version: 66.06
glider: 523
mission: 4
dive: 597
start: 6 29 113 19 45 27
data:
$ID,523
$MISSION,4
$DIVE,597
$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,300
$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,-47971.133
$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,2640
$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,16
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$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
$GPS1,193830,2106.733,-15743.613,16,1.7,16,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.3
$GPS2,194511,2106.740,-15743.652,27,0.7,27,9.8
$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,133.7,2134,-20.1,-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,-0.80,-102.5,0.0,0.0,0,95,0.00,0.00,-71.78,0.000,6,0.000,0.000,31,1986,3217,0,0,0,0,0,0
$GC,99,-0.85,-146.0,2.8,-2.6,12,121,9.48,2.40,-4.20,0.000,4,0.225,0.066,2356,542,3395,0,0,0,0,0,0
$GC,361,-0.85,-146.0,50.6,-17.9,60,368,0.00,2.22,0.00,0.000,6,0.000,0.038,2347,1951,3397,0,0,0,0,0,0
$GC,698,-0.85,-146.0,103.6,-12.4,107,702,0.00,2.33,0.00,0.000,4,0.000,0.056,2347,535,3397,0,0,0,0,0,0
$GC,948,-0.85,-146.0,133.8,-10.9,129,955,0.00,2.22,0.00,0.000,6,0.000,0.038,2338,1956,3399,0,0,0,0,0,0
$GC,1275,-0.85,-146.0,165.0,-10.5,160,1282,0.00,2.33,0.00,0.000,4,0.000,0.057,2338,538,3399,0,0,0,0,0,0
$GC,1532,-0.85,-146.0,190.7,-10.6,183,1537,0.15,2.20,0.00,0.000,6,0.160,0.038,2367,1966,3399,0,0,0,0,0,0
$GC,1866,-0.85,-146.0,217.9,-6.8,204,1871,0.00,2.35,0.00,0.000,4,0.000,0.057,2368,534,3400,0,0,0,0,0,0
$GC,2021,-0.85,-146.0,230.4,-9.0,211,2025,0.00,2.20,0.00,0.000,6,0.000,0.038,2360,1957,3400,0,0,0,0,0,0
$GC,2353,-0.85,-146.0,257.5,-8.0,227,2357,0.00,2.33,0.00,0.000,4,0.000,0.058,2360,541,3400,0,0,0,0,0,0
$GC,2477,-0.85,-146.0,268.4,-8.5,232,2483,0.00,2.17,0.00,0.000,6,0.000,0.038,2350,1962,3400,0,0,0,0,0,0
$GC,2796,-0.85,-146.0,293.6,-7.0,248,2800,0.00,2.33,0.00,0.000,4,0.000,0.058,2350,541,3400,0,0,0,0,0,0
$GC,3055,-0.85,-146.0,320.1,-11.6,255,3060,0.00,2.20,0.00,0.000,6,0.000,0.039,2340,1958,3400,0,0,0,0,0,0
$GC,3387,-0.85,-146.0,352.7,-9.3,264,3391,0.00,2.33,0.00,0.000,4,0.000,0.058,2340,541,3400,0,0,0,0,0,0
$GC,3404,-0.85,-146.0,354.4,-8.9,264,3409,0.12,2.20,0.00,0.000,6,0.164,0.041,2362,1957,3400,0,0,0,0,0,0
$GC,3755,-0.85,-146.0,376.6,-5.9,273,3759,0.00,2.35,0.00,0.000,4,0.000,0.060,2363,541,3398,0,0,0,0,0,0
$GC,3873,-0.85,-146.0,384.3,-6.8,275,3877,0.00,2.22,0.00,0.000,6,0.000,0.041,2355,1964,3397,0,0,0,0,0,0
$GC,4208,-0.85,-146.0,407.7,-7.2,283,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1964,3396,0,0,0,0,0,0
$GC,4530,-0.85,-146.0,428.7,-6.0,291,4534,0.00,2.35,0.00,0.000,4,0.000,0.061,2355,541,3393,0,0,0,0,0,0
$GC,4704,-0.85,-146.0,442.0,-7.4,295,4708,0.00,2.22,0.00,0.000,6,0.000,0.042,2345,1966,3392,0,0,0,0,0,0
$STATE,4829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4829,begin apogee
$GC,4835,-0.17,0.0,451.1,7.0,298,4961,0.75,0.00,122.82,0.750,6,0.120,0.000,2581,1966,2799,0,0,0,0,0,0
