version: 66.06
glider: 523
mission: 4
dive: 343
start: 5 31 113 6 22 12
data:
$ID,523
$MISSION,4
$DIVE,343
$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,285
$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,-42637.16
$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,2660
$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,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,061554,2109.384,-15757.511,17,1.3,17,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.6
$GPS2,062155,2109.467,-15757.578,18,1.7,18,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,95.2,26219,-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,-146.0,0.0,0.0,0,89,0.00,0.00,-69.65,0.000,2,0.000,0.000,25,1945,3391,0,0,0,0,0,0
$GC,93,-0.74,-146.0,3.5,-5.5,11,114,9.65,2.30,-2.17,0.000,4,0.228,0.070,2411,552,3498,0,0,0,0,0,0
$GC,140,-0.74,-146.0,18.5,-29.5,18,147,0.00,2.20,0.00,0.000,6,0.000,0.038,2402,1951,3498,0,0,0,0,0,0
$GC,314,-0.74,-146.0,48.9,-15.7,49,319,0.00,2.28,0.00,0.000,4,0.000,0.056,2392,3375,3499,0,0,0,0,0,0
$GC,363,-0.74,-146.0,56.8,-14.6,58,370,0.08,2.30,0.00,0.000,6,0.140,0.048,2416,1962,3500,0,0,0,0,0,0
$GC,702,-0.74,-146.0,101.8,-12.9,105,706,0.00,2.25,0.00,0.000,4,0.000,0.057,2416,544,3502,0,0,0,0,0,0
$GC,898,-0.74,-146.0,128.8,-13.7,122,905,0.00,2.20,0.00,0.000,6,0.000,0.035,2408,1974,3501,0,0,0,0,0,0
$GC,1225,-0.74,-146.0,168.5,-11.1,153,1229,0.00,2.28,0.00,0.000,4,0.000,0.052,2408,541,3502,0,0,0,0,0,0
$GC,1334,-0.74,-146.0,180.5,-11.9,162,1338,0.00,2.12,0.00,0.000,6,0.000,0.034,2399,1958,3503,0,0,0,0,0,0
$GC,1656,-0.74,-146.0,216.9,-10.6,185,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1958,3503,0,0,0,0,0,0
$GC,1968,-0.74,-146.0,245.2,-8.1,200,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1958,3503,0,0,0,0,0,0
$GC,2274,-0.74,-146.0,269.6,-7.5,215,2278,0.00,2.28,0.00,0.000,4,0.000,0.051,2399,539,3503,0,0,0,0,0,0
$GC,2521,-0.74,-146.0,293.5,-9.3,226,2525,0.12,2.15,0.00,0.000,6,0.157,0.035,2425,1969,3503,0,0,0,0,0,0
$GC,2847,-0.74,-146.0,320.8,-8.5,236,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1970,3503,0,0,0,0,0,0
$GC,3171,-0.74,-146.0,346.3,-7.6,244,3175,0.00,2.20,0.00,0.000,4,0.000,0.054,2417,3362,3503,0,0,0,0,0,0
$GC,3215,-0.74,-146.0,349.8,-7.1,245,3220,0.00,2.22,0.00,0.000,6,0.000,0.040,2417,1938,3503,0,0,0,0,0,0
$GC,3542,-0.74,-146.0,374.0,-7.7,253,3546,0.00,2.25,0.00,0.000,4,0.000,0.054,2408,3358,3501,0,0,0,0,0,0
$GC,3637,-0.74,-146.0,382.1,-8.6,255,3641,0.00,2.17,0.00,0.000,6,0.000,0.042,2408,1958,3501,0,0,0,0,0,0
$GC,3953,-0.74,-146.0,406.8,-7.8,263,3957,0.00,2.28,0.00,0.000,4,0.000,0.061,2407,544,3498,0,0,0,0,0,0
$GC,4105,-0.74,-146.0,420.4,-9.0,266,4109,0.00,2.17,0.00,0.000,6,0.000,0.039,2398,1955,3497,0,0,0,0,0,0
$STATE,4447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4447,begin apogee
$GC,4453,-0.17,0.0,450.8,9.4,275,4575,0.62,0.00,119.07,0.770,6,0.116,0.000,2600,1955,2900,0,0,0,0,0,0
