version: 66.06
glider: 523
mission: 4
dive: 333
start: 5 30 113 5 15 46
data:
$ID,523
$MISSION,4
$DIVE,333
$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,-42432.07
$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,29
$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
$GPS1,050938,2104.981,-15756.444,21,0.9,21,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-77.1
$GPS2,051530,2105.027,-15756.446,19,0.8,19,9.8
$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,292.5,11476,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-63.58,0.000,2,0.000,0.000,25,1957,3321,0,0,0,0,0,0
$GC,85,-0.74,-146.0,3.1,-3.7,10,106,9.62,2.22,-4.82,0.000,4,0.229,0.062,2391,3369,3548,0,0,0,0,0,0
$GC,255,-0.74,-146.0,39.9,-14.6,41,261,0.00,2.22,0.00,0.000,6,0.000,0.042,2391,1953,3549,0,0,0,0,0,0
$GC,592,-0.74,-146.0,91.5,-15.4,96,595,0.00,2.25,0.00,0.000,4,0.000,0.055,2391,540,3551,0,0,0,0,0,0
$GC,813,-0.74,-146.0,127.8,-15.7,116,818,0.12,2.17,0.00,0.000,6,0.167,0.035,2414,1973,3552,0,0,0,0,0,0
$GC,1140,-0.74,-146.0,163.8,-11.6,146,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1974,3553,0,0,0,0,0,0
$GC,1456,-0.74,-146.0,203.0,-11.8,175,1459,0.00,2.28,0.00,0.000,4,0.000,0.051,2414,547,3554,0,0,0,0,0,0
$GC,1540,-0.74,-146.0,212.3,-10.0,178,1545,0.00,2.12,0.00,0.000,6,0.000,0.034,2406,1962,3554,0,0,0,0,0,0
$GC,1857,-0.74,-146.0,239.5,-9.2,194,1864,0.00,2.28,0.00,0.000,4,0.000,0.051,2406,546,3554,0,0,0,0,0,0
$GC,1998,-0.74,-146.0,254.1,-11.2,200,2002,0.00,2.12,0.00,0.000,6,0.000,0.035,2397,1953,3554,0,0,0,0,0,0
$GC,2327,-0.74,-146.0,286.6,-8.9,216,2331,0.00,2.22,0.00,0.000,4,0.000,0.054,2387,3364,3554,0,0,0,0,0,0
$GC,2399,-0.74,-146.0,293.9,-9.7,219,2403,0.00,2.17,0.00,0.000,6,0.000,0.041,2387,1957,3554,0,0,0,0,0,0
$GC,2713,-0.74,-146.0,326.0,-9.5,228,2717,0.00,2.22,0.00,0.000,4,0.000,0.055,2386,548,3554,0,0,0,0,0,0
$GC,2972,-0.74,-146.0,351.3,-9.8,233,2977,0.12,2.15,0.00,0.000,6,0.156,0.038,2411,1953,3553,0,0,0,0,0,0
$GC,3305,-0.74,-146.0,371.6,-5.4,241,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1954,3552,0,0,0,0,0,0
$GC,3628,-0.74,-146.0,393.8,-7.6,249,3632,0.00,2.28,0.00,0.000,4,0.000,0.058,2412,546,3550,0,0,0,0,0,0
$GC,3714,-0.74,-146.0,401.2,-9.0,251,3718,0.00,2.17,0.00,0.000,6,0.000,0.041,2404,1954,3549,0,0,0,0,0,0
$GC,4040,-0.74,-146.0,430.0,-8.7,259,4045,0.00,2.22,0.00,0.000,4,0.000,0.060,2393,3363,3546,0,0,0,0,0,0
$GC,4086,-0.74,-146.0,433.4,-7.5,260,4090,0.00,2.20,0.00,0.000,6,0.000,0.044,2393,1950,3546,0,0,0,0,0,0
$STATE,4328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4328,begin apogee
$GC,4335,-0.17,0.0,450.2,6.7,266,4457,0.62,0.00,119.15,0.772,6,0.114,0.000,2597,1950,2949,0,0,0,0,0,0
$STATE,4458,end apogee,CONTROL_FINISHED_OK
$STATE,4458,begin climb
$GC,4461,0.74,146.0,451.1,0.0,269,4595,0.80,2.45,124.10,0.742,4,0.062,0.057,2886,3391,2352,0,0,0,0,0,0
