version: 66.06
glider: 523
mission: 4
dive: 30
start: 4 28 113 7 11 28
data:
$ID,523
$MISSION,4
$DIVE,30
$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,-36489.477
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,35
$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
$GPS1,070541,2106.649,-15748.251,18,1.0,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-76.0
$GPS2,071112,2106.693,-15748.176,19,1.0,19,9.8
$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,90.4,9230,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.75,0.000,6,0.000,0.000,37,1963,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.7,13,118,9.45,2.25,0.00,0.000,4,0.233,0.051,2396,549,3396,0,0,0,0,0,0
$GC,205,-0.74,-146.0,33.1,-22.0,31,210,0.00,2.17,0.00,0.000,6,0.000,0.039,2388,1954,3396,0,0,0,0,0,0
$GC,539,-0.74,-146.0,85.1,-15.5,89,543,0.00,2.25,0.00,0.000,4,0.000,0.055,2388,547,3398,0,0,0,0,0,0
$GC,658,-0.74,-146.0,104.6,-15.5,99,663,0.00,2.15,0.00,0.000,6,0.000,0.038,2378,1966,3399,0,0,0,0,0,0
$GC,990,-0.74,-146.0,151.4,-11.8,130,994,0.00,2.17,0.00,0.000,4,0.000,0.056,2368,3366,3400,0,0,0,0,0,0
$GC,1128,-0.74,-146.0,167.3,-11.3,142,1132,0.12,2.17,0.00,0.000,6,0.151,0.041,2401,1949,3400,0,0,0,0,0,0
$GC,1455,-0.74,-146.0,200.0,-10.6,172,1459,0.00,2.17,0.00,0.000,4,0.000,0.053,2401,544,3400,0,0,0,0,0,0
$GC,1532,-0.74,-146.0,209.7,-12.6,176,1536,0.00,2.12,0.00,0.000,6,0.000,0.037,2393,1965,3400,0,0,0,0,0,0
$GC,1853,-0.74,-146.0,240.5,-9.3,192,1857,0.00,2.17,0.00,0.000,4,0.000,0.055,2383,3360,3401,0,0,0,0,0,0
$GC,1897,-0.74,-146.0,244.4,-8.2,194,1901,0.00,2.17,0.00,0.000,6,0.000,0.042,2383,1955,3401,0,0,0,0,0,0
$GC,2218,-0.74,-146.0,279.1,-11.4,210,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1955,3401,0,0,0,0,0,0
$GC,2547,-0.74,-146.0,308.9,-9.0,224,2551,0.00,2.22,0.00,0.000,4,0.000,0.056,2383,552,3401,0,0,0,0,0,0
$GC,2631,-0.74,-146.0,316.1,-8.0,226,2635,0.00,2.12,0.00,0.000,6,0.000,0.041,2374,1958,3400,0,0,0,0,0,0
$GC,2959,-0.74,-146.0,340.9,-7.8,234,2963,0.00,2.22,0.00,0.000,4,0.000,0.059,2374,557,3399,0,0,0,0,0,0
$GC,3134,-0.74,-146.0,356.7,-8.7,238,3139,0.12,2.17,0.00,0.000,6,0.174,0.045,2397,1966,3398,0,0,0,0,0,0
$GC,3462,-0.74,-146.0,381.1,-7.8,246,3466,0.00,2.17,0.00,0.000,4,0.000,0.059,2389,3366,3396,0,0,0,0,0,0
$GC,3484,-0.74,-146.0,383.1,-7.3,246,3488,0.00,2.15,0.00,0.000,6,0.000,0.042,2389,1956,3396,0,0,0,0,0,0
$GC,3822,-0.74,-146.0,407.3,-6.9,255,3826,0.00,2.22,0.00,0.000,4,0.000,0.064,2389,552,3394,0,0,0,0,0,0
$GC,3974,-0.74,-146.0,419.0,-7.9,258,3978,0.00,2.17,0.00,0.000,6,0.000,0.048,2379,1968,3393,0,0,0,0,0,0
$GC,4318,-0.74,-146.0,441.8,-6.4,267,4323,0.00,2.25,0.00,0.000,4,0.000,0.063,2379,546,3391,0,0,0,0,0,0
$STATE,4428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4429,begin apogee
$GC,4439,-0.17,0.0,450.4,7.4,269,4560,0.65,0.00,117.57,0.802,6,0.128,0.000,2584,1988,2800,0,0,0,0,0,0
$STATE,4560,end apogee,CONTROL_FINISHED_OK
$STATE,4560,begin climb
