version: 66.06
glider: 523
mission: 4
dive: 300
start: 5 26 113 16 7 29
data:
$ID,523
$MISSION,4
$DIVE,300
$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,-41751.426
$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,27
$R_STBD_OVSHOOT,36
$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
$GPS1,160135,2108.979,-15756.466,28,1.2,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.9
$GPS2,160712,2109.030,-15756.578,17,1.1,17,9.8
$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,94.4,24342,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.05,0.000,2,0.000,0.000,40,1994,3366,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.8,12,113,9.48,2.33,-0.68,0.000,4,0.229,0.064,2395,547,3397,0,0,0,0,0,0
$GC,158,-0.74,-146.0,19.3,-19.4,22,166,0.00,2.20,0.00,0.000,6,0.000,0.035,2386,1961,3398,0,0,0,0,0,0
$GC,330,-0.74,-146.0,50.4,-18.5,53,336,0.00,2.25,0.00,0.000,4,0.000,0.054,2387,554,3398,0,0,0,0,0,0
$GC,345,-0.74,-146.0,53.0,-17.0,55,350,0.00,2.15,0.00,0.000,6,0.000,0.037,2377,1968,3398,0,0,0,0,0,0
$GC,680,-0.74,-146.0,101.6,-16.0,104,684,0.00,2.20,0.00,0.000,4,0.000,0.054,2367,3362,3399,0,0,0,0,0,0
$GC,702,-0.74,-146.0,105.4,-15.5,105,710,0.10,2.25,0.00,0.000,6,0.134,0.046,2399,1960,3400,0,0,0,0,0,0
$GC,1029,-0.74,-146.0,143.6,-12.1,136,1033,0.00,2.25,0.00,0.000,4,0.000,0.053,2399,538,3401,0,0,0,0,0,0
$GC,1094,-0.74,-146.0,152.5,-13.1,141,1102,0.00,2.17,0.00,0.000,6,0.000,0.033,2391,1965,3401,0,0,0,0,0,0
$GC,1422,-0.74,-146.0,192.9,-12.6,172,1426,0.00,2.17,0.00,0.000,4,0.000,0.053,2380,3366,3401,0,0,0,0,0,0
$GC,1518,-0.74,-146.0,205.6,-12.7,178,1522,0.00,2.20,0.00,0.000,6,0.000,0.043,2380,1950,3401,0,0,0,0,0,0
$GC,1833,-0.74,-146.0,238.8,-8.2,193,1837,0.00,2.17,0.00,0.000,4,0.000,0.052,2380,549,3402,0,0,0,0,0,0
$GC,2092,-0.74,-146.0,264.0,-12.3,204,2098,0.12,2.12,0.00,0.000,6,0.173,0.034,2402,1963,3402,0,0,0,0,0,0
$GC,2408,-0.74,-146.0,290.7,-7.4,220,2412,0.00,2.22,0.00,0.000,4,0.000,0.051,2403,550,3402,0,0,0,0,0,0
$GC,2521,-0.74,-146.0,299.5,-7.4,225,2525,0.00,2.12,0.00,0.000,6,0.000,0.036,2395,1963,3402,0,0,0,0,0,0
$GC,2858,-0.74,-146.0,323.4,-6.6,234,2862,0.00,2.17,0.00,0.000,4,0.000,0.053,2384,3364,3402,0,0,0,0,0,0
$GC,2995,-0.74,-146.0,334.4,-8.0,237,2999,0.00,2.17,0.00,0.000,6,0.000,0.041,2384,1950,3402,0,0,0,0,0,0
$GC,3317,-0.74,-146.0,355.6,-6.0,245,3321,0.00,2.20,0.00,0.000,4,0.000,0.057,2384,551,3401,0,0,0,0,0,0
$GC,3423,-0.74,-146.0,363.3,-6.8,247,3427,0.00,2.15,0.00,0.000,6,0.000,0.037,2374,1964,3401,0,0,0,0,0,0
$GC,3767,-0.74,-146.0,387.7,-7.6,256,3771,0.00,2.28,0.00,0.000,4,0.000,0.058,2375,543,3398,0,0,0,0,0,0
$GC,3909,-0.74,-146.0,400.0,-9.4,259,3914,0.12,2.15,0.00,0.000,6,0.165,0.038,2398,1967,3397,0,0,0,0,0,0
$GC,4225,-0.74,-146.0,425.0,-7.9,267,4229,0.00,2.17,0.00,0.000,4,0.000,0.056,2389,3363,3395,0,0,0,0,0,0
$GC,4320,-0.74,-146.0,433.5,-8.6,269,4324,0.00,2.17,0.00,0.000,6,0.000,0.042,2389,1952,3394,0,0,0,0,0,0
$STATE,4550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4550,begin apogee
