version: 66.06
glider: 523
mission: 4
dive: 253
start: 5 21 113 16 25 16
data:
$ID,523
$MISSION,4
$DIVE,253
$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,-40850.324
$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,25
$R_STBD_OVSHOOT,34
$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
$GPS1,161929,2108.153,-15759.238,40,0.9,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.5
$GPS2,162459,2108.155,-15759.218,15,1.6,15,9.8
$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,89.0,28496,-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,-77.38,0.000,6,0.000,0.000,34,1976,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.1,13,118,9.55,2.28,0.00,0.000,4,0.232,0.050,2394,541,3395,0,0,0,0,0,0
$GC,188,-0.74,-146.0,28.4,-20.3,28,196,0.00,2.20,0.00,0.000,6,0.000,0.036,2386,1961,3396,0,0,0,0,0,0
$GC,363,-0.74,-146.0,59.7,-15.4,59,368,0.00,2.25,0.00,0.000,4,0.000,0.053,2386,543,3396,0,0,0,0,0,0
$GC,402,-0.74,-146.0,66.3,-14.9,66,409,0.00,2.20,0.00,0.000,6,0.000,0.035,2377,1968,3396,0,0,0,0,0,0
$GC,737,-0.74,-146.0,108.7,-11.4,106,741,0.00,2.28,0.00,0.000,4,0.000,0.053,2377,546,3398,0,0,0,0,0,0
$GC,811,-0.74,-146.0,117.3,-12.0,112,816,0.12,2.12,0.00,0.000,6,0.172,0.035,2398,1962,3398,0,0,0,0,0,0
$GC,1139,-0.74,-146.0,150.3,-11.0,142,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1963,3399,0,0,0,0,0,0
$GC,1466,-0.74,-146.0,186.4,-11.1,173,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1963,3400,0,0,0,0,0,0
$GC,1787,-0.74,-146.0,218.4,-9.7,195,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1963,3400,0,0,0,0,0,0
$GC,2100,-0.74,-146.0,245.8,-7.6,210,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1963,3400,0,0,0,0,0,0
$GC,2407,-0.74,-146.0,268.7,-7.6,225,2411,0.00,2.28,0.00,0.000,4,0.000,0.051,2399,541,3400,0,0,0,0,0,0
$GC,2496,-0.74,-146.0,275.9,-8.1,229,2500,0.00,2.15,0.00,0.000,6,0.000,0.037,2391,1965,3400,0,0,0,0,0,0
$GC,2820,-0.74,-146.0,297.9,-6.7,245,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1964,3401,0,0,0,0,0,0
$GC,3144,-0.74,-146.0,321.5,-7.4,254,3148,0.00,2.30,0.00,0.000,4,0.000,0.057,2390,544,3400,0,0,0,0,0,0
$GC,3402,-0.74,-146.0,344.2,-8.7,259,3406,0.00,2.15,0.00,0.000,6,0.000,0.038,2381,1961,3398,0,0,0,0,0,0
$GC,3740,-0.74,-146.0,370.5,-7.9,268,3743,0.00,2.25,0.00,0.000,4,0.000,0.057,2381,553,3396,0,0,0,0,0,0
$GC,3930,-0.74,-146.0,386.8,-8.5,272,3934,0.12,2.17,0.00,0.000,6,0.163,0.041,2404,1965,3395,0,0,0,0,0,0
$GC,4243,-0.74,-146.0,407.8,-6.8,280,4247,0.00,2.20,0.00,0.000,4,0.000,0.061,2396,3363,3393,0,0,0,0,0,0
$GC,4293,-0.74,-146.0,411.9,-7.3,281,4297,0.00,2.20,0.00,0.000,6,0.000,0.048,2396,1961,3393,0,0,0,0,0,0
$GC,4606,-0.74,-146.0,436.1,-8.0,289,4610,0.00,2.22,0.00,0.000,4,0.000,0.065,2396,553,3391,0,0,0,0,0,0
$GC,4639,-0.74,-146.0,439.0,-8.5,289,4645,0.00,2.17,0.00,0.000,6,0.000,0.042,2387,1961,3390,0,0,0,0,0,0
$STATE,4805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4805,begin apogee
$GC,4812,-0.17,0.0,450.1,6.9,294,4933,0.57,0.00,118.28,0.774,6,0.081,0.000,2592,1961,2799,0,0,0,0,0,0
$STATE,4934,end apogee,CONTROL_FINISHED_OK
