version: 66.06
glider: 523
mission: 4
dive: 304
start: 5 27 113 2 36 59
data:
$ID,523
$MISSION,4
$DIVE,304
$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,-41827.07
$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
$GPS1,022635,2108.584,-15752.468,37,0.8,37,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.5
$GPS2,023642,2108.605,-15752.603,15,1.0,15,9.8
$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,97.4,17514,-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,-76.00,0.000,2,0.000,0.000,33,1992,3396,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.5,-5.5,12,112,9.52,2.30,0.00,0.000,4,0.229,0.047,2396,548,3397,0,0,0,0,0,0
$GC,246,-0.74,-146.0,35.9,-16.8,39,251,0.00,2.20,0.00,0.000,6,0.000,0.038,2388,1969,3399,0,0,0,0,0,0
$GC,576,-0.74,-146.0,88.9,-15.9,95,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1970,3400,0,0,0,0,0,0
$GC,895,-0.74,-146.0,131.0,-15.4,125,899,0.00,2.30,0.00,0.000,4,0.000,0.053,2388,546,3401,0,0,0,0,0,0
$GC,1025,-0.74,-146.0,150.0,-14.3,136,1030,0.00,2.15,0.00,0.000,6,0.000,0.034,2378,1977,3401,0,0,0,0,0,0
$GC,1359,-0.74,-146.0,190.7,-11.1,167,1363,0.00,2.28,0.00,0.000,4,0.000,0.051,2378,541,3401,0,0,0,0,0,0
$GC,1490,-0.74,-146.0,207.3,-13.3,176,1495,0.12,2.15,0.00,0.000,6,0.166,0.034,2401,1961,3402,0,0,0,0,0,0
$GC,1811,-0.74,-146.0,237.3,-8.0,192,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1962,3402,0,0,0,0,0,0
$GC,2121,-0.74,-146.0,254.8,-5.3,207,2125,0.00,2.20,0.00,0.000,4,0.000,0.055,2392,3368,3402,0,0,0,0,0,0
$GC,2199,-0.74,-146.0,260.2,-7.5,210,2204,0.00,2.20,0.00,0.000,6,0.000,0.040,2393,1955,3402,0,0,0,0,0,0
$GC,2520,-0.74,-146.0,286.6,-9.0,225,2523,0.00,2.20,0.00,0.000,4,0.000,0.054,2392,546,3402,0,0,0,0,0,0
$GC,2610,-0.74,-146.0,295.5,-9.1,229,2614,0.00,2.12,0.00,0.000,6,0.000,0.035,2383,1961,3402,0,0,0,0,0,0
$GC,2931,-0.74,-146.0,325.5,-10.0,239,2935,0.00,2.22,0.00,0.000,4,0.000,0.054,2383,553,3401,0,0,0,0,0,0
$GC,3133,-0.74,-146.0,344.7,-8.2,243,3138,0.00,2.15,0.00,0.000,6,0.000,0.038,2374,1960,3400,0,0,0,0,0,0
$GC,3480,-0.74,-146.0,372.5,-7.8,252,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1961,3399,0,0,0,0,0,0
$GC,3801,-0.74,-146.0,396.8,-7.1,260,3805,0.00,2.17,0.00,0.000,4,0.000,0.057,2365,3365,3397,0,0,0,0,0,0
$GC,3834,-0.74,-146.0,399.0,-6.5,260,3841,0.12,2.20,0.00,0.000,6,0.152,0.041,2397,1952,3397,0,0,0,0,0,0
$GC,4166,-0.74,-146.0,419.7,-6.7,269,4171,0.00,2.22,0.00,0.000,4,0.000,0.061,2398,554,3394,0,0,0,0,0,0
$GC,4250,-0.74,-146.0,426.7,-8.2,270,4255,0.00,2.17,0.00,0.000,6,0.000,0.041,2390,1965,3393,0,0,0,0,0,0
$STATE,4581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4581,begin apogee
$GC,4587,-0.17,0.0,453.1,7.9,279,4709,0.60,0.00,118.90,0.772,6,0.121,0.000,2583,1965,2799,0,0,0,0,0,0
$STATE,4710,end apogee,CONTROL_FINISHED_OK
$STATE,4710,begin climb
