version: 66.06
glider: 523
mission: 4
dive: 336
start: 5 30 113 12 46 33
data:
$ID,523
$MISSION,4
$DIVE,336
$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,-42497.672
$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,25
$R_STBD_OVSHOOT,33
$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
$GPS1,124023,2107.009,-15759.963,17,1.1,17,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.1
$GPS2,124617,2106.998,-15759.978,19,0.8,19,9.8
$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,294.7,4373,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-70.00,0.000,2,0.000,0.000,49,1970,3498,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.8,-6.2,11,113,9.57,2.25,-0.90,0.000,4,0.231,0.062,2396,3369,3547,0,0,0,0,0,0
$GC,264,-0.74,-146.0,45.6,-17.6,42,271,0.00,2.22,0.00,0.000,6,0.000,0.041,2395,1961,3549,0,0,0,0,0,0
$GC,599,-0.74,-146.0,95.4,-15.8,94,603,0.00,2.20,0.00,0.000,4,0.000,0.054,2395,544,3550,0,0,0,0,0,0
$GC,685,-0.74,-146.0,109.0,-15.3,101,689,0.00,2.15,0.00,0.000,6,0.000,0.033,2386,1963,3550,0,0,0,0,0,0
$GC,1011,-0.74,-146.0,149.7,-13.2,131,1018,0.00,2.28,0.00,0.000,4,0.000,0.051,2385,538,3551,0,0,0,0,0,0
$GC,1096,-0.74,-146.0,161.1,-12.2,138,1104,0.10,2.17,0.00,0.000,6,0.137,0.035,2409,1961,3551,0,0,0,0,0,0
$GC,1423,-0.74,-146.0,197.4,-10.1,169,1427,0.00,2.25,0.00,0.000,4,0.000,0.050,2409,545,3552,0,0,0,0,0,0
$GC,1536,-0.74,-146.0,210.4,-11.8,175,1540,0.00,2.15,0.00,0.000,6,0.000,0.035,2401,1965,3552,0,0,0,0,0,0
$GC,1860,-0.74,-146.0,239.1,-8.1,191,1864,0.00,2.25,0.00,0.000,4,0.000,0.051,2401,540,3552,0,0,0,0,0,0
$GC,1900,-0.74,-146.0,243.0,-9.3,193,1904,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1955,3552,0,0,0,0,0,0
$GC,2227,-0.74,-146.0,275.6,-9.8,209,2231,0.00,2.20,0.00,0.000,4,0.000,0.055,2380,3368,3552,0,0,0,0,0,0
$GC,2294,-0.74,-146.0,282.0,-8.6,212,2299,0.12,2.20,0.00,0.000,6,0.146,0.041,2415,1948,3552,0,0,0,0,0,0
$GC,2617,-0.74,-146.0,306.5,-6.8,226,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1947,3553,0,0,0,0,0,0
$GC,2942,-0.74,-146.0,326.9,-6.7,234,2946,0.00,2.22,0.00,0.000,4,0.000,0.055,2416,541,3553,0,0,0,0,0,0
$GC,3141,-0.74,-146.0,345.5,-9.6,238,3145,0.00,2.15,0.00,0.000,6,0.000,0.038,2408,1958,3552,0,0,0,0,0,0
$GC,3484,-0.74,-146.0,370.6,-6.0,247,3488,0.00,2.22,0.00,0.000,4,0.000,0.057,2397,3368,3550,0,0,0,0,0,0
$GC,3512,-0.74,-146.0,372.0,-5.1,247,3516,0.00,2.17,0.00,0.000,6,0.000,0.040,2397,1952,3550,0,0,0,0,0,0
$GC,3844,-0.74,-146.0,394.6,-7.9,255,3851,0.00,2.22,0.00,0.000,4,0.000,0.061,2397,551,3547,0,0,0,0,0,0
$GC,4104,-0.74,-146.0,418.6,-8.3,260,4108,0.00,2.17,0.00,0.000,6,0.000,0.040,2388,1968,3545,0,0,0,0,0,0
$GC,4441,-0.74,-146.0,444.7,-8.2,269,4448,0.00,2.20,0.00,0.000,4,0.000,0.058,2377,3361,3543,0,0,0,0,0,0
$GC,4476,-0.74,-146.0,447.8,-9.1,269,4481,0.12,2.17,0.00,0.000,6,0.148,0.042,2411,1955,3543,0,0,0,0,0,0
$STATE,4521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4521,begin apogee
$GC,4528,-0.17,0.0,451.3,7.8,270,4649,0.55,0.00,118.62,0.774,6,0.110,0.000,2595,1955,2949,0,0,0,0,0,0