$STATE,4934,begin climb
$GC,4937,0.74,146.0,449.0,0.0,297,5072,0.82,2.38,125.15,0.743,4,0.088,0.060,2880,571,2204,0,0,0,0,0,0
$GC,5101,0.74,146.0,430.5,14.7,301,5105,0.00,2.25,0.00,0.000,6,0.000,0.042,2880,1973,2201,0,0,0,0,0,0
$GC,5425,0.74,146.0,382.3,15.0,309,5429,0.00,2.25,0.00,0.000,4,0.000,0.063,2880,3390,2196,0,0,0,0,0,0
$GC,5464,0.74,146.0,375.9,16.2,310,5468,0.00,2.25,0.00,0.000,6,0.000,0.041,2890,1969,2196,0,0,0,0,0,0
$GC,5789,0.74,146.0,325.6,16.2,318,5793,0.00,2.22,0.00,0.000,4,0.000,0.056,2900,565,2194,0,0,0,0,0,0
$GC,5878,0.74,146.0,311.5,15.6,320,5882,0.00,2.17,0.00,0.000,6,0.000,0.035,2901,1988,2194,0,0,0,0,0,0
$GC,6199,0.74,146.0,263.8,14.8,333,6203,0.00,2.15,0.00,0.000,4,0.000,0.052,2900,3384,2193,0,0,0,0,0,0
$GC,6284,0.74,146.0,251.3,16.0,337,6289,0.12,2.20,0.00,0.000,6,0.166,0.041,2877,1968,2191,0,0,0,0,0,0
$GC,6616,0.74,146.0,211.2,11.5,353,6620,0.00,2.17,0.00,0.000,4,0.000,0.054,2886,571,2190,0,0,0,0,0,0
$GC,6716,0.74,146.0,199.7,11.4,357,6720,0.00,2.12,0.00,0.000,6,0.000,0.035,2886,1979,2189,0,0,0,0,0,0
$GC,7044,0.74,146.0,162.3,11.4,387,7048,0.00,2.15,0.00,0.000,4,0.000,0.051,2886,3378,2189,0,0,0,0,0,0
$GC,7085,0.74,146.0,157.2,13.3,390,7089,0.00,2.17,0.00,0.000,6,0.000,0.040,2895,1970,2189,0,0,0,0,0,0
$GC,7412,0.74,146.0,117.1,11.7,420,7416,0.00,2.20,0.00,0.000,4,0.000,0.052,2906,561,2188,0,0,0,0,0,0
$GC,7452,0.74,146.0,112.3,11.8,423,7456,0.00,2.12,0.00,0.000,6,0.000,0.035,2906,1977,2188,0,0,0,0,0,0
$GC,7780,0.74,146.0,72.6,11.2,459,7786,0.00,2.15,0.00,0.000,4,0.000,0.051,2906,3386,2188,0,0,0,0,0,0
$GC,7805,0.74,146.0,69.9,11.2,463,7811,0.15,2.17,0.00,0.000,6,0.144,0.039,2873,1976,2188,0,0,0,0,0,0
$GC,8134,0.78,183.7,44.1,7.5,524,8169,0.00,2.22,30.27,0.489,4,0.000,0.051,2881,562,2049,0,0,0,0,0,0
$GC,8232,0.80,199.4,36.4,8.4,541,8257,0.00,2.15,14.07,0.456,6,0.000,0.033,2882,1977,1985,0,0,0,0,0,0
$GC,8576,0.80,201.1,7.2,9.0,605,8584,0.00,2.22,0.00,0.000,4,0.000,0.050,2882,3376,1984,0,0,0,0,0,0
$GC,8608,0.80,201.1,3.9,9.8,610,8616,0.00,2.22,0.00,0.000,6,0.000,0.044,2890,1979,1984,0,0,0,0,0,0
$STATE,8621,end climb,SURFACE_DEPTH_REACHED
$STATE,8622,begin surface coast
$FINISH,0.4,1.204348
$STATE,8650,end surface coast,CONTROL_FINISHED_OK
$STATE,8650,begin surface
$SM_CCo,8668,46.90,0.441,0,0,1575,300.24
$SM_GC,1.17,0.00,0.00,46.90,0.000,0.000,0.441,52,1976,1575,-8.09,0.45,300.24
$IRIDIUM_FIX,2101.76,-15756.04,150802,141413
$TT8_MAMPS,0.028379
$HUMID,62.87
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,380.1,58.8
$24V_AH,24.7,20.810
$10V_AH,10.5,22.764
$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,18.750,79.400,287.775,46.900,0.000,30.830,37.472,136.749,16.000,0.000,15.981,1116.317,5102.978,386.024,2006.823,433.720,0.000,1102.849,0.000,1964.573,0.000,100.816,0.000
$DEVICE_MAMPS,232.401,65.195,773.903,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,418.834,353.952,1202.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,35014,617
$CAP_FILE_SIZE,94935,0
$CFSIZE,260165632,243179520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210513,185132,2108.290,-15757.848,20,0.8,21,9.8