version: 66.06
glider: 523
mission: 4
dive: 31
start: 4 28 113 9 39 46
data:
$ID,523
$MISSION,4
$DIVE,31
$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,-36507.715
$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,30
$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,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
$GPS1,093353,2106.630,-15746.829,38,1.0,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.8
$GPS2,093929,2106.650,-15746.765,17,0.9,17,9.8
$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,93.3,6824,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.25,0.000,2,0.000,0.000,48,1960,3363,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-4.5,12,113,9.35,2.20,-0.70,0.000,4,0.232,0.064,2384,3366,3396,0,0,0,0,0,0
$GC,178,-0.74,-146.0,23.8,-20.2,26,186,0.00,2.22,0.00,0.000,6,0.000,0.042,2384,1967,3397,0,0,0,0,0,0
$GC,351,-0.74,-146.0,51.6,-14.3,57,356,0.00,2.25,0.00,0.000,4,0.000,0.059,2383,541,3398,0,0,0,0,0,0
$GC,378,-0.74,-146.0,56.2,-14.5,62,386,0.00,2.20,0.00,0.000,6,0.000,0.038,2374,1955,3397,0,0,0,0,0,0
$GC,715,-0.74,-146.0,108.4,-13.4,107,719,0.00,2.22,0.00,0.000,4,0.000,0.058,2364,3364,3399,0,0,0,0,0,0
$GC,767,-0.74,-146.0,115.7,-13.7,111,772,0.15,2.20,0.00,0.000,6,0.153,0.042,2404,1944,3399,0,0,0,0,0,0
$GC,1099,-0.74,-146.0,153.0,-9.7,142,1103,0.00,2.22,0.00,0.000,4,0.000,0.053,2396,3367,3400,0,0,0,0,0,0
$GC,1249,-0.74,-146.0,166.9,-9.2,155,1253,0.00,2.17,0.00,0.000,6,0.000,0.043,2396,1952,3401,0,0,0,0,0,0
$GC,1577,-0.74,-146.0,200.7,-10.9,185,1580,0.00,2.15,0.00,0.000,4,0.000,0.052,2396,549,3402,0,0,0,0,0,0
$GC,1766,-0.74,-146.0,221.7,-9.9,193,1772,0.00,2.15,0.00,0.000,6,0.000,0.036,2386,1970,3402,0,0,0,0,0,0
$GC,2084,-0.74,-146.0,250.5,-10.1,209,2088,0.00,2.15,0.00,0.000,4,0.000,0.055,2377,3363,3402,0,0,0,0,0,0
$GC,2125,-0.74,-146.0,255.1,-11.2,211,2129,0.00,2.17,0.00,0.000,6,0.000,0.041,2377,1956,3402,0,0,0,0,0,0
$GC,2451,-0.74,-146.0,284.1,-7.9,227,2455,0.00,2.17,0.00,0.000,4,0.000,0.058,2377,555,3402,0,0,0,0,0,0
$GC,2641,-0.74,-146.0,303.6,-9.8,235,2645,0.12,2.12,0.00,0.000,6,0.171,0.041,2400,1961,3401,0,0,0,0,0,0
$GC,2991,-0.74,-146.0,332.8,-8.4,244,2995,0.00,2.22,0.00,0.000,4,0.000,0.060,2400,549,3400,0,0,0,0,0,0
$GC,3077,-0.74,-146.0,340.2,-8.1,246,3081,0.00,2.15,0.00,0.000,6,0.000,0.044,2393,1958,3399,0,0,0,0,0,0
$GC,3403,-0.74,-146.0,367.7,-9.1,254,3407,0.00,2.22,0.00,0.000,4,0.000,0.061,2393,549,3397,0,0,0,0,0,0
$GC,3573,-0.74,-146.0,385.1,-10.0,257,3578,0.00,2.17,0.00,0.000,6,0.000,0.045,2383,1968,3397,0,0,0,0,0,0
$GC,3904,-0.74,-146.0,409.9,-6.7,266,3909,0.00,2.17,0.00,0.000,4,0.000,0.060,2373,3367,3395,0,0,0,0,0,0
$GC,3971,-0.74,-146.0,414.5,-7.4,267,3975,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,1953,3395,0,0,0,0,0,0
$GC,4314,-0.74,-146.0,438.7,-7.1,276,4318,0.00,2.20,0.00,0.000,4,0.000,0.066,2373,553,3392,0,0,0,0,0,0
$GC,4401,-0.74,-146.0,445.3,-7.6,278,4406,0.15,2.20,0.00,0.000,6,0.164,0.048,2404,1968,3391,0,0,0,0,0,0
$STATE,4479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4479,begin apogee
$GC,4485,-0.17,0.0,450.6,5.9,280,4606,0.55,0.00,117.82,0.800,6,0.120,0.000,2587,1968,2800,0,0,0,0,0,0
$STATE,4607,end apogee,CONTROL_FINISHED_OK
