version: 66.06
glider: 523
mission: 4
dive: 301
start: 5 26 113 18 41 3
data:
$ID,523
$MISSION,4
$DIVE,301
$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,-41772.262
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,183519,2108.792,-15755.940,18,1.8,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.1
$GPS2,184047,2108.812,-15756.055,19,0.8,19,9.8
$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,93.9,23368,-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,-76.20,0.000,2,0.000,0.000,28,1947,3385,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-4.8,12,112,9.52,0.00,-0.20,0.000,6,0.229,0.000,2393,1947,3396,0,0,0,0,0,0
$GC,268,-0.74,-146.0,38.6,-15.9,44,275,0.00,2.28,0.00,0.000,4,0.000,0.059,2393,560,3398,0,0,0,0,0,0
$GC,310,-0.74,-146.0,45.6,-17.0,51,316,0.00,2.15,0.00,0.000,6,0.000,0.038,2385,1973,3398,0,0,0,0,0,0
$GC,646,-0.74,-146.0,89.5,-12.6,106,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1973,3399,0,0,0,0,0,0
$GC,964,-0.74,-146.0,129.5,-11.9,136,971,0.00,2.25,0.00,0.000,4,0.000,0.051,2385,560,3401,0,0,0,0,0,0
$GC,1092,-0.74,-146.0,146.9,-12.6,147,1100,0.00,2.15,0.00,0.000,6,0.000,0.034,2376,1964,3401,0,0,0,0,0,0
$GC,1420,-0.74,-146.0,185.8,-11.4,178,1424,0.00,2.17,0.00,0.000,4,0.000,0.054,2365,3361,3401,0,0,0,0,0,0
$GC,1527,-0.74,-146.0,198.0,-10.8,187,1532,0.12,2.20,0.00,0.000,6,0.150,0.044,2398,1961,3402,0,0,0,0,0,0
$GC,1854,-0.74,-146.0,225.8,-7.9,203,1858,0.00,2.20,0.00,0.000,4,0.000,0.051,2398,548,3402,0,0,0,0,0,0
$GC,2106,-0.74,-146.0,247.4,-8.8,214,2110,0.00,2.15,0.00,0.000,6,0.000,0.033,2390,1974,3402,0,0,0,0,0,0
$GC,2424,-0.74,-146.0,272.3,-9.0,229,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1975,3402,0,0,0,0,0,0
$GC,2731,-0.74,-146.0,298.7,-8.7,244,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1975,3402,0,0,0,0,0,0
$GC,3039,-0.74,-146.0,322.6,-7.4,252,3043,0.00,2.17,0.00,0.000,4,0.000,0.053,2379,3364,3402,0,0,0,0,0,0
$GC,3182,-0.74,-146.0,334.1,-7.6,255,3186,0.00,2.17,0.00,0.000,6,0.000,0.041,2379,1955,3402,0,0,0,0,0,0
$GC,3495,-0.74,-146.0,359.7,-8.2,263,3500,0.00,2.22,0.00,0.000,4,0.000,0.056,2380,548,3400,0,0,0,0,0,0
$GC,3753,-0.74,-146.0,380.9,-7.0,268,3758,0.12,2.15,0.00,0.000,6,0.168,0.038,2404,1953,3398,0,0,0,0,0,0
$GC,4091,-0.74,-146.0,397.0,-4.7,277,4095,0.00,2.22,0.00,0.000,4,0.000,0.057,2404,553,3396,0,0,0,0,0,0
$GC,4131,-0.74,-146.0,399.6,-6.6,278,4136,0.00,2.15,0.00,0.000,6,0.000,0.039,2396,1965,3395,0,0,0,0,0,0
$GC,4463,-0.74,-146.0,423.3,-7.8,286,4467,0.00,2.30,0.00,0.000,4,0.000,0.059,2396,554,3393,0,0,0,0,0,0
$GC,4538,-0.74,-146.0,429.6,-8.4,287,4542,0.00,2.17,0.00,0.000,6,0.000,0.041,2386,1970,3393,0,0,0,0,0,0
$STATE,4826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4826,begin apogee
$GC,4833,-0.17,0.0,451.5,7.5,294,4955,0.60,0.00,118.57,0.772,6,0.120,0.000,2579,1970,2800,0,0,0,0,0,0
$STATE,4955,end apogee,CONTROL_FINISHED_OK
$STATE,4955,begin climb
$GC,4958,0.74,146.0,452.8,0.0,297,5095,0.82,2.45,125.25,0.743,4,0.077,0.061,2876,575,2202,0,0,0,0,0,0