$GC,4713,0.74,146.0,455.1,0.0,282,4843,0.82,0.00,125.90,0.745,6,0.077,0.000,2870,1965,2204,0,0,0,0,0,0
$GC,5162,0.74,146.0,398.2,14.9,293,5166,0.00,2.25,0.00,0.000,4,0.000,0.054,2870,3380,2196,0,0,0,0,0,0
$GC,5256,0.74,146.0,381.9,16.2,295,5261,0.00,2.25,0.00,0.000,6,0.000,0.047,2879,1973,2194,0,0,0,0,0,0
$GC,5570,0.74,146.0,333.1,16.2,303,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1973,2193,0,0,0,0,0,0
$GC,5875,0.74,146.0,286.5,13.5,312,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1973,2191,0,0,0,0,0,0
$GC,6184,0.74,146.0,247.3,12.7,327,6188,0.00,2.25,0.00,0.000,4,0.000,0.060,2890,561,2190,0,0,0,0,0,0
$GC,6202,0.74,146.0,245.1,12.8,328,6206,0.00,2.22,0.00,0.000,6,0.000,0.042,2890,1981,2190,0,0,0,0,0,0
$GC,6529,0.74,146.0,202.2,12.6,344,6533,0.00,2.20,0.00,0.000,4,0.000,0.051,2890,3387,2188,0,0,0,0,0,0
$GC,6594,0.74,146.0,193.9,12.9,348,6602,0.00,2.25,0.00,0.000,6,0.000,0.041,2900,1965,2188,0,0,0,0,0,0
$GC,6922,0.74,146.0,155.6,12.1,379,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1965,2187,0,0,0,0,0,0
$GC,7242,0.74,146.0,120.3,12.9,409,7246,0.00,2.22,0.00,0.000,4,0.000,0.051,2900,3387,2187,0,0,0,0,0,0
$GC,7305,0.74,146.0,111.0,14.5,414,7310,0.12,2.20,0.00,0.000,6,0.152,0.041,2875,1976,2187,0,0,0,0,0,0
$GC,7632,0.74,146.0,78.3,9.1,445,7638,0.00,2.22,0.00,0.000,4,0.000,0.055,2884,557,2186,0,0,0,0,0,0
$GC,7679,0.74,146.0,73.7,10.1,453,7685,0.00,2.15,0.00,0.000,6,0.000,0.035,2884,1982,2186,0,0,0,0,0,0
$GC,8012,0.78,181.3,42.0,7.6,514,8047,0.00,2.22,27.58,0.483,4,0.000,0.050,2884,3374,2061,0,0,0,0,0,0
$GC,8205,0.78,181.3,24.3,11.4,549,8213,0.00,2.22,0.00,0.000,6,0.000,0.040,2892,1970,2059,0,0,0,0,0,0
$GC,8375,0.78,181.3,8.2,10.0,580,8382,0.00,2.25,0.00,0.000,4,0.000,0.055,2902,561,2058,0,0,0,0,0,0
$GC,8411,0.78,181.3,4.3,11.2,586,8419,0.00,2.20,0.00,0.000,6,0.000,0.035,2902,1979,2058,0,0,0,0,0,0
$STATE,8424,end climb,SURFACE_DEPTH_REACHED
$STATE,8424,begin surface coast
$FINISH,0.7,1.023265
$STATE,8452,end surface coast,CONTROL_FINISHED_OK
$STATE,8452,begin surface
$SM_CCo,8470,52.92,0.439,0,0,1575,300.24
$SM_GC,1.32,0.00,0.00,52.92,0.000,0.000,0.439,28,1981,1575,-8.16,0.59,300.24
$IRIDIUM_FIX,2101.76,-15817.92,210802,020221
$TT8_MAMPS,0.027612
$HUMID,62.91
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.7,24.921
$10V_AH,10.4,27.329
$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,18.650,66.375,272.375,52.925,0.000,55.319,66.514,289.722,19.250,0.000,16.160,1067.206,5172.407,397.691,1840.786,651.701,0.000,1023.144,0.000,1801.909,0.000,117.271,0.000
$DEVICE_MAMPS,228.566,61.360,771.602,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.649,336.608,1133.630,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,31831,593
$CAP_FILE_SIZE,91460,0
$CFSIZE,260165632,240754688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270513,050004,2108.475,-15751.968,22,0.9,22,9.8