version: 66.06
glider: 523
mission: 4
dive: 335
start: 5 30 113 10 17 33
data:
$ID,523
$MISSION,4
$DIVE,335
$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,-42477.59
$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,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
$GPS1,101133,2106.367,-15758.838,50,1.0,50,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.1
$GPS2,101717,2106.393,-15758.845,23,1.0,23,9.8
$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,293.1,6622,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,88,0.00,0.00,-69.00,0.000,2,0.000,0.000,36,1982,3503,0,0,0,0,0,0
$GC,92,-0.74,-146.0,4.0,-6.7,11,107,9.55,2.22,-0.80,0.000,4,0.229,0.064,2390,3365,3547,0,0,0,0,0,0
$GC,248,-0.74,-146.0,41.1,-18.2,39,254,0.00,2.22,0.00,0.000,6,0.000,0.042,2390,1951,3549,0,0,0,0,0,0
$GC,578,-0.74,-146.0,91.4,-14.7,93,582,0.00,2.25,0.00,0.000,4,0.000,0.056,2390,547,3550,0,0,0,0,0,0
$GC,727,-0.74,-146.0,114.7,-15.0,106,732,0.12,2.15,0.00,0.000,6,0.170,0.035,2413,1964,3550,0,0,0,0,0,0
$GC,1060,-0.74,-146.0,153.6,-9.5,137,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1964,3551,0,0,0,0,0,0
$GC,1379,-0.74,-146.0,190.3,-11.8,167,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1965,3552,0,0,0,0,0,0
$GC,1700,-0.74,-146.0,219.6,-7.4,187,1707,0.00,2.22,0.00,0.000,4,0.000,0.050,2413,545,3553,0,0,0,0,0,0
$GC,1792,-0.74,-146.0,228.3,-9.8,191,1796,0.00,2.15,0.00,0.000,6,0.000,0.035,2405,1967,3553,0,0,0,0,0,0
$GC,2120,-0.74,-146.0,261.4,-9.2,207,2124,0.00,2.28,0.00,0.000,4,0.000,0.053,2405,545,3553,0,0,0,0,0,0
$GC,2188,-0.74,-146.0,267.3,-8.1,210,2192,0.00,2.15,0.00,0.000,6,0.000,0.036,2396,1958,3552,0,0,0,0,0,0
$GC,2511,-0.74,-146.0,294.7,-9.3,226,2516,0.00,2.25,0.00,0.000,4,0.000,0.054,2395,540,3553,0,0,0,0,0,0
$GC,2538,-0.74,-146.0,297.7,-9.7,227,2542,0.00,2.17,0.00,0.000,6,0.000,0.038,2386,1962,3552,0,0,0,0,0,0
$GC,2857,-0.74,-146.0,325.6,-8.5,236,2861,0.00,2.30,0.00,0.000,4,0.000,0.054,2386,541,3552,0,0,0,0,0,0
$GC,3048,-0.74,-146.0,344.0,-9.8,240,3052,0.12,2.17,0.00,0.000,6,0.155,0.038,2410,1959,3552,0,0,0,0,0,0
$GC,3398,-0.74,-146.0,369.2,-6.9,249,3402,0.00,2.28,0.00,0.000,4,0.000,0.057,2411,549,3549,0,0,0,0,0,0
$GC,3506,-0.74,-146.0,377.6,-8.2,251,3510,0.00,2.17,0.00,0.000,6,0.000,0.041,2403,1957,3549,0,0,0,0,0,0
$GC,3855,-0.74,-146.0,404.9,-7.7,260,3859,0.00,2.25,0.00,0.000,4,0.000,0.061,2393,3369,3547,0,0,0,0,0,0
$GC,3979,-0.74,-146.0,414.6,-8.0,262,3984,0.00,2.25,0.00,0.000,6,0.000,0.046,2393,1951,3546,0,0,0,0,0,0
$GC,4316,-0.74,-146.0,444.7,-9.3,271,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1951,3543,0,0,0,0,0,0
$STATE,4395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4395,begin apogee
$GC,4401,-0.17,0.0,451.4,8.7,273,4523,0.62,0.00,118.70,0.772,6,0.114,0.000,2596,1951,2949,0,0,0,0,0,0
