version: 66.06
glider: 523
mission: 4
dive: 293
start: 5 25 113 21 44 55
data:
$ID,523
$MISSION,4
$DIVE,293
$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,-41614.582
$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,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
$GPS1,213529,2108.778,-15801.331,19,1.3,19,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.7
$GPS2,214436,2108.821,-15801.374,17,1.0,17,9.8
$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,90.1,32372,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.62,0.000,2,0.000,0.000,26,1973,3382,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.2,12,112,9.48,0.00,-0.28,0.000,6,0.228,0.000,2394,1973,3396,0,0,0,0,0,0
$GC,273,-0.74,-146.0,42.2,-15.6,44,281,0.00,2.25,0.00,0.000,4,0.000,0.058,2386,3354,3398,0,0,0,0,0,0
$GC,360,-0.74,-146.0,55.3,-14.3,59,365,0.00,2.22,0.00,0.000,6,0.000,0.046,2386,1955,3398,0,0,0,0,0,0
$GC,697,-0.74,-146.0,97.2,-11.5,107,701,0.00,2.25,0.00,0.000,4,0.000,0.053,2376,3365,3399,0,0,0,0,0,0
$GC,727,-0.74,-146.0,100.8,-12.8,109,731,0.00,2.20,0.00,0.000,6,0.000,0.044,2376,1952,3399,0,0,0,0,0,0
$GC,1054,-0.74,-146.0,141.8,-10.6,139,1058,0.00,2.20,0.00,0.000,4,0.000,0.053,2377,541,3400,0,0,0,0,0,0
$GC,1306,-0.74,-146.0,171.5,-11.9,161,1314,0.10,2.17,0.00,0.000,6,0.146,0.034,2398,1968,3400,0,0,0,0,0,0
$GC,1630,-0.74,-146.0,205.1,-10.3,190,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1969,3401,0,0,0,0,0,0
$GC,1939,-0.74,-146.0,236.3,-10.0,205,1943,0.00,2.28,0.00,0.000,4,0.000,0.052,2399,540,3401,0,0,0,0,0,0
$GC,1995,-0.74,-146.0,241.7,-9.1,207,2001,0.00,2.15,0.00,0.000,6,0.000,0.034,2391,1966,3401,0,0,0,0,0,0
$GC,2313,-0.74,-146.0,264.7,-6.6,223,2318,0.00,2.17,0.00,0.000,4,0.000,0.055,2380,3364,3401,0,0,0,0,0,0
$GC,2352,-0.74,-146.0,267.7,-7.7,224,2357,0.00,2.20,0.00,0.000,6,0.000,0.042,2380,1948,3400,0,0,0,0,0,0
$GC,2670,-0.74,-146.0,292.9,-8.9,240,2674,0.00,2.22,0.00,0.000,4,0.000,0.054,2380,543,3401,0,0,0,0,0,0
$GC,2820,-0.74,-146.0,307.8,-9.4,245,2825,0.12,2.12,0.00,0.000,6,0.170,0.035,2403,1962,3400,0,0,0,0,0,0
$GC,3165,-0.74,-146.0,331.2,-6.2,254,3169,0.00,2.22,0.00,0.000,4,0.000,0.054,2404,553,3400,0,0,0,0,0,0
$GC,3188,-0.74,-146.0,333.1,-7.3,254,3192,0.00,2.15,0.00,0.000,6,0.000,0.038,2396,1958,3399,0,0,0,0,0,0
$GC,3525,-0.74,-146.0,353.8,-6.1,263,3529,0.00,2.25,0.00,0.000,4,0.000,0.058,2396,554,3397,0,0,0,0,0,0
$GC,3655,-0.74,-146.0,363.0,-7.2,265,3661,0.00,2.17,0.00,0.000,6,0.000,0.040,2386,1969,3396,0,0,0,0,0,0
$GC,3989,-0.74,-146.0,385.0,-6.8,274,3993,0.00,2.30,0.00,0.000,4,0.000,0.059,2386,547,3394,0,0,0,0,0,0
$GC,4085,-0.74,-146.0,392.8,-8.2,276,4089,0.00,2.17,0.00,0.000,6,0.000,0.041,2377,1958,3393,0,0,0,0,0,0
$GC,4400,-0.74,-146.0,416.7,-8.2,284,4404,0.00,2.28,0.00,0.000,4,0.000,0.061,2377,549,3391,0,0,0,0,0,0
$GC,4456,-0.74,-146.0,422.8,-10.5,285,4461,0.12,2.20,0.00,0.000,6,0.166,0.042,2400,1969,3391,0,0,0,0,0,0
$GC,4773,-0.74,-146.0,449.2,-8.0,293,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1969,3389,0,0,0,0,0,0
$STATE,4807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4807,begin apogee
