version: 66.06
glider: 523
mission: 4
dive: 297
start: 5 26 113 8 16 29
data:
$ID,523
$MISSION,4
$DIVE,297
$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,-41690.688
$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,25
$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
$GPS1,081001,2109.441,-15758.060,32,1.3,32,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.2
$GPS2,081612,2109.426,-15758.118,16,1.0,16,9.8
$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,94.5,27103,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.72,0.000,6,0.000,0.000,38,1975,3396,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.7,-6.3,12,114,9.43,2.15,0.00,0.000,4,0.225,0.045,2387,3366,3397,0,0,0,0,0,0
$GC,123,-0.74,-146.0,13.2,-27.7,15,130,0.00,2.28,0.00,0.000,6,0.000,0.046,2387,1961,3399,0,0,0,0,0,0
$GC,290,-0.74,-146.0,44.6,-18.1,46,297,0.00,2.30,0.00,0.000,4,0.000,0.060,2387,547,3399,0,0,0,0,0,0
$GC,483,-0.74,-146.0,75.7,-13.8,81,489,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1971,3400,0,0,0,0,0,0
$GC,817,-0.74,-146.0,123.1,-11.9,115,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1971,3401,0,0,0,0,0,0
$GC,1135,-0.74,-146.0,162.8,-13.4,145,1139,0.00,2.28,0.00,0.000,4,0.000,0.049,2377,543,3402,0,0,0,0,0,0
$GC,1180,-0.74,-146.0,169.4,-13.1,148,1191,0.10,2.17,0.00,0.000,6,0.147,0.033,2399,1967,3402,0,0,0,0,0,0
$GC,1509,-0.74,-146.0,199.9,-8.0,179,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1967,3403,0,0,0,0,0,0
$GC,1824,-0.74,-146.0,227.8,-9.1,195,1828,0.00,2.28,0.00,0.000,4,0.000,0.051,2400,543,3403,0,0,0,0,0,0
$GC,2071,-0.74,-146.0,253.2,-9.1,206,2075,0.00,2.12,0.00,0.000,6,0.000,0.033,2392,1969,3403,0,0,0,0,0,0
$GC,2395,-0.74,-146.0,277.1,-7.7,222,2399,0.00,2.28,0.00,0.000,4,0.000,0.051,2392,534,3403,0,0,0,0,0,0
$GC,2652,-0.74,-146.0,297.9,-6.2,233,2658,0.00,2.15,0.00,0.000,6,0.000,0.035,2381,1964,3402,0,0,0,0,0,0
$GC,2986,-0.74,-146.0,321.2,-7.1,243,2990,0.00,2.17,0.00,0.000,4,0.000,0.054,2371,3363,3401,0,0,0,0,0,0
$GC,3059,-0.74,-146.0,327.4,-8.3,244,3063,0.12,2.20,0.00,0.000,6,0.148,0.038,2405,1947,3402,0,0,0,0,0,0
$GC,3394,-0.74,-146.0,351.5,-7.7,252,3398,0.00,2.22,0.00,0.000,4,0.000,0.058,2406,552,3400,0,0,0,0,0,0
$GC,3654,-0.74,-146.0,375.1,-8.4,257,3659,0.00,2.17,0.00,0.000,6,0.000,0.039,2398,1966,3397,0,0,0,0,0,0
$GC,3988,-0.74,-146.0,401.5,-7.4,266,3992,0.00,2.25,0.00,0.000,4,0.000,0.059,2398,557,3396,0,0,0,0,0,0
$GC,4021,-0.74,-146.0,404.3,-8.1,266,4027,0.00,2.17,0.00,0.000,6,0.000,0.043,2388,1968,3395,0,0,0,0,0,0
$GC,4354,-0.74,-146.0,427.3,-6.5,275,4358,0.00,2.30,0.00,0.000,4,0.000,0.061,2388,551,3393,0,0,0,0,0,0
$GC,4395,-0.74,-146.0,430.0,-6.3,276,4399,0.00,2.20,0.00,0.000,6,0.000,0.044,2378,1960,3392,0,0,0,0,0,0
$STATE,4717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4717,begin apogee
$GC,4726,-0.17,0.0,451.5,7.2,284,4848,0.65,0.00,118.72,0.773,6,0.123,0.000,2586,1960,2800,0,0,0,0,0,0
$STATE,4848,end apogee,CONTROL_FINISHED_OK
