version: 66.06
glider: 523
mission: 4
dive: 331
start: 5 30 113 0 22 23
data:
$ID,523
$MISSION,4
$DIVE,331
$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,-42389.699
$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,27
$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,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
$GPS1,001325,2103.128,-15754.543,26,0.7,26,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.2
$GPS2,002207,2103.180,-15754.690,21,0.7,21,9.8
$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,297.0,15917,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,90,0.00,0.00,-70.10,0.000,2,0.000,0.000,40,1963,3536,0,0,0,0,0,0
$GC,93,-0.74,-146.0,4.1,-6.6,11,108,9.62,2.22,0.00,0.000,4,0.232,0.044,2404,544,3538,0,0,0,0,0,0
$GC,346,-0.74,-146.0,62.6,-17.8,58,353,0.00,2.20,0.00,0.000,6,0.000,0.037,2396,1960,3539,0,0,0,0,0,0
$GC,683,-0.74,-146.0,115.3,-14.8,99,687,0.00,2.25,0.00,0.000,4,0.000,0.051,2396,540,3541,0,0,0,0,0,0
$GC,702,-0.74,-146.0,117.8,-13.2,100,706,0.00,2.17,0.00,0.000,6,0.000,0.035,2386,1966,3541,0,0,0,0,0,0
$GC,1029,-0.74,-146.0,162.7,-13.6,130,1033,0.00,2.28,0.00,0.000,4,0.000,0.052,2386,538,3542,0,0,0,0,0,0
$GC,1115,-0.74,-146.0,174.6,-13.5,137,1123,0.10,2.17,0.00,0.000,6,0.135,0.035,2409,1955,3542,0,0,0,0,0,0
$GC,1438,-0.74,-146.0,208.7,-10.3,164,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1955,3542,0,0,0,0,0,0
$GC,1749,-0.74,-146.0,239.3,-8.9,179,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1955,3543,0,0,0,0,0,0
$GC,2058,-0.74,-146.0,266.9,-8.3,194,2063,0.00,2.30,0.00,0.000,4,0.000,0.052,2409,541,3542,0,0,0,0,0,0
$GC,2195,-0.74,-146.0,277.8,-7.1,200,2199,0.00,2.17,0.00,0.000,6,0.000,0.036,2401,1972,3542,0,0,0,0,0,0
$GC,2520,-0.74,-146.0,297.8,-6.4,216,2524,0.00,2.15,0.00,0.000,4,0.000,0.055,2391,3362,3542,0,0,0,0,0,0
$GC,2576,-0.74,-146.0,302.9,-9.1,218,2580,0.00,2.22,0.00,0.000,6,0.000,0.044,2391,1956,3542,0,0,0,0,0,0
$GC,2928,-0.74,-146.0,341.7,-10.8,227,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1956,3541,0,0,0,0,0,0
$GC,3250,-0.74,-146.0,366.6,-7.3,235,3254,0.00,2.22,0.00,0.000,4,0.000,0.059,2391,550,3538,0,0,0,0,0,0
$GC,3392,-0.74,-146.0,378.1,-8.4,238,3396,0.10,2.15,0.00,0.000,6,0.169,0.041,2408,1954,3537,0,0,0,0,0,0
$GC,3708,-0.74,-146.0,402.4,-8.2,246,3712,0.00,2.25,0.00,0.000,4,0.000,0.060,2409,552,3535,0,0,0,0,0,0
$GC,3887,-0.74,-146.0,420.8,-9.1,250,3891,0.00,2.17,0.00,0.000,6,0.000,0.041,2401,1956,3534,0,0,0,0,0,0
$GC,4208,-0.74,-146.0,446.5,-8.0,258,4212,0.00,2.20,0.00,0.000,4,0.000,0.061,2391,3361,3532,0,0,0,0,0,0
$STATE,4246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4247,begin apogee
$GC,4255,-0.17,0.0,450.1,8.4,259,4375,0.62,0.00,116.78,0.767,6,0.111,0.000,2595,1984,2949,0,0,0,0,0,0
$STATE,4376,end apogee,CONTROL_FINISHED_OK
$STATE,4376,begin climb
$GC,4379,0.74,146.0,453.5,0.0,262,4512,0.80,2.40,123.97,0.742,4,0.061,0.064,2897,572,2352,0,0,0,0,0,0
