version: 66.06
glider: 523
mission: 4
dive: 303
start: 5 26 113 23 55 41
data:
$ID,523
$MISSION,4
$DIVE,303
$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,-41810.281
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,234930,2108.745,-15753.300,13,1.8,13,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.8
$GPS2,235525,2108.726,-15753.360,18,1.9,18,9.8
$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,96.8,18832,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.30,0.000,2,0.000,0.000,41,1979,3358,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.4,-4.8,12,114,9.48,2.38,-0.80,0.000,4,0.229,0.065,2394,543,3398,0,0,0,0,0,0
$GC,201,-0.74,-146.0,28.3,-19.1,30,208,0.00,2.22,0.00,0.000,6,0.000,0.037,2384,1965,3400,0,0,0,0,0,0
$GC,375,-0.74,-146.0,55.4,-14.9,61,380,0.00,2.30,0.00,0.000,4,0.000,0.056,2385,547,3401,0,0,0,0,0,0
$GC,410,-0.74,-146.0,61.6,-17.4,67,416,0.00,2.17,0.00,0.000,6,0.000,0.037,2376,1963,3401,0,0,0,0,0,0
$GC,744,-0.74,-146.0,106.7,-12.3,110,748,0.00,2.28,0.00,0.000,4,0.000,0.054,2376,548,3402,0,0,0,0,0,0
$GC,892,-0.74,-146.0,127.8,-14.4,123,900,0.10,2.17,0.00,0.000,6,0.144,0.035,2397,1962,3402,0,0,0,0,0,0
$GC,1219,-0.74,-146.0,162.0,-10.3,154,1223,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,3374,3403,0,0,0,0,0,0
$GC,1260,-0.74,-146.0,166.5,-11.4,157,1264,0.00,2.22,0.00,0.000,6,0.000,0.045,2388,1952,3403,0,0,0,0,0,0
$GC,1587,-0.74,-146.0,197.6,-8.3,187,1591,0.00,2.20,0.00,0.000,4,0.000,0.052,2388,541,3405,0,0,0,0,0,0
$GC,1844,-0.74,-146.0,223.1,-10.7,199,1850,0.00,2.15,0.00,0.000,6,0.000,0.034,2378,1966,3405,0,0,0,0,0,0
$GC,2162,-0.74,-146.0,252.3,-8.7,215,2166,0.00,2.15,0.00,0.000,4,0.000,0.054,2368,3361,3405,0,0,0,0,0,0
$GC,2293,-0.74,-146.0,264.9,-9.3,220,2303,0.08,2.20,0.00,0.000,6,0.137,0.044,2394,1951,3405,0,0,0,0,0,0
$GC,2612,-0.74,-146.0,288.9,-7.3,236,2615,0.00,2.20,0.00,0.000,4,0.000,0.054,2394,550,3404,0,0,0,0,0,0
$GC,2870,-0.74,-146.0,309.1,-8.4,245,2875,0.00,2.15,0.00,0.000,6,0.000,0.035,2386,1967,3404,0,0,0,0,0,0
$GC,3202,-0.74,-146.0,335.6,-8.0,254,3206,0.00,2.15,0.00,0.000,4,0.000,0.054,2376,3365,3403,0,0,0,0,0,0
$GC,3450,-0.74,-146.0,354.3,-7.0,259,3454,0.00,2.17,0.00,0.000,6,0.000,0.042,2376,1953,3402,0,0,0,0,0,0
$GC,3790,-0.74,-146.0,381.3,-8.4,268,3794,0.00,2.25,0.00,0.000,4,0.000,0.059,2376,552,3400,0,0,0,0,0,0
$GC,3891,-0.74,-146.0,390.9,-9.3,270,3896,0.12,2.15,0.00,0.000,6,0.166,0.038,2399,1957,3399,0,0,0,0,0,0
$GC,4241,-0.74,-146.0,414.2,-6.2,279,4245,0.00,2.22,0.00,0.000,4,0.000,0.058,2390,3369,3396,0,0,0,0,0,0
$GC,4384,-0.74,-146.0,421.6,-5.1,282,4388,0.00,2.22,0.00,0.000,6,0.000,0.044,2390,1950,3396,0,0,0,0,0,0
$GC,4698,-0.74,-146.0,440.1,-6.5,290,4702,0.00,2.25,0.00,0.000,4,0.000,0.062,2390,549,3395,0,0,0,0,0,0
$STATE,4813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4813,begin apogee
$GC,4824,-0.17,0.0,450.4,8.7,292,4947,0.60,0.00,119.22,0.781,6,0.124,0.000,2576,1979,2800,0,0,0,0,0,0
$STATE,4947,end apogee,CONTROL_FINISHED_OK