$GC,5118,0.74,146.0,436.6,12.8,300,5123,0.00,2.25,0.00,0.000,6,0.000,0.040,2875,1979,2200,0,0,0,0,0,0
$GC,5449,0.74,146.0,393.3,12.5,309,5453,0.00,2.25,0.00,0.000,4,0.000,0.060,2875,3381,2195,0,0,0,0,0,0
$GC,5477,0.74,146.0,389.3,14.1,309,5482,0.00,2.28,0.00,0.000,6,0.000,0.051,2885,1979,2194,0,0,0,0,0,0
$GC,5809,0.74,146.0,341.5,14.4,317,5813,0.00,2.30,0.00,0.000,4,0.000,0.068,2895,564,2193,0,0,0,0,0,0
$GC,5876,0.74,146.0,331.6,14.6,318,5880,0.00,2.20,0.00,0.000,6,0.000,0.044,2895,1975,2191,0,0,0,0,0,0
$GC,6199,0.74,146.0,287.3,12.5,328,6203,0.00,2.22,0.00,0.000,4,0.000,0.063,2895,3383,2190,0,0,0,0,0,0
$GC,6271,0.74,146.0,276.9,15.0,331,6275,0.00,2.25,0.00,0.000,6,0.000,0.051,2905,1964,2190,0,0,0,0,0,0
$GC,6586,0.74,146.0,234.6,12.6,346,6590,0.00,2.22,0.00,0.000,4,0.000,0.060,2915,561,2190,0,0,0,0,0,0
$GC,6620,0.74,146.0,230.4,13.0,347,6626,0.15,2.20,0.00,0.000,6,0.138,0.043,2873,1982,2189,0,0,0,0,0,0
$GC,6938,0.74,146.0,195.2,11.8,364,6942,0.00,2.25,0.00,0.000,4,0.000,0.056,2881,559,2188,0,0,0,0,0,0
$GC,7055,0.74,146.0,182.8,9.8,374,7059,0.00,2.20,0.00,0.000,6,0.000,0.043,2881,1972,2187,0,0,0,0,0,0
$GC,7382,0.74,146.0,150.2,9.6,404,7386,0.00,2.17,0.00,0.000,4,0.000,0.052,2881,3389,2187,0,0,0,0,0,0
$GC,7423,0.74,146.0,146.1,10.5,407,7427,0.00,2.22,0.00,0.000,6,0.000,0.045,2891,1961,2187,0,0,0,0,0,0
$GC,7749,0.74,146.0,111.2,10.9,437,7753,0.00,2.25,0.00,0.000,4,0.000,0.056,2891,3391,2186,0,0,0,0,0,0
$GC,7769,0.74,146.0,109.1,10.8,438,7773,0.00,2.20,0.00,0.000,6,0.000,0.047,2899,1975,2186,0,0,0,0,0,0
$GC,8093,0.74,146.0,75.7,9.4,472,8100,0.00,2.25,0.00,0.000,4,0.000,0.058,2910,561,2186,0,0,0,0,0,0
$GC,8223,0.74,146.0,63.8,9.2,495,8229,0.12,2.17,0.00,0.000,6,0.135,0.040,2874,1986,2186,0,0,0,0,0,0
$GC,8551,0.81,203.9,38.4,6.6,556,8605,0.00,2.22,46.28,0.481,4,0.000,0.050,2874,3380,1966,0,0,0,0,0,0
$GC,8641,0.81,203.9,31.3,9.2,571,8646,0.00,2.20,0.00,0.000,6,0.000,0.040,2879,1969,1965,0,0,0,0,0,0
$GC,8964,0.87,251.3,5.8,7.1,632,8992,0.12,0.00,25.12,0.440,2,0.076,0.000,2962,1969,1847,0,0,0,0,0,0
$STATE,8993,end climb,SURFACE_DEPTH_REACHED
$STATE,8993,begin surface coast
$FINISH,0.6,1.023157
$STATE,9020,end surface coast,CONTROL_FINISHED_OK
$STATE,9020,begin surface
$SM_CCo,9037,30.70,0.429,0,0,1576,300.24
$SM_GC,1.25,0.00,0.00,30.70,0.000,0.000,0.429,43,1964,1576,-8.12,0.11,300.24
$IRIDIUM_FIX,2059.45,-15803.33,200802,161621
$TT8_MAMPS,0.028379
$HUMID,63.19
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.7,24.674
$10V_AH,10.5,27.058
$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,19.000,79.900,315.225,30.700,0.000,25.888,32.103,139.396,19.000,0.000,20.207,1163.565,5307.038,380.270,2106.792,437.545,0.000,1128.902,0.000,2054.390,0.000,119.512,0.000
$DEVICE_MAMPS,228.566,68.263,771.602,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,434.738,363.421,1252.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,34985,641
$CAP_FILE_SIZE,98623,0
$CFSIZE,260165632,240885760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260513,211328,2108.769,-15754.727,37,0.8,37,9.8