version: 66.06
glider: 523
mission: 4
dive: 258
start: 5 22 113 5 0 11
data:
$ID,523
$MISSION,4
$DIVE,258
$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,-40941.293
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,045413,2108.171,-15753.230,20,1.0,20,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.9
$GPS2,045954,2108.185,-15753.186,15,1.4,15,9.8
$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,94.1,18276,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.95,0.000,6,0.000,0.000,35,1978,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.6,13,118,9.52,2.15,0.00,0.000,4,0.233,0.044,2378,3367,3396,0,0,0,0,0,0
$GC,187,-0.74,-146.0,27.2,-19.5,28,195,0.00,2.28,0.00,0.000,6,0.000,0.044,2378,1962,3398,0,0,0,0,0,0
$GC,362,-0.74,-146.0,59.6,-17.2,59,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1962,3398,0,0,0,0,0,0
$GC,695,-0.74,-146.0,109.2,-13.4,102,702,0.00,2.25,0.00,0.000,4,0.000,0.057,2378,550,3399,0,0,0,0,0,0
$GC,786,-0.74,-146.0,121.5,-12.8,110,791,0.12,2.15,0.00,0.000,6,0.178,0.036,2400,1974,3399,0,0,0,0,0,0
$GC,1118,-0.74,-146.0,157.3,-11.9,141,1122,0.00,2.25,0.00,0.000,4,0.000,0.053,2400,549,3400,0,0,0,0,0,0
$GC,1313,-0.74,-146.0,180.6,-11.4,158,1317,0.00,2.15,0.00,0.000,6,0.000,0.035,2392,1972,3401,0,0,0,0,0,0
$GC,1652,-0.74,-146.0,215.6,-9.9,183,1656,0.00,2.28,0.00,0.000,4,0.000,0.051,2392,544,3401,0,0,0,0,0,0
$GC,1842,-0.74,-146.0,233.9,-9.3,191,1848,0.00,2.12,0.00,0.000,6,0.000,0.035,2382,1963,3401,0,0,0,0,0,0
$GC,2162,-0.74,-146.0,260.4,-7.5,207,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1963,3401,0,0,0,0,0,0
$GC,2467,-0.74,-146.0,283.6,-8.0,222,2471,0.00,2.20,0.00,0.000,4,0.000,0.054,2373,3366,3401,0,0,0,0,0,0
$GC,2495,-0.74,-146.0,286.0,-8.3,223,2500,0.10,2.20,0.00,0.000,6,0.156,0.043,2398,1953,3401,0,0,0,0,0,0
$GC,2812,-0.74,-146.0,310.6,-7.6,235,2816,0.00,2.25,0.00,0.000,4,0.000,0.054,2390,3365,3401,0,0,0,0,0,0
$GC,2862,-0.74,-146.0,314.5,-7.2,236,2866,0.00,2.20,0.00,0.000,6,0.000,0.044,2390,1952,3401,0,0,0,0,0,0
$GC,3176,-0.74,-146.0,335.4,-6.7,244,3180,0.00,2.25,0.00,0.000,4,0.000,0.054,2380,3359,3400,0,0,0,0,0,0
$GC,3198,-0.74,-146.0,337.3,-7.9,244,3202,0.00,2.20,0.00,0.000,6,0.000,0.046,2379,1952,3401,0,0,0,0,0,0
$GC,3538,-0.74,-146.0,367.6,-9.5,253,3542,0.00,2.25,0.00,0.000,4,0.000,0.059,2379,548,3398,0,0,0,0,0,0
$GC,3554,-0.74,-146.0,369.6,-9.8,253,3561,0.12,2.15,0.00,0.000,6,0.170,0.039,2403,1963,3398,0,0,0,0,0,0
$GC,3908,-0.74,-146.0,396.8,-7.2,262,3911,0.00,2.28,0.00,0.000,4,0.000,0.058,2404,549,3396,0,0,0,0,0,0
$GC,4045,-0.74,-146.0,407.9,-8.0,265,4049,0.00,2.17,0.00,0.000,6,0.000,0.041,2396,1959,3395,0,0,0,0,0,0
$GC,4370,-0.74,-146.0,427.9,-5.7,273,4374,0.00,2.22,0.00,0.000,4,0.000,0.060,2385,3370,3393,0,0,0,0,0,0
$GC,4443,-0.74,-146.0,432.4,-6.3,274,4447,0.00,2.22,0.00,0.000,6,0.000,0.045,2385,1952,3393,0,0,0,0,0,0
$STATE,4693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4693,begin apogee
$GC,4699,-0.17,0.0,450.3,7.5,280,4821,0.62,0.00,118.62,0.779,6,0.125,0.000,2585,1952,2800,0,0,0,0,0,0