$STATE,4848,begin climb
$GC,4851,0.74,146.0,452.5,0.0,287,4984,0.85,2.35,125.93,0.746,4,0.078,0.051,2875,3392,2203,0,0,0,0,0,0
$GC,5020,0.74,146.0,434.0,16.0,291,5024,0.00,2.33,0.00,0.000,6,0.000,0.043,2884,1975,2200,0,0,0,0,0,0
$GC,5362,0.74,146.0,379.1,15.8,300,5366,0.00,2.30,0.00,0.000,4,0.000,0.060,2895,556,2196,0,0,0,0,0,0
$GC,5394,0.74,146.0,374.0,15.9,300,5400,0.00,2.25,0.00,0.000,6,0.000,0.042,2895,1984,2196,0,0,0,0,0,0
$GC,5726,0.74,146.0,324.4,14.5,309,5730,0.00,2.20,0.00,0.000,4,0.000,0.053,2895,3389,2193,0,0,0,0,0,0
$GC,5776,0.74,146.0,316.3,15.8,310,5780,0.00,2.25,0.00,0.000,6,0.000,0.046,2905,1972,2193,0,0,0,0,0,0
$GC,6091,0.74,146.0,271.2,14.0,322,6095,0.00,2.22,0.00,0.000,4,0.000,0.060,2914,569,2192,0,0,0,0,0,0
$GC,6137,0.74,146.0,265.0,13.8,324,6141,0.12,2.20,0.00,0.000,6,0.150,0.041,2881,1989,2191,0,0,0,0,0,0
$GC,6468,0.74,146.0,222.3,12.4,340,6472,0.00,2.28,0.00,0.000,4,0.000,0.061,2888,569,2189,0,0,0,0,0,0
$GC,6501,0.74,146.0,218.1,11.8,341,6506,0.00,2.20,0.00,0.000,6,0.000,0.041,2889,1986,2190,0,0,0,0,0,0
$GC,6824,0.74,146.0,181.4,10.8,363,6828,0.00,2.28,0.00,0.000,4,0.000,0.061,2897,563,2189,0,0,0,0,0,0
$GC,6865,0.74,146.0,176.7,11.6,366,6869,0.00,2.17,0.00,0.000,6,0.000,0.042,2898,1978,2189,0,0,0,0,0,0
$GC,7191,0.74,146.0,133.9,13.1,396,7195,0.00,2.17,0.00,0.000,4,0.000,0.054,2898,3379,2189,0,0,0,0,0,0
$GC,7342,0.74,146.0,113.9,13.7,409,7346,0.00,2.20,0.00,0.000,6,0.000,0.046,2906,1967,2188,0,0,0,0,0,0
$GC,7670,0.74,146.0,74.2,10.0,444,7677,0.00,2.25,0.00,0.000,4,0.000,0.058,2913,562,2188,0,0,0,0,0,0
$GC,7724,0.74,146.0,68.0,12.8,453,7730,0.12,2.17,0.00,0.000,6,0.134,0.038,2876,1977,2188,0,0,0,0,0,0
$GC,8057,0.79,186.8,38.9,7.3,514,8099,0.00,2.22,32.40,0.493,4,0.000,0.051,2876,3380,2037,0,0,0,0,0,0
$GC,8114,0.84,227.5,35.0,7.3,523,8154,0.00,2.17,34.78,0.479,6,0.000,0.037,2882,1964,1871,0,0,0,0,0,0
$GC,8475,0.89,269.0,7.4,7.3,590,8516,0.12,2.33,35.60,0.450,4,0.075,0.058,2981,566,1702,0,0,0,0,0,0
$STATE,8522,end climb,SURFACE_DEPTH_REACHED
$STATE,8522,begin surface coast
$FINISH,0.6,1.010984
$STATE,8546,end surface coast,CONTROL_FINISHED_OK
$STATE,8546,begin surface
$SM_CCo,8567,15.68,0.418,0,0,1575,300.24
$SM_GC,1.22,0.00,0.00,15.68,0.000,0.000,0.418,50,1979,1575,-8.10,0.54,300.24
$IRIDIUM_FIX,2104.07,-15753.03,200802,050546
$TT8_MAMPS,0.028379
$HUMID,65.55
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.7,24.347
$10V_AH,10.5,26.689
$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,19.175,84.625,347.425,15.675,0.000,27.185,39.019,176.215,19.000,0.000,16.501,1094.192,4992.895,410.021,1973.535,482.430,0.000,1126.588,0.000,1928.166,0.000,117.251,0.000
$DEVICE_MAMPS,225.498,61.360,773.136,418.015,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.074,335.467,1169.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34914,601
$CAP_FILE_SIZE,95440,0
$CFSIZE,260165632,241086464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260513,104034,2109.421,-15756.973,23,0.9,23,9.8