$STATE,4607,begin climb
$GC,4610,0.74,146.0,450.8,0.0,283,4741,0.82,0.00,125.07,0.767,6,0.078,0.000,2872,1969,2204,0,0,0,0,0,0
$GC,5057,0.74,146.0,396.6,12.8,294,5061,0.00,2.33,0.00,0.000,4,0.000,0.067,2881,570,2196,0,0,0,0,0,0
$GC,5096,0.74,146.0,391.0,14.0,295,5101,0.00,2.22,0.00,0.000,6,0.000,0.047,2882,1975,2194,0,0,0,0,0,0
$GC,5421,0.74,146.0,349.4,12.8,303,5425,0.00,2.30,0.00,0.000,4,0.000,0.067,2891,571,2193,0,0,0,0,0,0
$GC,5460,0.74,146.0,344.5,12.7,304,5465,0.00,2.22,0.00,0.000,6,0.000,0.048,2891,1985,2192,0,0,0,0,0,0
$GC,5785,0.74,146.0,303.7,12.3,312,5789,0.00,2.33,0.00,0.000,4,0.000,0.069,2899,561,2191,0,0,0,0,0,0
$GC,5806,0.74,146.0,300.8,12.6,312,5810,0.00,2.25,0.00,0.000,6,0.000,0.049,2899,1982,2191,0,0,0,0,0,0
$GC,6126,0.74,146.0,261.3,11.6,328,6131,0.00,2.30,0.00,0.000,4,0.000,0.068,2908,570,2189,0,0,0,0,0,0
$GC,6171,0.74,146.0,256.0,12.8,330,6176,0.12,2.22,0.00,0.000,6,0.157,0.050,2875,1985,2189,0,0,0,0,0,0
$GC,6492,0.74,146.0,224.9,10.9,346,6496,0.00,2.22,0.00,0.000,4,0.000,0.067,2875,3386,2188,0,0,0,0,0,0
$GC,6536,0.74,146.0,219.5,12.3,348,6540,0.00,2.17,0.00,0.000,6,0.000,0.044,2883,1974,2188,0,0,0,0,0,0
$GC,6863,0.74,146.0,181.3,12.2,371,6867,0.00,2.20,0.00,0.000,4,0.000,0.061,2894,562,2188,0,0,0,0,0,0
$GC,6958,0.74,146.0,169.7,11.9,379,6962,0.00,2.20,0.00,0.000,6,0.000,0.040,2893,1996,2187,0,0,0,0,0,0
$GC,7286,0.74,146.0,132.7,10.5,409,7290,0.00,2.15,0.00,0.000,4,0.000,0.056,2893,3380,2187,0,0,0,0,0,0
$GC,7349,0.74,146.0,126.5,10.2,414,7353,0.00,2.20,0.00,0.000,6,0.000,0.049,2901,1969,2187,0,0,0,0,0,0
$GC,7675,0.74,146.0,87.5,13.0,444,7679,0.00,2.25,0.00,0.000,4,0.000,0.060,2901,3384,2187,0,0,0,0,0,0
$GC,7719,0.74,146.0,80.7,15.0,447,7727,0.10,2.22,0.00,0.000,6,0.132,0.048,2877,1979,2187,0,0,0,0,0,0
$GC,8054,0.74,146.0,47.9,10.9,507,8059,0.00,2.20,0.00,0.000,4,0.000,0.057,2886,562,2187,0,0,0,0,0,0
$GC,8089,0.74,146.0,44.0,10.6,513,8095,0.00,2.15,0.00,0.000,6,0.000,0.038,2886,1976,2187,0,0,0,0,0,0
$GC,8419,0.80,200.4,15.4,6.8,574,8471,0.00,2.25,43.03,0.492,4,0.000,0.058,2886,3373,1981,0,0,0,0,0,0
$GC,8529,0.80,200.4,6.3,9.8,592,8537,0.00,2.22,0.00,0.000,6,0.000,0.043,2893,1978,1979,0,0,0,0,0,0
$STATE,8559,end climb,SURFACE_DEPTH_REACHED
$STATE,8559,begin surface coast
$FINISH,0.4,1.009636
$STATE,8592,end surface coast,CONTROL_FINISHED_OK
$STATE,8592,begin surface
$SM_CCo,8609,45.17,0.464,0,0,1575,300.24
$SM_GC,1.25,0.00,0.00,45.17,0.000,0.000,0.464,33,1974,1575,-8.15,0.40,300.24
$IRIDIUM_FIX,2059.45,-15756.04,230702,070721
$TT8_MAMPS,0.028379
$HUMID,62.56
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,24.6,3.045
$10V_AH,10.5,3.291
$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,18.700,92.800,285.925,45.175,0.000,23.362,53.776,137.077,19.250,0.000,17.610,1131.235,5013.242,383.835,2018.292,445.847,0.000,1116.635,0.000,1973.575,0.000,119.078,0.000
$DEVICE_MAMPS,231.634,69.030,799.981,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.554,344.813,1176.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,35021,603
$CAP_FILE_SIZE,99466,0
$CFSIZE,260165632,253620224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280413,120454,2106.087,-15745.643,14,1.4,14,9.8