$GC,4556,-0.17,0.0,453.3,8.4,275,4679,0.60,0.00,119.05,0.771,6,0.117,0.000,2584,1951,2800,0,0,0,0,0,0
$STATE,4679,end apogee,CONTROL_FINISHED_OK
$STATE,4679,begin climb
$GC,4683,0.74,146.0,455.7,0.0,278,4812,0.85,0.00,126.38,0.745,6,0.077,0.000,2873,1951,2204,0,0,0,0,0,0
$GC,5117,0.74,146.0,402.6,13.5,289,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1951,2196,0,0,0,0,0,0
$GC,5442,0.74,146.0,357.6,14.2,297,5446,0.00,2.20,0.00,0.000,4,0.000,0.063,2883,572,2193,0,0,0,0,0,0
$GC,5509,0.74,146.0,348.7,12.4,298,5513,0.00,2.17,0.00,0.000,6,0.000,0.038,2884,1973,2193,0,0,0,0,0,0
$GC,5845,0.74,146.0,308.1,11.6,307,5849,0.00,2.22,0.00,0.000,4,0.000,0.059,2883,3380,2191,0,0,0,0,0,0
$GC,5912,0.74,146.0,299.9,12.6,308,5916,0.00,2.22,0.00,0.000,6,0.000,0.050,2893,1983,2190,0,0,0,0,0,0
$GC,6239,0.74,146.0,261.0,10.7,324,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1983,2189,0,0,0,0,0,0
$GC,6548,0.74,146.0,222.6,12.5,339,6552,0.00,2.25,0.00,0.000,4,0.000,0.064,2900,562,2189,0,0,0,0,0,0
$GC,6707,0.74,146.0,204.8,10.8,346,6712,0.00,2.17,0.00,0.000,6,0.000,0.038,2900,1970,2187,0,0,0,0,0,0
$GC,7039,0.74,146.0,167.2,11.1,375,7043,0.00,2.20,0.00,0.000,4,0.000,0.058,2900,3383,2187,0,0,0,0,0,0
$GC,7144,0.74,146.0,154.5,13.3,384,7149,0.12,2.25,0.00,0.000,6,0.153,0.048,2874,1968,2186,0,0,0,0,0,0
$GC,7471,0.74,146.0,122.0,9.6,414,7475,0.00,2.25,0.00,0.000,4,0.000,0.056,2874,3382,2186,0,0,0,0,0,0
$GC,7492,0.74,146.0,119.7,9.9,415,7500,0.00,2.25,0.00,0.000,6,0.000,0.046,2881,1967,2186,0,0,0,0,0,0
$GC,7819,0.74,146.6,89.5,9.0,446,7824,0.00,2.22,0.00,0.000,4,0.000,0.061,2892,554,2186,0,0,0,0,0,0
$GC,7914,0.74,146.6,80.1,9.8,454,7918,0.00,2.20,0.00,0.000,6,0.000,0.038,2891,1986,2186,0,0,0,0,0,0
$GC,8244,0.77,169.5,50.7,8.1,514,8268,0.00,2.30,18.20,0.474,4,0.000,0.055,2900,557,2108,0,0,0,0,0,0
$GC,8355,0.79,187.7,42.3,8.3,533,8379,0.00,2.17,16.52,0.458,6,0.000,0.038,2900,1979,2033,0,0,0,0,0,0
$GC,8701,0.79,187.7,7.2,10.1,597,8708,0.00,2.28,0.00,0.000,4,0.000,0.053,2900,3388,2032,0,0,0,0,0,0
$STATE,8735,end climb,SURFACE_DEPTH_REACHED
$STATE,8735,begin surface coast
$FINISH,2.0,1.023177
$STATE,8742,end surface coast,CONTROL_FINISHED_OK
$STATE,8742,begin surface
$SM_CCo,8763,49.83,0.435,0,0,1575,300.24
$SM_GC,1.47,0.00,0.00,49.83,0.000,0.000,0.435,28,1946,1575,-8.16,-0.37,300.24
$IRIDIUM_FIX,2104.07,-15750.89,200802,131324
$TT8_MAMPS,0.027612
$HUMID,62.36
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.7,24.595
$10V_AH,10.5,26.965
$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,18.650,83.925,280.150,49.825,0.000,27.099,33.093,147.805,19.250,0.000,17.557,1126.720,5157.828,417.589,2000.822,445.762,0.000,1104.245,0.000,1954.050,0.000,121.081,0.000
$DEVICE_MAMPS,228.566,64.428,770.835,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.060,329.839,1163.389,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,31838,604
$CAP_FILE_SIZE,95898,0
$CFSIZE,260165632,240943104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260513,183519,2108.792,-15755.940,18,1.8,18,9.8