$GC,4563,0.74,146.0,452.3,0.0,272,4698,0.85,2.47,125.65,0.769,4,0.077,0.061,2887,574,2203,0,0,0,0,0,0
$GC,4754,0.74,146.0,431.3,13.9,276,4758,0.00,2.28,0.00,0.000,6,0.000,0.047,2887,1973,2198,0,0,0,0,0,0
$GC,5096,0.74,146.0,382.2,14.5,285,5100,0.00,2.30,0.00,0.000,4,0.000,0.067,2896,568,2195,0,0,0,0,0,0
$GC,5157,0.74,146.0,373.5,14.1,286,5161,0.00,2.25,0.00,0.000,6,0.000,0.048,2896,1978,2194,0,0,0,0,0,0
$GC,5504,0.74,146.0,325.1,13.4,295,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1978,2191,0,0,0,0,0,0
$GC,5810,0.74,146.0,281.7,14.4,305,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1978,2190,0,0,0,0,0,0
$GC,6120,0.74,146.0,240.3,13.0,320,6124,0.00,2.20,0.00,0.000,4,0.000,0.057,2896,3387,2189,0,0,0,0,0,0
$GC,6170,0.74,146.0,233.8,13.1,322,6174,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,1969,2189,0,0,0,0,0,0
$GC,6489,0.74,146.0,191.8,13.0,339,6493,0.00,2.22,0.00,0.000,4,0.000,0.061,2916,568,2188,0,0,0,0,0,0
$GC,6573,0.74,146.0,181.8,11.2,346,6578,0.12,2.17,0.00,0.000,6,0.150,0.042,2881,1988,2187,0,0,0,0,0,0
$GC,6900,0.74,146.0,151.8,9.5,376,6904,0.00,2.17,0.00,0.000,4,0.000,0.057,2880,3383,2187,0,0,0,0,0,0
$GC,6921,0.74,146.0,149.1,10.5,377,6929,0.00,2.22,0.00,0.000,6,0.000,0.044,2888,1974,2187,0,0,0,0,0,0
$GC,7248,0.74,146.0,117.8,9.4,408,7252,0.00,2.22,0.00,0.000,4,0.000,0.057,2889,3384,2187,0,0,0,0,0,0
$GC,7299,0.74,146.0,112.6,10.3,412,7303,0.00,2.20,0.00,0.000,6,0.000,0.044,2897,1965,2187,0,0,0,0,0,0
$GC,7623,0.74,146.0,76.9,10.6,444,7631,0.00,2.22,0.00,0.000,4,0.000,0.058,2907,569,2187,0,0,0,0,0,0
$GC,7656,0.74,146.0,73.6,10.9,449,7661,0.00,2.12,0.00,0.000,6,0.000,0.038,2907,1978,2187,0,0,0,0,0,0
$GC,7988,0.74,146.0,35.6,11.4,510,7995,0.00,2.20,0.00,0.000,4,0.000,0.053,2907,3380,2188,0,0,0,0,0,0
$GC,8114,0.74,146.0,22.3,11.4,533,8122,0.10,2.20,0.00,0.000,6,0.129,0.039,2880,1967,2188,0,0,0,0,0,0
$GC,8281,0.78,181.9,9.4,7.5,564,8314,0.00,2.22,27.60,0.476,4,0.000,0.057,2889,567,2060,0,0,0,0,0,0
$STATE,8360,end climb,SURFACE_DEPTH_REACHED
$STATE,8360,begin surface coast
$FINISH,0.5,1.023555
$STATE,8394,end surface coast,CONTROL_FINISHED_OK
$STATE,8394,begin surface
$SM_CCo,8414,53.25,0.462,0,0,1576,300.24
$SM_GC,1.23,0.00,0.00,53.25,0.000,0.000,0.462,48,1959,1576,-8.10,-0.03,300.24
$IRIDIUM_FIX,2101.76,-15750.89,230702,040404
$TT8_MAMPS,0.028379
$HUMID,60.78
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.6,2.965
$10V_AH,10.5,3.202
$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,18.700,83.925,270.825,53.250,0.000,25.885,38.223,142.774,19.000,0.000,19.464,1081.666,4970.767,393.792,1919.838,432.570,0.000,1062.987,0.000,1877.805,0.000,123.111,0.000
$DEVICE_MAMPS,233.168,66.729,801.515,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,397.536,341.450,1165.523,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,31805,584
$CAP_FILE_SIZE,92565,0
$CFSIZE,260165632,253677568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280413,093353,2106.630,-15746.829,38,1.0,38,9.8