$STATE,4650,end apogee,CONTROL_FINISHED_OK
$STATE,4650,begin climb
$GC,4653,0.74,146.0,452.8,0.0,273,4786,0.82,2.38,123.88,0.744,4,0.062,0.055,2887,3380,2354,0,0,0,0,0,0
$GC,4837,0.74,146.0,430.8,15.7,277,4841,0.00,2.28,0.00,0.000,6,0.000,0.042,2897,1980,2350,0,0,0,0,0,0
$GC,5168,0.74,146.0,388.1,12.0,285,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1980,2346,0,0,0,0,0,0
$GC,5493,0.74,146.0,342.9,14.2,293,5497,0.00,2.25,0.00,0.000,4,0.000,0.059,2907,571,2343,0,0,0,0,0,0
$GC,5521,0.74,146.0,339.1,13.4,293,5525,0.00,2.20,0.00,0.000,6,0.000,0.040,2907,1984,2342,0,0,0,0,0,0
$GC,5837,0.74,146.0,296.5,14.1,302,5841,0.00,2.28,0.00,0.000,4,0.000,0.056,2918,564,2341,0,0,0,0,0,0
$GC,5909,0.74,146.0,287.1,11.8,305,5913,0.00,2.20,0.00,0.000,6,0.000,0.039,2917,1982,2340,0,0,0,0,0,0
$GC,6230,0.74,146.0,248.2,13.4,321,6234,0.00,2.20,0.00,0.000,4,0.000,0.052,2917,3394,2339,0,0,0,0,0,0
$GC,6308,0.74,146.0,236.5,15.9,324,6314,0.15,2.22,0.00,0.000,6,0.155,0.042,2886,1977,2339,0,0,0,0,0,0
$GC,6627,0.74,146.0,193.9,12.6,342,6631,0.00,2.22,0.00,0.000,4,0.000,0.051,2886,3388,2338,0,0,0,0,0,0
$GC,6657,0.74,146.0,190.1,12.9,344,6661,0.00,2.20,0.00,0.000,6,0.000,0.039,2894,1973,2337,0,0,0,0,0,0
$GC,6984,0.74,146.0,157.3,11.1,374,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1973,2337,0,0,0,0,0,0
$GC,7304,0.74,146.0,123.4,10.3,404,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1973,2336,0,0,0,0,0,0
$GC,7633,0.74,146.0,87.7,12.2,435,7637,0.00,2.20,0.00,0.000,4,0.000,0.048,2894,3390,2336,0,0,0,0,0,0
$GC,7665,0.74,146.0,83.4,11.5,437,7673,0.00,2.22,0.00,0.000,6,0.000,0.040,2904,1975,2337,0,0,0,0,0,0
$GC,7999,0.76,165.8,53.2,8.2,495,8024,0.00,2.25,15.32,0.479,4,0.000,0.057,2914,569,2271,0,0,0,0,0,0
$GC,8074,0.76,165.8,46.1,9.9,508,8081,0.00,2.20,0.00,0.000,6,0.000,0.037,2914,1987,2270,0,0,0,0,0,0
$GC,8402,0.80,197.4,18.6,7.7,569,8436,0.00,2.20,27.67,0.459,4,0.000,0.050,2914,3396,2143,0,0,0,0,0,0
$GC,8486,0.80,197.4,10.7,9.1,583,8494,0.00,2.25,0.00,0.000,6,0.000,0.044,2923,1981,2141,0,0,0,0,0,0
$STATE,8577,end climb,SURFACE_DEPTH_REACHED
$STATE,8577,begin surface coast
$FINISH,0.5,1.023045
$STATE,8612,end surface coast,CONTROL_FINISHED_OK
$STATE,8612,begin surface
$SM_CCo,8630,37.15,0.437,0,0,1828,275.22
$SM_GC,1.73,0.00,0.00,37.15,0.000,0.000,0.437,41,1975,1828,-8.15,0.51,275.22
$IRIDIUM_FIX,2059.45,-15803.33,240802,101016
$TT8_MAMPS,0.028379
$HUMID,64.45
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.6,27.536
$10V_AH,10.4,30.216
$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,18.800,79.775,285.500,37.150,0.000,26.414,41.810,154.175,19.000,0.000,19.453,1108.489,5102.785,380.283,1970.555,458.253,0.000,1077.060,0.000,1923.000,0.000,117.254,0.000
$DEVICE_MAMPS,230.867,62.127,773.903,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.972,340.888,1189.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,35039,606
$CAP_FILE_SIZE,94746,0
$CFSIZE,260165632,239214592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300513,151204,2107.790,-15801.373,24,0.9,24,9.8