$STATE,4962,end apogee,CONTROL_FINISHED_OK
$STATE,4962,begin climb
$GC,4965,0.85,146.0,451.7,0.0,301,5103,0.93,2.35,127.40,0.726,4,0.068,0.054,2912,3378,2203,0,0,0,0,0,0
$GC,5211,0.85,146.0,420.6,15.0,306,5215,0.00,2.30,0.00,0.000,6,0.000,0.049,2922,1975,2199,0,0,0,0,0,0
$GC,5542,0.85,146.0,375.2,13.8,314,5546,0.00,2.33,0.00,0.000,4,0.000,0.059,2921,3386,2196,0,0,0,0,0,0
$GC,5626,0.85,146.0,362.6,15.3,316,5630,0.00,2.28,0.00,0.000,6,0.000,0.050,2931,1979,2195,0,0,0,0,0,0
$GC,5950,0.85,146.0,317.8,13.5,324,5954,0.00,2.28,0.00,0.000,4,0.000,0.058,2931,3388,2193,0,0,0,0,0,0
$GC,6040,0.85,146.0,305.5,13.9,326,6044,0.00,2.28,0.00,0.000,6,0.000,0.050,2941,1979,2192,0,0,0,0,0,0
$GC,6362,0.85,146.0,261.2,14.2,340,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1979,2191,0,0,0,0,0,0
$GC,6671,0.85,146.0,222.9,11.6,355,6675,0.00,2.28,0.00,0.000,4,0.000,0.060,2941,3391,2191,0,0,0,0,0,0
$GC,6927,0.85,146.0,190.6,12.2,369,6934,0.10,2.30,0.00,0.000,6,0.134,0.053,2918,1987,2190,0,0,0,0,0,0
$GC,7256,0.85,146.0,153.9,11.8,400,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1987,2189,0,0,0,0,0,0
$GC,7585,0.85,146.0,120.9,9.3,431,7589,0.00,2.25,0.00,0.000,4,0.000,0.061,2918,3383,2189,0,0,0,0,0,0
$GC,7649,0.85,146.0,114.2,10.4,436,7657,0.00,2.28,0.00,0.000,6,0.000,0.053,2925,1988,2188,0,0,0,0,0,0
$GC,7976,0.85,146.0,85.7,9.4,467,7980,0.00,2.30,0.00,0.000,4,0.000,0.061,2925,3386,2188,0,0,0,0,0,0
$GC,8065,0.85,146.0,77.1,9.5,477,8070,0.00,2.25,0.00,0.000,6,0.000,0.051,2934,1980,2188,0,0,0,0,0,0
$GC,8398,0.87,164.1,52.1,8.0,538,8418,0.00,2.25,13.90,0.458,4,0.000,0.058,2945,562,2131,0,0,0,0,0,0
$GC,8476,0.88,167.6,45.6,8.8,551,8489,0.00,2.22,4.95,0.371,6,0.000,0.041,2944,1986,2116,0,0,0,0,0,0
$GC,8812,0.88,167.6,16.9,9.1,613,8820,0.00,2.28,0.00,0.000,4,0.000,0.052,2944,3382,2115,0,0,0,0,0,0
$GC,8902,0.88,167.6,7.5,10.4,629,8910,0.08,2.30,0.00,0.000,6,0.117,0.048,2927,1968,2114,0,0,0,0,0,0
$STATE,8947,end climb,SURFACE_DEPTH_REACHED
$STATE,8947,begin surface coast
$FINISH,0.5,1.008320
$STATE,8980,end surface coast,CONTROL_FINISHED_OK
$STATE,8982,begin surface
$SM_CCo,9000,60.50,0.431,0,0,1575,300.24
$SM_GC,1.59,0.00,0.00,60.50,0.000,0.000,0.431,41,1964,1575,-8.12,0.17,300.24
$IRIDIUM_FIX,2057.14,-15746.61,230902,161609
$TT8_MAMPS,0.028379
$HUMID,65.35
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,24.4,51.024
$10V_AH,10.1,55.858
$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,18.925,77.450,269.075,60.500,0.000,24.161,41.351,184.498,19.500,0.000,27.820,1193.418,5109.512,392.540,2250.816,510.410,0.000,1170.382,0.000,2191.557,0.000,117.260,0.000
$DEVICE_MAMPS,224.731,65.962,750.126,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,436.873,364.861,1280.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34829,643
$CAP_FILE_SIZE,99422,0
$CFSIZE,260165632,226029568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290613,221734,2106.329,-15742.409,26,0.7,26,9.8