146.0,104.4,11.8,407,7126,0.10,2.22,0.00,0.000,6,0.133,0.040,2892,1979,2335,0,0,0,0,0,0
$GC,7443,0.74,146.0,75.8,9.5,442,7451,0.00,2.25,0.00,0.000,4,0.000,0.052,2892,3390,2335,0,0,0,0,0,0
$GC,7508,0.74,146.0,69.6,10.0,453,7514,0.00,2.20,0.00,0.000,6,0.000,0.039,2900,1973,2336,0,0,0,0,0,0
$GC,7838,0.78,183.9,43.1,7.5,514,7873,0.00,2.22,29.90,0.485,4,0.000,0.048,2899,3389,2198,0,0,0,0,0,0
$GC,7893,0.80,199.4,38.8,8.4,523,7917,0.00,2.22,14.10,0.452,6,0.000,0.040,2908,1969,2135,0,0,0,0,0,0
$GC,8239,0.81,208.8,10.7,8.6,587,8253,0.00,0.00,9.52,0.410,6,0.000,0.000,2908,1969,2097,0,0,0,0,0,0
$STATE,8330,end climb,SURFACE_DEPTH_REACHED
$STATE,8330,begin surface coast
$FINISH,0.6,0.997828
$STATE,8371,end surface coast,CONTROL_FINISHED_OK
$STATE,8371,begin surface
$SM_CCo,8389,31.17,0.430,0,0,1827,275.22
$SM_GC,1.85,0.00,0.00,31.17,0.000,0.000,0.430,40,1965,1827,-8.16,0.23,275.22
$IRIDIUM_FIX,2047.91,-15752.63,230802,191950
$TT8_MAMPS,0.027612
$HUMID,63.30
$INTERNAL_PRESSURE,9.42144
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.7,27.054
$10V_AH,10.4,29.683
$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,18.825,80.025,296.775,31.175,0.000,26.045,36.420,144.086,19.250,0.000,25.972,1106.126,4800.423,398.154,2016.712,441.794,0.000,1095.638,0.000,1962.032,0.000,119.140,0.000
$DEVICE_MAMPS,230.100,66.729,767.000,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,414.499,347.694,1219.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,34945,611
$CAP_FILE_SIZE,93843,0
$CFSIZE,260165632,239493120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300513,001325,2103.128,-15754.543,26,0.7,26,9.8