$STATE,4822,end apogee,CONTROL_FINISHED_OK
$STATE,4822,begin climb
$GC,4825,0.74,146.0,453.3,0.0,283,4959,0.82,2.40,124.62,0.750,4,0.077,0.057,2871,3382,2205,0,0,0,0,0,0
$GC,4993,0.74,146.0,437.3,14.1,287,4997,0.00,2.33,0.00,0.000,6,0.000,0.049,2881,1976,2201,0,0,0,0,0,0
$GC,5311,0.74,146.0,390.4,15.4,295,5315,0.00,2.25,0.00,0.000,4,0.000,0.058,2891,555,2197,0,0,0,0,0,0
$GC,5389,0.74,146.0,378.1,16.1,296,5394,0.00,2.20,0.00,0.000,6,0.000,0.038,2892,1981,2196,0,0,0,0,0,0
$GC,5720,0.74,146.0,324.1,16.3,305,5724,0.00,2.20,0.00,0.000,4,0.000,0.053,2892,3387,2194,0,0,0,0,0,0
$GC,5761,0.74,146.0,317.3,17.7,306,5765,0.00,2.25,0.00,0.000,6,0.000,0.048,2902,1963,2193,0,0,0,0,0,0
$GC,6088,0.74,146.0,265.9,14.6,319,6092,0.00,2.22,0.00,0.000,4,0.000,0.058,2912,559,2193,0,0,0,0,0,0
$GC,6134,0.74,146.0,258.5,16.0,321,6138,0.12,2.20,0.00,0.000,6,0.150,0.039,2879,1982,2192,0,0,0,0,0,0
$GC,6466,0.74,146.0,214.3,12.5,337,6469,0.00,2.17,0.00,0.000,4,0.000,0.053,2879,3382,2192,0,0,0,0,0,0
$GC,6538,0.74,146.0,203.8,15.4,340,6542,0.00,2.17,0.00,0.000,6,0.000,0.040,2887,1971,2191,0,0,0,0,0,0
$GC,6871,0.74,146.0,166.7,11.4,370,6875,0.00,2.22,0.00,0.000,4,0.000,0.058,2898,559,2190,0,0,0,0,0,0
$GC,6976,0.74,146.0,154.5,11.4,379,6981,0.00,2.17,0.00,0.000,6,0.000,0.038,2898,1977,2189,0,0,0,0,0,0
$GC,7303,0.74,146.0,113.7,13.1,409,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1977,2189,0,0,0,0,0,0
$GC,7623,0.74,146.0,75.7,10.0,442,7630,0.00,2.20,0.00,0.000,4,0.000,0.051,2898,3376,2189,0,0,0,0,0,0
$GC,7677,0.74,146.0,69.7,10.9,451,7682,0.00,2.20,0.00,0.000,6,0.000,0.038,2907,1965,2188,0,0,0,0,0,0
$GC,8009,0.74,150.5,37.2,8.8,512,8016,0.00,2.22,0.00,0.000,4,0.000,0.056,2916,575,2188,0,0,0,0,0,0
$GC,8041,0.74,150.5,34.5,9.3,517,8047,0.12,2.15,0.00,0.000,6,0.133,0.036,2879,1987,2188,0,0,0,0,0,0
$GC,8368,0.80,195.5,12.0,7.2,578,8414,0.00,2.17,39.45,0.465,4,0.000,0.050,2879,3376,2001,0,0,0,0,0,0
$GC,8433,0.86,247.8,7.6,6.9,588,8486,0.00,2.22,44.50,0.453,6,0.000,0.038,2886,1975,1788,0,0,0,0,0,0
$STATE,8492,end climb,SURFACE_DEPTH_REACHED
$STATE,8492,begin surface coast
$FINISH,0.5,0.997465
$STATE,8533,end surface coast,CONTROL_FINISHED_OK
$STATE,8533,begin surface
$SM_CCo,8551,28.00,0.434,0,0,1576,300.24
$SM_GC,1.47,0.00,0.00,28.00,0.000,0.000,0.434,46,1970,1576,-8.11,0.31,300.24
$IRIDIUM_FIX,2104.07,-15753.03,160802,020242
$TT8_MAMPS,0.028379
$HUMID,63.58
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.7,21.198
$10V_AH,10.5,23.200
$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,18.950,84.200,327.200,28.000,0.000,31.339,41.244,142.092,19.250,0.000,15.819,1102.116,5001.282,381.337,1988.523,446.577,0.000,1112.863,0.000,1941.083,0.000,119.166,0.000
$DEVICE_MAMPS,233.168,59.826,779.272,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.940,343.781,1206.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34902,604
$CAP_FILE_SIZE,95856,0
$CFSIZE,260165632,242946048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220513,072428,2108.146,-15751.780,39,0.8,39,9.8