version: 66.06
glider: 523
mission: 4
dive: 260
start: 5 22 113 10 6 48
data:
$ID,523
$MISSION,4
$DIVE,260
$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,-40977.973
$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,31
$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
$GPS1,100047,2107.955,-15750.735,17,1.2,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.4
$GPS2,100632,2107.985,-15750.734,19,1.3,19,9.8
$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,96.8,14091,-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,-76.60,0.000,2,0.000,0.000,40,1981,3387,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.4,-4.9,12,112,9.57,2.28,0.00,0.000,4,0.234,0.049,2391,551,3389,0,0,0,0,0,0
$GC,357,-0.74,-146.0,57.2,-18.4,59,362,0.00,2.15,0.00,0.000,6,0.000,0.035,2383,1973,3391,0,0,0,0,0,0
$GC,691,-0.74,-146.0,111.8,-15.1,102,695,0.00,2.25,0.00,0.000,4,0.000,0.052,2383,552,3392,0,0,0,0,0,0
$GC,940,-0.74,-146.0,143.8,-11.6,124,948,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1961,3393,0,0,0,0,0,0
$GC,1268,-0.74,-146.0,180.3,-12.3,155,1272,0.00,2.22,0.00,0.000,4,0.000,0.051,2374,551,3394,0,0,0,0,0,0
$GC,1416,-0.74,-146.0,199.5,-12.6,168,1427,0.10,2.15,0.00,0.000,6,0.143,0.034,2396,1958,3394,0,0,0,0,0,0
$GC,1732,-0.74,-146.0,228.2,-8.6,184,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1958,3394,0,0,0,0,0,0
$GC,2044,-0.74,-146.0,255.2,-8.1,199,2048,0.00,2.22,0.00,0.000,4,0.000,0.052,2396,547,3395,0,0,0,0,0,0
$GC,2176,-0.74,-146.0,267.3,-8.9,205,2180,0.00,2.12,0.00,0.000,6,0.000,0.036,2388,1960,3395,0,0,0,0,0,0
$GC,2507,-0.74,-146.0,291.1,-7.0,221,2511,0.00,2.28,0.00,0.000,4,0.000,0.053,2389,553,3394,0,0,0,0,0,0
$GC,2603,-0.74,-146.0,298.5,-6.8,225,2607,0.00,2.12,0.00,0.000,6,0.000,0.037,2379,1961,3394,0,0,0,0,0,0
$GC,2914,-0.74,-146.0,324.3,-8.6,233,2918,0.00,2.25,0.00,0.000,4,0.000,0.053,2379,547,3394,0,0,0,0,0,0
$GC,2981,-0.74,-146.0,330.8,-10.1,234,2986,0.12,2.15,0.00,0.000,6,0.167,0.038,2402,1959,3394,0,0,0,0,0,0
$GC,3326,-0.74,-146.0,354.3,-6.1,243,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1959,3392,0,0,0,0,0,0
$GC,3649,-0.74,-146.0,374.4,-6.5,251,3653,0.00,2.28,0.00,0.000,4,0.000,0.057,2403,554,3390,0,0,0,0,0,0
$GC,3699,-0.74,-146.0,378.6,-8.0,252,3703,0.00,2.17,0.00,0.000,6,0.000,0.041,2395,1963,3389,0,0,0,0,0,0
$GC,4014,-0.74,-146.0,404.0,-8.2,260,4018,0.00,2.22,0.00,0.000,4,0.000,0.060,2384,3374,3387,0,0,0,0,0,0
$GC,4171,-0.74,-146.0,417.7,-8.6,263,4175,0.00,2.22,0.00,0.000,6,0.000,0.044,2384,1950,3387,0,0,0,0,0,0
$GC,4514,-0.74,-146.0,443.1,-6.9,272,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1950,3386,0,0,0,0,0,0
$STATE,4633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4633,begin apogee
$GC,4639,-0.17,0.0,451.4,6.8,275,4760,0.62,0.00,117.38,0.775,6,0.127,0.000,2584,1950,2800,0,0,0,0,0,0
$STATE,4761,end apogee,CONTROL_FINISHED_OK
$STATE,4761,begin climb
$GC,4764,0.74,146.0,452.4,0.0,278,4898,0.88,2.42,126.12,0.746,4,0.078,0.064,2890,569,2202,0,0,0,0,0,0
