version: 66.06
glider: 523
mission: 4
dive: 296
start: 5 26 113 5 46 15
data:
$ID,523
$MISSION,4
$DIVE,296
$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,-41673.559
$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,28
$R_STBD_OVSHOOT,44
$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
$GPS1,053635,2109.326,-15759.148,37,0.8,37,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.1
$GPS2,054559,2109.360,-15759.202,16,0.9,16,9.8
$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,93.3,28894,-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,13,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,-75.40,0.000,2,0.000,0.000,26,1980,3380,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.5,12,113,9.45,2.30,-0.22,0.000,4,0.226,0.061,2394,554,3392,0,0,0,0,0,0
$GC,293,-0.74,-146.0,46.2,-19.0,48,300,0.00,2.17,0.00,0.000,6,0.000,0.035,2386,1951,3394,0,0,0,0,0,0
$GC,630,-0.74,-146.0,96.8,-14.2,99,634,0.00,2.22,0.00,0.000,4,0.000,0.051,2386,553,3394,0,0,0,0,0,0
$GC,715,-0.74,-146.0,110.7,-16.1,106,719,0.00,2.15,0.00,0.000,6,0.000,0.034,2377,1977,3394,0,0,0,0,0,0
$GC,1048,-0.74,-146.0,152.2,-11.1,137,1052,0.00,2.25,0.00,0.000,4,0.000,0.050,2377,551,3395,0,0,0,0,0,0
$GC,1113,-0.74,-146.0,160.3,-13.1,142,1120,0.10,2.15,0.00,0.000,6,0.144,0.033,2399,1960,3395,0,0,0,0,0,0
$GC,1440,-0.74,-146.0,192.2,-8.6,173,1444,0.00,2.17,0.00,0.000,4,0.000,0.051,2389,3368,3396,0,0,0,0,0,0
$GC,1532,-0.74,-146.0,201.2,-9.7,180,1537,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,1962,3396,0,0,0,0,0,0
$GC,1849,-0.74,-146.0,235.1,-10.8,195,1853,0.00,2.20,0.00,0.000,4,0.000,0.050,2390,542,3396,0,0,0,0,0,0
$GC,2107,-0.74,-146.0,261.3,-10.8,206,2112,0.00,2.10,0.00,0.000,6,0.000,0.032,2380,1962,3396,0,0,0,0,0,0
$GC,2424,-0.74,-146.0,292.9,-9.2,222,2428,0.00,2.22,0.00,0.000,4,0.000,0.049,2380,549,3396,0,0,0,0,0,0
$GC,2544,-0.74,-146.0,302.3,-7.6,227,2549,0.12,2.12,0.00,0.000,6,0.169,0.034,2404,1963,3396,0,0,0,0,0,0
$GC,2881,-0.74,-146.0,322.7,-5.7,236,2885,0.00,2.15,0.00,0.000,4,0.000,0.053,2395,3362,3395,0,0,0,0,0,0
$GC,2908,-0.74,-146.0,324.1,-5.2,236,2912,0.00,2.17,0.00,0.000,6,0.000,0.038,2395,1955,3395,0,0,0,0,0,0
$GC,3240,-0.74,-146.0,343.2,-6.2,244,3244,0.00,2.20,0.00,0.000,4,0.000,0.050,2385,3361,3395,0,0,0,0,0,0
$GC,3273,-0.74,-146.0,345.6,-7.3,244,3279,0.00,2.15,0.00,0.000,6,0.000,0.039,2385,1954,3395,0,0,0,0,0,0
$GC,3605,-0.74,-146.0,375.4,-9.7,253,3609,0.00,2.22,0.00,0.000,4,0.000,0.054,2384,543,3392,0,0,0,0,0,0
$GC,3863,-0.74,-146.0,403.0,-8.6,258,3868,0.00,2.15,0.00,0.000,6,0.000,0.035,2375,1961,3390,0,0,0,0,0,0
$GC,4195,-0.74,-146.0,433.1,-8.5,267,4199,0.00,2.17,0.00,0.000,4,0.000,0.054,2365,3362,3389,0,0,0,0,0,0
$GC,4296,-0.74,-146.0,439.6,-6.1,269,4300,0.12,2.17,0.00,0.000,6,0.152,0.039,2397,1948,3389,0,0,0,0,0,0
$STATE,4560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4560,begin apogee
