version: 66.06
glider: 523
mission: 4
dive: 295
start: 5 26 113 3 9 16
data:
$ID,523
$MISSION,4
$DIVE,295
$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,-41653.664
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,025511,2109.366,-15759.850,14,0.8,14,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.1
$GPS2,030900,2109.473,-15800.059,19,0.9,19,9.8
$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,93.1,30382,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.32,0.000,6,0.000,0.000,50,1984,3397,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.7,-6.2,12,111,9.43,0.00,0.00,0.000,6,0.229,0.000,2392,1978,3397,0,0,0,0,0,0
$GC,269,-0.74,-146.0,41.8,-19.0,44,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1978,3400,0,0,0,0,0,0
$GC,604,-0.74,-146.0,87.3,-13.7,100,608,0.00,2.33,0.00,0.000,4,0.000,0.054,2391,555,3400,0,0,0,0,0,0
$GC,644,-0.74,-146.0,93.0,-14.9,103,648,0.00,2.15,0.00,0.000,6,0.000,0.034,2384,1976,3400,0,0,0,0,0,0
$GC,971,-0.74,-146.0,137.8,-10.7,133,975,0.00,2.30,0.00,0.000,4,0.000,0.051,2383,553,3401,0,0,0,0,0,0
$GC,1049,-0.74,-146.0,147.8,-12.6,139,1056,0.00,2.15,0.00,0.000,6,0.000,0.033,2374,1962,3401,0,0,0,0,0,0
$GC,1377,-0.74,-146.0,185.1,-11.2,170,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1962,3402,0,0,0,0,0,0
$GC,1701,-0.74,-146.0,216.2,-9.6,193,1705,0.00,2.22,0.00,0.000,4,0.000,0.050,2374,554,3402,0,0,0,0,0,0
$GC,1797,-0.74,-146.0,225.2,-8.7,197,1801,0.12,2.10,0.00,0.000,6,0.168,0.034,2397,1961,3401,0,0,0,0,0,0
$GC,2112,-0.74,-146.0,253.2,-9.0,212,2116,0.00,2.15,0.00,0.000,4,0.000,0.051,2389,3358,3402,0,0,0,0,0,0
$GC,2319,-0.74,-146.0,271.9,-8.8,221,2323,0.00,2.15,0.00,0.000,6,0.000,0.041,2389,1960,3402,0,0,0,0,0,0
$GC,2638,-0.74,-146.0,298.7,-7.9,236,2642,0.00,2.20,0.00,0.000,4,0.000,0.054,2389,552,3402,0,0,0,0,0,0
$GC,2774,-0.74,-146.0,309.9,-7.8,240,2779,0.00,2.10,0.00,0.000,6,0.000,0.035,2379,1955,3402,0,0,0,0,0,0
$GC,3100,-0.74,-146.0,333.6,-7.6,248,3104,0.00,2.20,0.00,0.000,4,0.000,0.054,2369,3373,3400,0,0,0,0,0,0
$GC,3140,-0.74,-146.0,337.2,-8.5,249,3145,0.12,2.17,0.00,0.000,6,0.152,0.039,2402,1955,3400,0,0,0,0,0,0
$GC,3467,-0.74,-146.0,359.1,-6.2,257,3471,0.00,2.22,0.00,0.000,4,0.000,0.058,2402,554,3399,0,0,0,0,0,0
$GC,3642,-0.74,-146.0,371.5,-6.7,261,3646,0.00,2.15,0.00,0.000,6,0.000,0.039,2394,1957,3397,0,0,0,0,0,0
$GC,3969,-0.74,-146.0,396.0,-7.9,269,3973,0.00,2.28,0.00,0.000,4,0.000,0.059,2394,547,3395,0,0,0,0,0,0
$GC,3997,-0.74,-146.0,398.5,-7.9,269,4001,0.00,2.17,0.00,0.000,6,0.000,0.042,2384,1955,3395,0,0,0,0,0,0
$GC,4337,-0.74,-146.0,426.5,-8.2,278,4341,0.00,2.20,0.00,0.000,4,0.000,0.054,2374,3376,3392,0,0,0,0,0,0
$GC,4590,-0.74,-146.0,447.7,-8.3,283,4594,0.00,2.22,0.00,0.000,6,0.000,0.046,2374,1964,3391,0,0,0,0,0,0
$STATE,4635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4635,begin apogee
$GC,4641,-0.17,0.0,451.9,8.9,284,4763,0.65,0.00,118.57,0.770,6,0.127,0.000,2580,1964,2800,0,0,0,0,0,0