$GC,4628,0.74,146.0,431.3,16.5,273,4632,0.00,2.30,0.00,0.000,6,0.000,0.040,2896,1970,2349,0,0,0,0,0,0
$GC,4947,0.74,146.0,383.4,14.7,281,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1970,2344,0,0,0,0,0,0
$GC,5272,0.74,146.0,342.5,11.8,289,5276,0.00,2.22,0.00,0.000,4,0.000,0.050,2896,3389,2341,0,0,0,0,0,0
$GC,5288,0.74,146.0,340.7,10.8,289,5293,0.00,2.20,0.00,0.000,6,0.000,0.038,2906,1973,2341,0,0,0,0,0,0
$GC,5638,0.74,146.0,302.2,11.7,298,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1973,2339,0,0,0,0,0,0
$GC,5945,0.74,146.0,269.7,11.3,312,5949,0.00,2.22,0.00,0.000,4,0.000,0.050,2906,3387,2338,0,0,0,0,0,0
$GC,6012,0.74,146.0,260.2,15.5,315,6016,0.00,2.17,0.00,0.000,6,0.000,0.038,2914,1978,2338,0,0,0,0,0,0
$GC,6333,0.74,146.0,213.2,15.3,331,6337,0.00,2.17,0.00,0.000,4,0.000,0.054,2925,575,2337,0,0,0,0,0,0
$GC,6396,0.74,146.0,203.9,15.2,334,6400,0.12,2.15,0.00,0.000,6,0.146,0.035,2891,1993,2336,0,0,0,0,0,0
$GC,6728,0.74,146.0,169.4,10.8,363,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1993,2336,0,0,0,0,0,0
$GC,7048,0.74,146.0,134.0,9.9,393,7052,0.00,2.15,0.00,0.000,4,0.000,0.049,2891,3381,2336,0,0,0,0,0,0
$GC,7166,0.74,146.0,121.6,10.1,403,7174,0.00,2.20,0.00,0.000,6,0.000,0.036,2899,1971,2335,0,0,0,0,0,0
$GC,7493,0.74,146.0,85.9,11.4,434,7497,0.00,2.17,0.00,0.000,4,0.000,0.050,2909,574,2335,0,0,0,0,0,0
$GC,7557,0.74,146.0,79.1,10.7,439,7562,0.00,2.12,0.00,0.000,6,0.000,0.033,2909,1983,2335,0,0,0,0,0,0
$GC,7888,0.74,152.3,48.6,8.8,500,7896,0.00,2.25,0.00,0.000,4,0.000,0.050,2919,579,2335,0,0,0,0,0,0
$GC,7943,0.74,152.3,43.7,9.8,509,7949,0.00,2.12,0.00,0.000,6,0.000,0.032,2919,1985,2335,0,0,0,0,0,0
$GC,8270,0.77,175.5,12.7,8.1,570,8298,0.00,2.30,23.02,0.451,4,0.000,0.049,2929,578,2233,0,0,0,0,0,0
$GC,8380,0.80,195.3,4.4,8.2,589,8401,0.00,2.15,13.12,0.421,6,0.000,0.032,2929,1978,2150,0,0,0,0,0,0
$STATE,8407,end climb,SURFACE_DEPTH_REACHED
$STATE,8407,begin surface coast
$FINISH,0.5,1.023100
$STATE,8447,end surface coast,CONTROL_FINISHED_OK
$STATE,8447,begin surface
$SM_CCo,8465,36.65,0.436,0,0,1827,275.22
$SM_GC,1.55,0.00,0.00,36.65,0.000,0.000,0.436,42,1983,1827,-8.15,0.71,275.22
$IRIDIUM_FIX,2104.07,-15807.62,240802,020220
$TT8_MAMPS,0.028379
$HUMID,63.74
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.6,27.292
$10V_AH,10.4,29.947
$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,18.875,70.700,279.400,36.650,0.000,25.156,42.980,152.025,19.000,0.000,19.953,1108.248,4953.202,352.118,1990.562,449.104,0.000,1040.034,0.000,1938.240,0.000,119.466,0.000
$DEVICE_MAMPS,229.333,62.127,771.602,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.855,333.884,1189.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,31778,600
$CAP_FILE_SIZE,91734,0
$CFSIZE,260165632,239357952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300513,073835,2105.608,-15757.766,27,1.2,27,9.8