$GC,4814,-0.17,0.0,451.5,7.1,294,4935,0.57,0.00,118.28,0.780,6,0.120,0.000,2588,1969,2800,0,0,0,0,0,0
$STATE,4936,end apogee,CONTROL_FINISHED_OK
$STATE,4936,begin climb
$GC,4939,0.74,146.0,452.6,0.0,297,5073,0.85,2.47,126.10,0.750,4,0.076,0.063,2887,571,2203,0,0,0,0,0,0
$GC,5093,0.74,146.0,435.9,14.2,301,5098,0.00,2.30,0.00,0.000,6,0.000,0.042,2886,1982,2201,0,0,0,0,0,0
$GC,5418,0.74,146.0,390.7,13.4,309,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1982,2196,0,0,0,0,0,0
$GC,5743,0.74,146.0,344.8,13.9,317,5747,0.00,2.33,0.00,0.000,4,0.000,0.065,2895,561,2194,0,0,0,0,0,0
$GC,5759,0.74,146.0,342.3,14.5,317,5763,0.00,2.25,0.00,0.000,6,0.000,0.047,2896,1976,2193,0,0,0,0,0,0
$GC,6081,0.74,146.0,295.7,14.8,326,6085,0.00,2.30,0.00,0.000,4,0.000,0.067,2906,571,2192,0,0,0,0,0,0
$GC,6136,0.74,146.0,286.9,15.3,328,6141,0.00,2.17,0.00,0.000,6,0.000,0.039,2906,1985,2191,0,0,0,0,0,0
$GC,6452,0.74,146.0,244.3,12.6,344,6456,0.00,2.28,0.00,0.000,4,0.000,0.058,2915,566,2190,0,0,0,0,0,0
$GC,6473,0.74,146.0,241.5,12.4,345,6478,0.15,2.17,0.00,0.000,6,0.135,0.039,2873,1976,2189,0,0,0,0,0,0
$GC,6794,0.75,157.9,210.2,8.5,361,6808,0.00,2.25,8.70,0.586,4,0.000,0.054,2873,3384,2155,0,0,0,0,0,0
$GC,6951,0.75,157.9,194.0,11.4,370,6955,0.00,2.20,0.00,0.000,6,0.000,0.044,2880,1976,2153,0,0,0,0,0,0
$GC,7279,0.75,157.9,157.5,10.6,400,7283,0.00,2.20,0.00,0.000,4,0.000,0.052,2880,3384,2152,0,0,0,0,0,0
$GC,7330,0.75,157.9,151.7,12.0,404,7334,0.00,2.20,0.00,0.000,6,0.000,0.047,2887,1978,2152,0,0,0,0,0,0
$GC,7658,0.75,157.9,117.5,10.5,434,7662,0.00,2.22,0.00,0.000,4,0.000,0.058,2898,554,2153,0,0,0,0,0,0
$GC,7787,0.75,157.9,104.8,9.3,445,7791,0.00,2.17,0.00,0.000,6,0.000,0.041,2898,1977,2152,0,0,0,0,0,0
$GC,8114,0.75,157.9,71.2,10.9,482,8121,0.00,2.20,0.00,0.000,4,0.000,0.052,2898,3383,2152,0,0,0,0,0,0
$GC,8321,0.75,157.9,48.0,10.4,520,8328,0.00,2.22,0.00,0.000,6,0.000,0.042,2906,1971,2152,0,0,0,0,0,0
$GC,8651,0.78,183.6,23.6,8.0,581,8679,0.00,2.30,22.95,0.463,4,0.000,0.052,2906,3381,2050,0,0,0,0,0,0
$GC,8761,0.78,183.6,13.6,10.2,600,8769,0.00,2.22,0.00,0.000,6,0.000,0.040,2914,1966,2049,0,0,0,0,0,0
$STATE,8864,end climb,SURFACE_DEPTH_REACHED
$STATE,8864,begin surface coast
$FINISH,0.7,1.023130
$STATE,8899,end surface coast,CONTROL_FINISHED_OK
$STATE,8899,begin surface
$SM_CCo,8917,53.42,0.440,0,0,1575,300.24
$SM_GC,1.13,0.00,0.00,53.42,0.000,0.000,0.440,37,1958,1575,-8.14,-0.06,300.24
$IRIDIUM_FIX,2057.14,-15759.05,190802,212110
$TT8_MAMPS,0.027612
$HUMID,64.09
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.7,23.994
$10V_AH,10.5,26.321
$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,18.725,84.675,276.025,53.425,0.000,53.288,68.881,214.491,19.250,0.000,17.846,1146.333,5364.800,403.889,1999.511,605.368,0.000,1099.162,0.000,1955.358,0.000,121.423,0.000
$DEVICE_MAMPS,227.799,66.729,780.039,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,425.333,361.796,1212.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,34854,625
$CAP_FILE_SIZE,99595,0
$CFSIZE,260165632,241278976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260513,001534,2109.061,-15800.312,29,0.7,29,9.8