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4527,0.74,146.0,453.7,0.0,276,4660,0.82,2.45,124.55,0.744,4,0.061,0.058,2890,3386,2352,0,0,0,0,0,0
$GC,4707,0.74,146.0,434.9,13.4,280,4711,0.00,2.30,0.00,0.000,6,0.000,0.038,2899,1970,2348,0,0,0,0,0,0
$GC,5044,0.74,146.0,384.1,15.7,289,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1970,2343,0,0,0,0,0,0
$GC,5369,0.74,146.0,337.7,13.9,297,5373,0.00,2.22,0.00,0.000,4,0.000,0.055,2910,562,2341,0,0,0,0,0,0
$GC,5454,0.74,146.0,324.9,14.5,299,5458,0.00,2.17,0.00,0.000,6,0.000,0.036,2910,1985,2340,0,0,0,0,0,0
$GC,5785,0.74,146.0,278.7,13.7,310,5789,0.00,2.28,0.00,0.000,4,0.000,0.053,2920,561,2338,0,0,0,0,0,0
$GC,5830,0.74,146.0,271.8,15.6,312,5835,0.12,2.17,0.00,0.000,6,0.149,0.036,2886,1991,2339,0,0,0,0,0,0
$GC,6151,0.74,146.0,232.8,11.7,328,6155,0.00,2.17,0.00,0.000,4,0.000,0.051,2887,3388,2338,0,0,0,0,0,0
$GC,6364,0.74,146.0,204.9,11.5,337,6369,0.00,2.20,0.00,0.000,6,0.000,0.038,2895,1963,2336,0,0,0,0,0,0
$GC,6689,0.74,146.0,171.4,10.7,366,6693,0.00,2.17,0.00,0.000,4,0.000,0.053,2905,578,2335,0,0,0,0,0,0
$GC,6754,0.74,146.0,163.4,12.0,371,6761,0.00,2.17,0.00,0.000,6,0.000,0.035,2905,1985,2335,0,0,0,0,0,0
$GC,7081,0.74,146.0,126.9,9.4,402,7085,0.00,2.17,0.00,0.000,4,0.000,0.049,2905,3393,2335,0,0,0,0,0,0
$GC,7102,0.74,146.0,125.1,9.2,403,7106,0.00,2.22,0.00,0.000,6,0.000,0.048,2914,1991,2335,0,0,0,0,0,0
$GC,7428,0.74,146.0,91.7,10.9,433,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1991,2335,0,0,0,0,0,0
$GC,7747,0.74,146.0,60.1,9.5,482,7754,0.00,2.28,0.00,0.000,4,0.000,0.055,2925,566,2335,0,0,0,0,0,0
$GC,7866,0.74,146.0,49.4,10.8,503,7872,0.12,2.17,0.00,0.000,6,0.137,0.035,2889,1993,2335,0,0,0,0,0,0
$GC,8197,0.81,209.0,22.6,6.4,564,8256,0.00,2.25,50.17,0.468,4,0.000,0.051,2890,3377,2097,0,0,0,0,0,0
$GC,8292,0.90,275.5,17.5,6.3,579,8357,0.08,2.25,55.78,0.454,6,0.044,0.043,2967,1980,1826,0,0,0,0,0,0
$STATE,8415,end climb,SURFACE_DEPTH_REACHED
$STATE,8416,begin surface coast
$FINISH,0.5,1.009598
$STATE,8438,end surface coast,CONTROL_FINISHED_OK
$STATE,8438,begin surface
$SM_CCo,8517,0.00,0.000,0,0,1818,277.43
$SM_GC,1.48,7.57,0.00,0.00,0.027,0.000,0.000,50,1976,1818,-8.02,0.62,277.43
$IRIDIUM_FIX,2059.45,-15756.04,240802,070748
$TT8_MAMPS,0.026845
$HUMID,62.83
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.7,27.458
$10V_AH,10.5,30.128
$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,19.150,71.175,349.200,0.000,0.000,24.967,33.505,148.874,19.250,0.000,24.299,1090.501,4981.604,368.078,1977.209,439.540,0.000,1077.959,0.000,1921.469,0.000,119.177,0.000
$DEVICE_MAMPS,228.566,63.661,771.602,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.308,342.006,1191.873,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,35011,604
$CAP_FILE_SIZE,91440,0
$CFSIZE,260165632,239263744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300513,124023,2107.009,-15759.963,17,1.1,17,9.8