$STATE,4947,begin climb
$GC,4950,0.74,146.0,452.7,0.0,295,5087,0.85,2.47,125.72,0.752,4,0.079,0.060,2880,563,2203,0,0,0,0,0,0
$GC,5104,0.74,146.0,437.0,12.9,298,5108,0.00,2.28,0.00,0.000,6,0.000,0.040,2880,1978,2200,0,0,0,0,0,0
$GC,5435,0.74,146.0,391.8,13.7,306,5439,0.00,2.28,0.00,0.000,4,0.000,0.061,2879,3395,2196,0,0,0,0,0,0
$GC,5520,0.74,146.0,378.9,15.7,308,5525,0.00,2.25,0.00,0.000,6,0.000,0.042,2890,1979,2194,0,0,0,0,0,0
$GC,5845,0.74,146.0,333.4,13.6,316,5849,0.00,2.25,0.00,0.000,4,0.000,0.060,2900,566,2193,0,0,0,0,0,0
$GC,5872,0.74,146.0,329.8,12.2,316,5876,0.00,2.20,0.00,0.000,6,0.000,0.043,2900,1987,2192,0,0,0,0,0,0
$GC,6190,0.74,146.0,289.1,12.7,326,6194,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3384,2191,0,0,0,0,0,0
$GC,6229,0.74,146.0,283.7,13.6,328,6234,0.12,2.22,0.00,0.000,6,0.160,0.044,2876,1964,2190,0,0,0,0,0,0
$GC,6556,0.74,146.0,244.7,12.6,344,6560,0.00,2.22,0.00,0.000,4,0.000,0.059,2885,562,2189,0,0,0,0,0,0
$GC,6583,0.74,146.0,241.1,12.9,345,6587,0.00,2.17,0.00,0.000,6,0.000,0.038,2885,1977,2189,0,0,0,0,0,0
$GC,6899,0.74,146.0,203.5,10.9,360,6903,0.00,2.17,0.00,0.000,4,0.000,0.051,2885,3382,2189,0,0,0,0,0,0
$GC,6995,0.74,146.0,192.2,11.8,367,7000,0.00,2.17,0.00,0.000,6,0.000,0.041,2895,1977,2188,0,0,0,0,0,0
$GC,7324,0.74,146.0,154.8,11.2,397,7328,0.00,2.20,0.00,0.000,4,0.000,0.057,2905,565,2188,0,0,0,0,0,0
$GC,7387,0.74,146.0,147.3,12.1,402,7391,0.00,2.17,0.00,0.000,6,0.000,0.037,2905,1982,2187,0,0,0,0,0,0
$GC,7714,0.74,146.0,109.4,12.1,432,7718,0.00,2.17,0.00,0.000,4,0.000,0.051,2905,3390,2187,0,0,0,0,0,0
$GC,7809,0.74,146.0,97.2,13.0,440,7814,0.15,2.17,0.00,0.000,6,0.142,0.041,2872,1974,2187,0,0,0,0,0,0
$GC,8135,0.79,190.1,72.2,7.2,480,8177,0.00,2.28,34.62,0.514,4,0.000,0.055,2881,559,2025,0,0,0,0,0,0
$GC,8258,0.79,190.1,61.6,9.7,501,8263,0.00,2.17,0.00,0.000,6,0.000,0.036,2881,1986,2022,0,0,0,0,0,0
$GC,8588,0.79,190.1,30.8,11.1,562,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1987,2022,0,0,0,0,0,0
$STATE,8878,end climb,SURFACE_DEPTH_REACHED
$STATE,8878,begin surface coast
$FINISH,0.6,1.023195
$STATE,8910,end surface coast,CONTROL_FINISHED_OK
$STATE,8910,begin surface
$SM_CCo,8928,49.33,0.442,0,0,1575,300.24
$SM_GC,1.25,0.00,0.00,49.33,0.000,0.000,0.442,33,1991,1575,-8.15,0.88,300.24
$IRIDIUM_FIX,2054.83,-15804.20,200802,212114
$TT8_MAMPS,0.028379
$HUMID,63.38
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,24.7,24.833
$10V_AH,10.5,27.242
$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,18.650,88.725,279.575,49.325,0.000,28.343,38.039,158.012,19.500,0.000,18.839,1162.973,5156.684,394.337,2142.452,475.057,0.000,1149.249,0.000,2092.394,0.000,117.246,0.000
$DEVICE_MAMPS,229.333,65.195,780.806,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,423.130,355.169,1209.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34849,622
$CAP_FILE_SIZE,100652,0
$CFSIZE,260165632,240787456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,270513,022635,2108.584,-15752.468,37,0.8,37,9.8