$GC,4567,-0.17,0.0,450.5,4.1,276,4687,0.57,0.00,117.45,0.767,6,0.114,0.000,2587,1948,2800,0,0,0,0,0,0
$STATE,4688,end apogee,CONTROL_FINISHED_OK
$STATE,4688,begin climb
$GC,4691,0.74,146.0,448.6,0.0,279,4820,0.85,0.00,125.80,0.739,6,0.074,0.000,2878,1947,2204,0,0,0,0,0,0
$GC,5128,0.74,146.0,391.5,12.7,290,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1947,2197,0,0,0,0,0,0
$GC,5454,0.74,146.0,349.5,13.3,298,5458,0.00,2.22,0.00,0.000,4,0.000,0.060,2888,571,2194,0,0,0,0,0,0
$GC,5498,0.74,146.0,342.5,15.8,299,5502,0.00,2.15,0.00,0.000,6,0.000,0.037,2889,1966,2193,0,0,0,0,0,0
$GC,5816,0.74,146.0,293.6,15.3,307,5820,0.00,2.22,0.00,0.000,4,0.000,0.054,2889,3383,2192,0,0,0,0,0,0
$GC,5964,0.74,146.0,269.6,16.6,313,5970,0.00,2.22,0.00,0.000,6,0.000,0.048,2897,1981,2190,0,0,0,0,0,0
$GC,6279,0.74,146.0,225.3,13.7,329,6283,0.00,2.25,0.00,0.000,4,0.000,0.060,2908,561,2190,0,0,0,0,0,0
$GC,6375,0.74,146.0,212.0,12.9,333,6380,0.12,2.17,0.00,0.000,6,0.140,0.041,2874,1978,2189,0,0,0,0,0,0
$GC,6699,0.74,146.0,174.8,10.9,358,6703,0.00,2.17,0.00,0.000,4,0.000,0.052,2873,3388,2187,0,0,0,0,0,0
$GC,6836,0.74,146.0,158.6,11.8,370,6841,0.00,2.22,0.00,0.000,6,0.000,0.046,2881,1972,2187,0,0,0,0,0,0
$GC,7165,0.74,146.0,122.0,10.7,400,7169,0.00,2.22,0.00,0.000,4,0.000,0.057,2891,563,2187,0,0,0,0,0,0
$GC,7227,0.74,146.0,115.0,10.0,405,7231,0.00,2.15,0.00,0.000,6,0.000,0.037,2891,1978,2187,0,0,0,0,0,0
$GC,7554,0.74,146.0,85.8,9.3,435,7558,0.00,2.15,0.00,0.000,4,0.000,0.051,2891,3383,2187,0,0,0,0,0,0
$GC,7606,0.74,146.0,81.0,9.4,439,7610,0.00,2.20,0.00,0.000,6,0.000,0.042,2900,1976,2187,0,0,0,0,0,0
$GC,7939,0.75,152.8,50.4,8.8,498,7951,0.00,2.28,4.15,0.357,4,0.000,0.055,2910,554,2176,0,0,0,0,0,0
$GC,8073,0.75,152.8,37.6,9.9,522,8081,0.08,2.20,0.00,0.000,6,0.106,0.038,2881,1974,2176,0,0,0,0,0,0
$GC,8401,0.93,306.6,15.7,2.6,583,8498,0.17,0.00,94.25,0.456,2,0.061,0.000,2982,1975,1716,0,0,0,0,0,0
$STATE,8499,end climb,SURFACE_DEPTH_REACHED
$STATE,8499,begin surface coast
$FINISH,0.5,1.010456
$STATE,8518,end surface coast,CONTROL_FINISHED_OK
$STATE,8518,begin surface
$SM_CCo,8537,18.05,0.415,0,0,1575,300.24
$SM_GC,1.24,0.00,0.00,18.05,0.000,0.000,0.415,38,1974,1575,-8.13,0.40,300.24
$IRIDIUM_FIX,2104.07,-15755.17,200802,050523
$TT8_MAMPS,0.027612
$HUMID,62.36
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.7,24.263
$10V_AH,10.5,26.600
$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,19.250,74.525,341.650,18.050,0.000,54.310,70.904,236.518,19.250,0.000,19.261,1090.972,5022.616,393.975,2009.505,600.976,0.000,1104.395,0.000,1962.884,0.000,117.255,0.000
$DEVICE_MAMPS,226.265,61.360,767.000,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.505,336.945,1202.913,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,31847,601
$CAP_FILE_SIZE,96500,0
$CFSIZE,260165632,241139712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260513,081001,2109.441,-15758.060,32,1.3,32,9.8