version: 66.06
glider: 523
mission: 4
dive: 306
start: 5 27 113 7 45 4
data:
$ID,523
$MISSION,4
$DIVE,306
$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,-41868.766
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,073152,2108.613,-15750.982,46,0.9,46,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.1
$GPS2,074448,2108.697,-15750.978,20,0.9,20,9.8
$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,101.2,14914,-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,-76.18,0.000,2,0.000,0.000,24,1950,3390,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.3,-5.1,12,112,9.52,2.25,0.00,0.000,4,0.229,0.048,2392,548,3391,0,0,0,0,0,0
$GC,187,-0.74,-146.0,25.1,-17.5,28,195,0.00,2.20,0.00,0.000,6,0.000,0.036,2384,1957,3393,0,0,0,0,0,0
$GC,361,-0.74,-146.0,55.8,-16.6,59,366,0.00,2.22,0.00,0.000,4,0.000,0.055,2374,3366,3393,0,0,0,0,0,0
$GC,418,-0.74,-146.0,65.1,-15.2,69,424,0.00,2.25,0.00,0.000,6,0.000,0.044,2374,1956,3393,0,0,0,0,0,0
$GC,752,-0.74,-146.0,112.6,-12.6,109,756,0.00,2.25,0.00,0.000,4,0.000,0.054,2374,540,3394,0,0,0,0,0,0
$GC,815,-0.74,-146.0,120.4,-12.8,114,820,0.15,2.17,0.00,0.000,6,0.166,0.035,2403,1972,3394,0,0,0,0,0,0
$GC,1142,-0.74,-146.0,157.2,-11.9,144,1146,0.00,2.28,0.00,0.000,4,0.000,0.051,2404,543,3395,0,0,0,0,0,0
$GC,1274,-0.74,-146.0,171.8,-10.2,155,1281,0.00,2.17,0.00,0.000,6,0.000,0.034,2396,1966,3395,0,0,0,0,0,0
$GC,1598,-0.74,-146.0,203.0,-10.3,185,1602,0.00,2.28,0.00,0.000,4,0.000,0.050,2395,540,3395,0,0,0,0,0,0
$GC,1738,-0.74,-146.0,218.0,-10.2,191,1742,0.00,2.12,0.00,0.000,6,0.000,0.033,2385,1963,3396,0,0,0,0,0,0
$GC,2061,-0.74,-146.0,243.5,-7.7,207,2065,0.00,2.22,0.00,0.000,4,0.000,0.051,2386,548,3396,0,0,0,0,0,0
$GC,2123,-0.74,-146.0,249.5,-9.5,210,2128,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1964,3395,0,0,0,0,0,0
$GC,2456,-0.74,-146.0,281.4,-10.1,226,2460,0.00,2.25,0.00,0.000,4,0.000,0.052,2376,550,3395,0,0,0,0,0,0
$GC,2524,-0.74,-146.0,288.4,-10.2,229,2529,0.12,2.12,0.00,0.000,6,0.164,0.036,2399,1962,3395,0,0,0,0,0,0
$GC,2865,-0.74,-146.0,316.6,-7.4,241,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1963,3395,0,0,0,0,0,0
$GC,3188,-0.74,-146.0,337.3,-6.6,249,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1963,3393,0,0,0,0,0,0
$GC,3514,-0.74,-146.0,360.7,-7.0,257,3519,0.00,2.28,0.00,0.000,4,0.000,0.057,2400,544,3391,0,0,0,0,0,0
$GC,3588,-0.74,-146.0,366.7,-8.0,258,3592,0.00,2.15,0.00,0.000,6,0.000,0.038,2392,1954,3390,0,0,0,0,0,0
$GC,3921,-0.74,-146.0,388.2,-6.3,266,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1955,3389,0,0,0,0,0,0
$GC,4244,-0.74,-146.0,409.5,-6.7,274,4248,0.00,2.25,0.00,0.000,4,0.000,0.056,2381,3377,3388,0,0,0,0,0,0
$GC,4300,-0.74,-146.0,413.5,-7.2,275,4304,0.00,2.25,0.00,0.000,6,0.000,0.043,2381,1948,3387,0,0,0,0,0,0
$GC,4652,-0.74,-146.0,440.4,-7.6,284,4656,0.00,2.20,0.00,0.000,4,0.000,0.058,2381,549,3384,0,0,0,0,0,0
$STATE,4771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4771,begin apogee
