version: 66.06
glider: 523
mission: 4
dive: 261
start: 5 22 113 12 36 34
data:
$ID,523
$MISSION,4
$DIVE,261
$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,-40995.258
$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,21
$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
$GPS1,123034,2107.923,-15750.153,23,0.9,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.2
$GPS2,123617,2107.958,-15750.151,16,0.9,16,9.8
$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,97.8,13114,-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,-77.68,0.000,6,0.000,0.000,37,1983,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.4,13,118,9.57,2.30,0.00,0.000,4,0.232,0.050,2393,536,3396,0,0,0,0,0,0
$GC,355,-0.74,-146.0,61.2,-20.7,59,360,0.00,2.17,0.00,0.000,6,0.000,0.036,2385,1965,3398,0,0,0,0,0,0
$GC,685,-0.74,-146.0,110.0,-12.5,100,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1966,3399,0,0,0,0,0,0
$GC,1012,-0.74,-146.0,149.0,-11.9,131,1017,0.00,2.25,0.00,0.000,4,0.000,0.051,2384,546,3400,0,0,0,0,0,0
$GC,1080,-0.74,-146.0,158.4,-13.9,137,1084,0.00,2.12,0.00,0.000,6,0.000,0.034,2375,1963,3400,0,0,0,0,0,0
$GC,1408,-0.74,-146.0,198.0,-10.1,167,1412,0.00,2.25,0.00,0.000,4,0.000,0.050,2375,541,3401,0,0,0,0,0,0
$GC,1665,-0.74,-146.0,227.0,-9.5,178,1671,0.12,2.12,0.00,0.000,6,0.166,0.035,2398,1962,3401,0,0,0,0,0,0
$GC,1984,-0.74,-146.0,250.8,-8.9,194,1988,0.00,2.25,0.00,0.000,4,0.000,0.052,2398,539,3402,0,0,0,0,0,0
$GC,2084,-0.74,-146.0,260.6,-9.2,198,2090,0.00,2.17,0.00,0.000,6,0.000,0.036,2390,1969,3402,0,0,0,0,0,0
$GC,2403,-0.74,-146.0,285.4,-7.4,214,2407,0.00,2.30,0.00,0.000,4,0.000,0.054,2390,539,3402,0,0,0,0,0,0
$GC,2497,-0.74,-146.0,294.2,-9.2,218,2501,0.00,2.15,0.00,0.000,6,0.000,0.037,2380,1965,3402,0,0,0,0,0,0
$GC,2810,-0.74,-146.0,321.0,-8.2,227,2814,0.00,2.22,0.00,0.000,4,0.000,0.055,2370,3370,3401,0,0,0,0,0,0
$GC,2956,-0.74,-146.0,332.7,-7.8,230,2961,0.12,2.20,0.00,0.000,6,0.150,0.043,2404,1955,3401,0,0,0,0,0,0
$GC,3306,-0.74,-146.0,353.1,-5.9,239,3310,0.00,2.25,0.00,0.000,4,0.000,0.061,2404,553,3399,0,0,0,0,0,0
$GC,3481,-0.74,-146.0,365.6,-7.1,243,3484,0.00,2.15,0.00,0.000,6,0.000,0.038,2396,1967,3398,0,0,0,0,0,0
$GC,3815,-0.74,-146.0,390.6,-7.6,251,3819,0.00,2.22,0.00,0.000,4,0.000,0.058,2386,3368,3396,0,0,0,0,0,0
$GC,3843,-0.74,-146.0,393.1,-7.4,251,3847,0.00,2.17,0.00,0.000,6,0.000,0.042,2386,1954,3396,0,0,0,0,0,0
$GC,4180,-0.74,-146.0,418.0,-7.2,260,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1953,3394,0,0,0,0,0,0
$GC,4505,-0.74,-146.0,439.8,-6.4,268,4510,0.00,2.25,0.00,0.000,4,0.000,0.064,2386,546,3391,0,0,0,0,0,0
$GC,4600,-0.74,-146.0,446.5,-6.2,270,4604,0.00,2.20,0.00,0.000,6,0.000,0.044,2377,1964,3390,0,0,0,0,0,0
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4686,-0.17,0.0,451.9,6.6,272,4808,0.65,0.00,118.62,0.779,6,0.124,0.000,2584,1965,2799,0,0,0,0,0,0
$STATE,4809,end apogee,CONTROL_FINISHED_OK
$STATE,4809,begin climb
$GC,4811,0.74,146.0,452.9,0.0,275,4946,0.85,2.38,125.10,0.750,4,0.076,0.053,2874,3377,2203,0,0,0,0,0,0