$GC,4916,0.74,146.0,436.2,14.4,282,4920,0.00,2.28,0.00,0.000,6,0.000,0.040,2890,1972,2201,0,0,0,0,0,0
$GC,5240,0.74,146.0,386.4,15.2,290,5244,0.00,2.25,0.00,0.000,4,0.000,0.061,2890,3390,2196,0,0,0,0,0,0
$GC,5329,0.74,146.0,371.2,17.9,292,5333,0.00,2.25,0.00,0.000,6,0.000,0.041,2900,1967,2194,0,0,0,0,0,0
$GC,5647,0.74,146.0,314.9,17.8,300,5651,0.00,2.22,0.00,0.000,4,0.000,0.055,2911,567,2192,0,0,0,0,0,0
$GC,5675,0.74,146.0,310.3,16.8,300,5680,0.12,2.17,0.00,0.000,6,0.156,0.036,2879,1994,2192,0,0,0,0,0,0
$GC,5989,0.74,146.0,267.9,13.0,313,5993,0.00,2.28,0.00,0.000,4,0.000,0.054,2887,557,2190,0,0,0,0,0,0
$GC,6011,0.74,146.0,264.9,13.4,314,6015,0.00,2.17,0.00,0.000,6,0.000,0.037,2887,1974,2190,0,0,0,0,0,0
$GC,6332,0.74,146.0,221.4,13.1,330,6336,0.00,2.17,0.00,0.000,4,0.000,0.051,2887,3386,2189,0,0,0,0,0,0
$GC,6355,0.74,146.0,218.5,12.7,331,6358,0.00,2.20,0.00,0.000,6,0.000,0.041,2896,1974,2189,0,0,0,0,0,0
$GC,6678,0.74,146.0,178.5,13.0,354,6682,0.00,2.22,0.00,0.000,4,0.000,0.054,2906,567,2188,0,0,0,0,0,0
$GC,6720,0.74,146.0,172.9,11.9,357,6728,0.00,2.17,0.00,0.000,6,0.000,0.036,2906,1974,2188,0,0,0,0,0,0
$GC,7048,0.74,146.0,132.8,11.9,388,7052,0.00,2.15,0.00,0.000,4,0.000,0.051,2907,3380,2188,0,0,0,0,0,0
$GC,7121,0.74,146.0,123.3,12.9,394,7126,0.15,2.20,0.00,0.000,6,0.148,0.039,2873,1963,2187,0,0,0,0,0,0
$GC,7450,0.74,146.0,89.7,9.4,424,7454,0.00,2.17,0.00,0.000,4,0.000,0.053,2882,561,2187,0,0,0,0,0,0
$GC,7480,0.74,146.0,86.8,9.1,426,7484,0.00,2.12,0.00,0.000,6,0.000,0.034,2882,1978,2187,0,0,0,0,0,0
$GC,7813,0.74,149.5,58.2,8.9,479,7819,0.00,2.15,0.00,0.000,4,0.000,0.051,2881,3377,2187,0,0,0,0,0,0
$GC,7895,0.74,149.5,50.5,9.5,494,7902,0.00,2.22,0.00,0.000,6,0.000,0.048,2890,1987,2187,0,0,0,0,0,0
$GC,8227,0.74,152.6,21.7,8.9,555,8235,0.00,0.00,4.25,0.342,6,0.000,0.000,2890,1987,2177,0,0,0,0,0,0
$GC,8396,0.76,167.9,7.6,8.4,586,8416,0.00,0.00,14.95,0.435,6,0.000,0.000,2891,1987,2113,0,0,0,0,0,0
$STATE,8449,end climb,SURFACE_DEPTH_REACHED
$STATE,8449,begin surface coast
$FINISH,0.5,1.010166
$STATE,8486,end surface coast,CONTROL_FINISHED_OK
$STATE,8486,begin surface
$SM_CCo,8504,59.20,0.439,0,0,1575,300.24
$SM_GC,1.41,0.00,0.00,59.20,0.000,0.000,0.439,37,1983,1575,-8.14,0.65,300.24
$IRIDIUM_FIX,2101.76,-15747.88,160802,070752
$TT8_MAMPS,0.028379
$HUMID,62.12
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.7,21.357
$10V_AH,10.5,23.379
$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,18.850,75.100,262.700,59.200,0.000,28.072,40.293,143.712,19.000,0.000,19.939,1108.663,5029.632,403.364,1923.521,442.189,0.000,1058.151,0.000,1874.427,0.000,119.142,0.000
$DEVICE_MAMPS,233.935,63.661,774.670,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.639,348.492,1169.959,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,31868,602
$CAP_FILE_SIZE,91831,0
$CFSIZE,260165632,242855936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220513,123034,2107.923,-15750.153,23,0.9,23,9.8