$STATE,4576,end apogee,CONTROL_FINISHED_OK
$STATE,4576,begin climb
$GC,4579,0.74,146.0,455.8,0.0,278,4711,0.82,0.00,124.45,0.746,6,0.068,0.000,2893,1955,2305,0,0,0,0,0,0
$GC,5030,0.74,146.0,403.4,13.7,289,5034,0.00,2.28,0.00,0.000,4,0.000,0.061,2902,575,2297,0,0,0,0,0,0
$GC,5069,0.74,146.0,397.9,14.1,289,5075,0.00,2.22,0.00,0.000,6,0.000,0.039,2902,1993,2296,0,0,0,0,0,0
$GC,5400,0.74,146.0,353.7,13.3,298,5404,0.00,2.22,0.00,0.000,4,0.000,0.058,2902,3391,2295,0,0,0,0,0,0
$GC,5490,0.74,146.0,339.2,16.2,300,5494,0.00,2.28,0.00,0.000,6,0.000,0.051,2913,1985,2294,0,0,0,0,0,0
$GC,5809,0.74,146.0,291.9,14.7,309,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1985,2293,0,0,0,0,0,0
$GC,6118,0.74,146.0,253.1,12.3,324,6122,0.00,2.22,0.00,0.000,4,0.000,0.055,2913,3389,2292,0,0,0,0,0,0
$GC,6139,0.74,146.0,250.2,12.7,325,6143,0.00,2.22,0.00,0.000,6,0.000,0.048,2922,1973,2291,0,0,0,0,0,0
$GC,6461,0.74,146.0,205.1,14.0,341,6465,0.00,2.25,0.00,0.000,4,0.000,0.057,2922,3385,2291,0,0,0,0,0,0
$GC,6537,0.74,146.0,195.1,12.3,346,6544,0.10,2.25,0.00,0.000,6,0.134,0.048,2899,1981,2290,0,0,0,0,0,0
$GC,6864,0.74,146.0,159.7,11.0,377,6868,0.00,2.25,0.00,0.000,4,0.000,0.058,2908,565,2290,0,0,0,0,0,0
$GC,6982,0.74,146.0,147.0,10.2,387,6991,0.00,2.22,0.00,0.000,6,0.000,0.041,2908,1983,2288,0,0,0,0,0,0
$GC,7311,0.74,146.0,112.0,11.6,418,7315,0.00,2.17,0.00,0.000,4,0.000,0.052,2908,3395,2289,0,0,0,0,0,0
$GC,7365,0.74,146.0,105.3,11.9,422,7373,0.00,2.25,0.00,0.000,6,0.000,0.044,2918,1978,2289,0,0,0,0,0,0
$GC,7695,0.74,146.0,69.5,11.3,461,7701,0.00,2.25,0.00,0.000,4,0.000,0.057,2928,558,2289,0,0,0,0,0,0
$GC,7843,0.74,146.0,53.0,11.2,488,7851,0.08,2.22,0.00,0.000,6,0.123,0.039,2902,1984,2289,0,0,0,0,0,0
$GC,8180,0.79,188.5,27.1,7.3,549,8219,0.00,2.20,34.20,0.466,4,0.000,0.049,2901,3390,2130,0,0,0,0,0,0
$GC,8287,0.79,188.5,18.0,9.6,567,8294,0.00,2.25,0.00,0.000,6,0.000,0.041,2908,1973,2129,0,0,0,0,0,0
$STATE,8443,end climb,SURFACE_DEPTH_REACHED
$STATE,8443,begin surface coast
$FINISH,0.5,1.023021
$STATE,8476,end surface coast,CONTROL_FINISHED_OK
$STATE,8476,begin surface
$SM_CCo,8494,42.97,0.436,0,0,1737,285.03
$SM_GC,1.32,0.00,0.00,42.97,0.000,0.000,0.436,53,1963,1737,-8.15,0.17,285.03
$IRIDIUM_FIX,2104.07,-15803.33,250802,030308
$TT8_MAMPS,0.028379
$HUMID,63.03
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.6,28.092
$10V_AH,10.4,30.846
$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,18.800,71.425,277.725,42.975,0.000,26.864,32.723,170.705,19.250,0.000,18.575,1091.218,5014.853,364.797,1960.692,465.672,0.000,1059.320,0.000,1912.375,0.000,117.259,0.000
$DEVICE_MAMPS,227.799,69.797,770.068,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.755,339.795,1173.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31932,602
$CAP_FILE_SIZE,92073,0
$CFSIZE,260165632,238882816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310513,084556,2109.412,-15757.034,48,0.8,48,9.8