$GC,4974,0.74,146.0,434.6,15.7,279,4979,0.00,2.30,0.00,0.000,6,0.000,0.046,2883,1977,2200,0,0,0,0,0,0
$GC,5287,0.74,146.0,383.5,16.6,287,5291,0.00,2.30,0.00,0.000,4,0.000,0.060,2894,559,2196,0,0,0,0,0,0
$GC,5320,0.74,146.0,377.8,16.5,287,5326,0.00,2.22,0.00,0.000,6,0.000,0.042,2894,1983,2195,0,0,0,0,0,0
$GC,5652,0.74,146.0,326.1,15.8,296,5656,0.00,2.17,0.00,0.000,4,0.000,0.051,2894,3391,2193,0,0,0,0,0,0
$GC,5680,0.74,146.0,321.7,15.5,296,5685,0.00,2.22,0.00,0.000,6,0.000,0.042,2904,1961,2193,0,0,0,0,0,0
$GC,5993,0.74,146.0,277.0,14.5,307,5997,0.00,2.22,0.00,0.000,4,0.000,0.059,2914,558,2192,0,0,0,0,0,0
$GC,6034,0.74,146.0,270.9,16.0,309,6038,0.12,2.20,0.00,0.000,6,0.153,0.039,2882,1980,2191,0,0,0,0,0,0
$GC,6360,0.74,146.0,227.3,13.4,325,6364,0.00,2.15,0.00,0.000,4,0.000,0.051,2881,3382,2190,0,0,0,0,0,0
$GC,6399,0.74,146.0,221.8,14.7,327,6403,0.00,2.17,0.00,0.000,6,0.000,0.040,2890,1973,2189,0,0,0,0,0,0
$GC,6721,0.74,146.0,182.5,11.2,349,6725,0.00,2.22,0.00,0.000,4,0.000,0.058,2900,564,2188,0,0,0,0,0,0
$GC,6762,0.74,146.0,178.1,10.3,352,6766,0.00,2.15,0.00,0.000,6,0.000,0.038,2900,1980,2188,0,0,0,0,0,0
$GC,7089,0.74,146.0,140.8,12.8,382,7093,0.00,2.17,0.00,0.000,4,0.000,0.051,2900,3385,2187,0,0,0,0,0,0
$GC,7265,0.74,146.0,116.8,13.0,397,7271,0.08,2.22,0.00,0.000,6,0.140,0.040,2885,1972,2187,0,0,0,0,0,0
$GC,7591,0.74,146.0,82.7,9.7,428,7595,0.00,2.25,0.00,0.000,4,0.000,0.049,2884,3389,2187,0,0,0,0,0,0
$GC,7622,0.74,146.0,79.7,10.1,430,7629,0.00,2.22,0.00,0.000,6,0.000,0.039,2892,1969,2187,0,0,0,0,0,0
$GC,7958,0.82,213.6,52.9,6.2,491,8018,0.00,2.30,54.17,0.502,4,0.000,0.054,2902,567,1928,0,0,0,0,0,0
$GC,8054,0.82,213.6,45.6,9.2,507,8059,0.00,2.17,0.00,0.000,6,0.000,0.035,2902,1984,1926,0,0,0,0,0,0
$GC,8381,0.82,214.1,13.6,9.0,568,8388,0.00,2.20,0.00,0.000,4,0.000,0.050,2902,3381,1925,0,0,0,0,0,0
$GC,8407,0.82,214.1,10.9,9.9,572,8415,0.00,2.22,0.00,0.000,6,0.000,0.040,2910,1977,1924,0,0,0,0,0,0
$STATE,8483,end climb,SURFACE_DEPTH_REACHED
$STATE,8483,begin surface coast
$FINISH,0.4,1.002716
$STATE,8513,end surface coast,CONTROL_FINISHED_OK
$STATE,8513,begin surface
$SM_CCo,8531,40.00,0.438,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,40.00,0.000,0.000,0.438,37,1973,1575,-8.13,0.37,300.24
$IRIDIUM_FIX,2101.76,-15745.74,160802,101032
$TT8_MAMPS,0.028379
$HUMID,63.23
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.7,21.437
$10V_AH,10.5,23.465
$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,18.850,84.275,297.900,40.000,0.000,28.034,37.565,148.542,19.000,0.000,16.655,1092.108,5017.331,392.497,1964.842,447.664,0.000,1100.209,0.000,1915.091,0.000,119.177,0.000
$DEVICE_MAMPS,232.401,63.661,779.272,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,400.973,327.076,1135.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,31907,591
$CAP_FILE_SIZE,95127,0
$CFSIZE,260165632,242806784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220513,150033,2107.969,-15748.963,27,1.1,29,9.8