$GC,4780,-0.17,0.0,450.3,7.4,286,4900,0.65,0.00,117.50,0.777,6,0.128,0.000,2581,1975,2800,0,0,0,0,0,0
$STATE,4901,end apogee,CONTROL_FINISHED_OK
$STATE,4901,begin climb
$GC,4904,0.74,146.0,452.4,0.0,289,5039,0.85,2.33,125.22,0.749,4,0.077,0.051,2876,3382,2205,0,0,0,0,0,0
$GC,5108,0.74,146.0,428.9,14.8,293,5114,0.00,2.30,0.00,0.000,6,0.000,0.045,2884,1973,2201,0,0,0,0,0,0
$GC,5439,0.74,146.0,378.7,15.2,302,5443,0.00,2.25,0.00,0.000,4,0.000,0.060,2894,564,2198,0,0,0,0,0,0
$GC,5484,0.74,146.0,371.5,15.6,303,5488,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1977,2196,0,0,0,0,0,0
$GC,5802,0.74,146.0,323.7,14.8,311,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1978,2195,0,0,0,0,0,0
$GC,6109,0.74,146.0,276.8,15.3,322,6113,0.00,2.20,0.00,0.000,4,0.000,0.053,2895,3386,2194,0,0,0,0,0,0
$GC,6186,0.74,146.0,265.0,15.0,325,6192,0.00,2.22,0.00,0.000,6,0.000,0.041,2905,1970,2192,0,0,0,0,0,0
$GC,6502,0.74,146.0,225.2,12.0,341,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1970,2192,0,0,0,0,0,0
$GC,6817,0.74,146.0,181.8,11.8,362,6821,0.00,2.22,0.00,0.000,4,0.000,0.050,2905,3386,2191,0,0,0,0,0,0
$GC,6890,0.74,146.0,172.2,12.6,368,6895,0.12,2.17,0.00,0.000,6,0.153,0.039,2880,1973,2190,0,0,0,0,0,0
$GC,7219,0.74,146.0,140.9,9.6,398,7223,0.00,2.20,0.00,0.000,4,0.000,0.058,2889,568,2189,0,0,0,0,0,0
$GC,7313,0.74,148.6,131.9,8.9,406,7317,0.00,2.15,0.00,0.000,6,0.000,0.038,2889,1987,2188,0,0,0,0,0,0
$GC,7640,0.74,148.6,99.9,9.6,436,7644,0.00,2.17,0.00,0.000,4,0.000,0.051,2889,3380,2189,0,0,0,0,0,0
$GC,7779,0.74,148.6,85.3,10.6,448,7783,0.00,2.17,0.00,0.000,6,0.000,0.038,2898,1971,2189,0,0,0,0,0,0
$GC,8108,0.75,160.4,54.2,8.5,504,8127,0.00,2.25,11.27,0.466,4,0.000,0.058,2910,566,2144,0,0,0,0,0,0
$GC,8210,0.77,174.7,45.4,8.4,522,8230,0.00,2.17,13.48,0.463,6,0.000,0.037,2908,1971,2086,0,0,0,0,0,0
$GC,8551,0.77,174.7,11.6,10.8,585,8559,0.00,2.22,0.00,0.000,4,0.000,0.051,2909,3378,2084,0,0,0,0,0,0
$STATE,8633,end climb,SURFACE_DEPTH_REACHED
$STATE,8633,begin surface coast
$FINISH,0.4,1.023240
$STATE,8661,end surface coast,CONTROL_FINISHED_OK
$STATE,8663,begin surface
$SM_CCo,8684,55.70,0.440,0,0,1575,300.24
$SM_GC,1.33,0.00,0.00,55.70,0.000,0.000,0.440,37,1956,1575,-8.14,-0.11,300.24
$IRIDIUM_FIX,2101.76,-15745.74,210802,070758
$TT8_MAMPS,0.028379
$HUMID,63.07
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.7,25.090
$10V_AH,10.5,27.510
$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,18.650,79.875,267.475,55.700,0.000,87.263,114.701,301.012,19.250,0.000,20.648,1100.008,5314.157,378.884,1962.316,759.764,0.000,1055.825,0.000,1913.879,0.000,119.180,0.000
$DEVICE_MAMPS,229.333,59.826,776.971,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.471,343.694,1196.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,34916,605
$CAP_FILE_SIZE,99960,0
$CFSIZE,260165632,240648192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270513,101156,2108.551,-15749.561,33,1.1,33,9.8