$GC,4524,0.74,146.0,441.5,12.3,265,4528,0.00,2.28,0.00,0.000,6,0.000,0.041,2897,1984,2351,0,0,0,0,0,0
$GC,4860,0.74,146.0,391.6,16.4,274,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1984,2344,0,0,0,0,0,0
$GC,5185,0.74,146.0,342.6,14.8,282,5189,0.00,2.22,0.00,0.000,4,0.000,0.058,2897,3388,2342,0,0,0,0,0,0
$GC,5229,0.74,146.0,336.6,12.6,283,5233,0.00,2.28,0.00,0.000,6,0.000,0.051,2907,1980,2341,0,0,0,0,0,0
$GC,5547,0.74,146.0,295.5,13.9,291,5551,0.00,2.28,0.00,0.000,4,0.000,0.061,2907,3394,2339,0,0,0,0,0,0
$GC,5632,0.74,146.0,282.7,14.8,295,5636,0.00,2.22,0.00,0.000,6,0.000,0.041,2915,1974,2339,0,0,0,0,0,0
$GC,5958,0.74,146.0,235.8,12.7,311,5962,0.00,2.22,0.00,0.000,4,0.000,0.056,2926,566,2338,0,0,0,0,0,0
$GC,6025,0.74,146.0,227.2,12.3,314,6030,0.15,2.17,0.00,0.000,6,0.144,0.037,2883,1988,2336,0,0,0,0,0,0
$GC,6348,0.74,146.0,191.4,9.9,333,6352,0.00,2.17,0.00,0.000,4,0.000,0.051,2883,3385,2336,0,0,0,0,0,0
$GC,6466,0.74,146.0,179.1,10.1,343,6473,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1980,2336,0,0,0,0,0,0
$GC,6793,0.74,146.0,146.0,11.1,374,6797,0.00,2.22,0.00,0.000,4,0.000,0.051,2892,3385,2335,0,0,0,0,0,0
$GC,6847,0.74,146.0,139.4,12.1,378,6854,0.00,2.22,0.00,0.000,6,0.000,0.041,2901,1978,2336,0,0,0,0,0,0
$GC,7174,0.74,146.0,105.7,9.8,409,7178,0.00,2.22,0.00,0.000,4,0.000,0.050,2902,3390,2336,0,0,0,0,0,0
$GC,7311,0.74,146.0,91.9,11.0,421,7315,0.00,2.20,0.00,0.000,6,0.000,0.039,2912,1971,2335,0,0,0,0,0,0
$GC,7640,0.80,200.2,65.7,6.8,469,7686,0.00,0.00,43.28,0.504,6,0.000,0.000,2912,1970,2132,0,0,0,0,0,0
$GC,8011,0.80,200.2,31.5,9.1,537,8016,0.00,2.20,0.00,0.000,4,0.000,0.054,2922,572,2130,0,0,0,0,0,0
$GC,8087,0.82,214.0,24.7,8.5,551,8108,0.00,2.17,12.48,0.434,6,0.000,0.035,2922,1976,2077,0,0,0,0,0,0
$GC,8268,0.82,214.0,7.0,10.0,584,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1976,2077,0,0,0,0,0,0
$STATE,8313,end climb,SURFACE_DEPTH_REACHED
$STATE,8313,begin surface coast
$FINISH,0.6,1.005375
$STATE,8346,end surface coast,CONTROL_FINISHED_OK
$STATE,8346,begin surface
$SM_CCo,8364,30.73,0.432,0,0,1827,275.22
$SM_GC,1.91,0.00,0.00,30.73,0.000,0.000,0.432,28,1978,1827,-8.20,0.59,275.22
$IRIDIUM_FIX,2052.52,-15756.91,240802,000017
$TT8_MAMPS,0.028379
$HUMID,63.54
$INTERNAL_PRESSURE,9.42144
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.7,27.136
$10V_AH,10.4,29.771
$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,18.775,71.100,296.500,30.725,0.000,52.656,117.152,155.254,19.000,0.000,21.530,1086.105,4966.455,360.842,1939.214,563.408,0.000,1043.601,0.000,1883.752,0.000,121.353,0.000
$DEVICE_MAMPS,231.634,64.428,767.000,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.103,339.911,1158.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,31781,598
$CAP_FILE_SIZE,92013,0
$CFSIZE,260165632,239448064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300513,024334,2104.037,-15755.445,36,0.9,36,9.8