$STATE,4763,end apogee,CONTROL_FINISHED_OK
$STATE,4764,begin climb
$GC,4766,0.74,146.0,456.9,0.0,287,4900,0.88,2.45,125.90,0.747,4,0.079,0.054,2877,3394,2203,0,0,0,0,0,0
$GC,4934,0.74,146.0,444.3,14.0,291,4939,0.00,2.33,0.00,0.000,6,0.000,0.047,2886,1979,2200,0,0,0,0,0,0
$GC,5282,0.74,146.0,394.6,13.9,300,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1979,2196,0,0,0,0,0,0
$GC,5608,0.74,146.0,349.0,14.1,308,5612,0.00,2.22,0.00,0.000,4,0.000,0.058,2896,562,2194,0,0,0,0,0,0
$GC,5641,0.74,146.0,344.4,14.0,308,5646,0.00,2.22,0.00,0.000,6,0.000,0.043,2897,1984,2192,0,0,0,0,0,0
$GC,5972,0.74,146.0,298.4,14.0,317,5976,0.00,2.15,0.00,0.000,4,0.000,0.051,2896,3381,2191,0,0,0,0,0,0
$GC,6056,0.74,146.0,286.2,14.4,321,6061,0.00,2.20,0.00,0.000,6,0.000,0.039,2907,1962,2191,0,0,0,0,0,0
$GC,6389,0.74,146.0,241.7,13.6,337,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1962,2190,0,0,0,0,0,0
$GC,6698,0.74,146.0,202.8,13.4,352,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1962,2189,0,0,0,0,0,0
$GC,7020,0.74,146.0,158.4,13.3,381,7024,0.00,2.22,0.00,0.000,4,0.000,0.049,2906,3390,2188,0,0,0,0,0,0
$GC,7095,0.74,146.0,147.7,14.7,387,7100,0.12,2.17,0.00,0.000,6,0.153,0.038,2879,1967,2187,0,0,0,0,0,0
$GC,7422,0.74,150.2,116.1,8.9,417,7426,0.00,2.17,0.00,0.000,4,0.000,0.056,2888,569,2187,0,0,0,0,0,0
$GC,7495,0.75,153.3,109.5,8.9,423,7508,0.00,2.15,4.45,0.410,6,0.000,0.039,2888,1977,2175,0,0,0,0,0,0
$GC,7827,0.75,153.3,75.2,11.5,457,7833,0.00,2.17,0.00,0.000,4,0.000,0.050,2888,3393,2175,0,0,0,0,0,0
$GC,7973,0.75,153.5,59.5,9.0,483,7978,0.00,2.17,0.00,0.000,6,0.000,0.038,2897,1975,2175,0,0,0,0,0,0
$GC,8304,0.77,170.3,35.7,8.3,544,8323,0.00,0.00,16.50,0.459,6,0.000,0.000,2897,1974,2104,0,0,0,0,0,0
$GC,8639,0.77,170.3,3.6,10.2,607,8647,0.00,2.28,0.00,0.000,4,0.000,0.051,2907,564,2102,0,0,0,0,0,0
$STATE,8653,end climb,SURFACE_DEPTH_REACHED
$STATE,8653,begin surface coast
$FINISH,0.6,1.014562
$STATE,8685,end surface coast,CONTROL_FINISHED_OK
$STATE,8685,begin surface
$SM_CCo,8705,57.17,0.436,0,0,1575,300.24
$SM_GC,1.57,0.00,0.00,57.17,0.000,0.000,0.436,26,1980,1575,-8.17,0.54,300.24
$IRIDIUM_FIX,2106.38,-15804.62,200802,030325
$TT8_MAMPS,0.028379
$HUMID,61.89
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.7,24.174
$10V_AH,10.5,26.509
$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,18.575,70.550,265.425,57.175,0.000,127.489,130.837,234.085,19.000,0.000,19.892,1133.230,5278.282,405.934,2018.341,753.682,0.000,1085.796,0.000,1970.696,0.000,117.261,0.000
$DEVICE_MAMPS,229.333,59.059,770.068,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,417.974,345.145,1199.689,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34987,615
$CAP_FILE_SIZE,97099,0
$CFSIZE,260165632,241184768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260513,053635,2109.326,-15759.148,37,0.8,37,9.8