version: 66.06
glider: 523
mission: 4
dive: 310
start: 5 27 113 18 6 18
data:
$ID,523
$MISSION,4
$DIVE,310
$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,-41961.207
$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,28
$R_STBD_OVSHOOT,34
$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
$GPS1,175933,2107.566,-15748.599,27,1.1,27,9.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.2
$GPS2,180600,2107.597,-15748.672,20,0.9,20,9.8
$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,98.6,10476,-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,-76.28,0.000,2,0.000,0.000,34,1981,3380,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.6,12,113,9.48,2.20,-0.38,0.000,4,0.228,0.061,2383,3370,3399,0,0,0,0,0,0
$GC,212,-0.74,-146.0,29.3,-17.3,32,219,0.00,2.25,0.00,0.000,6,0.000,0.044,2384,1970,3400,0,0,0,0,0,0
$GC,386,-0.74,-146.0,58.2,-16.1,63,391,0.00,2.28,0.00,0.000,4,0.000,0.056,2384,543,3401,0,0,0,0,0,0
$GC,453,-0.74,-146.0,70.5,-17.2,75,459,0.00,2.17,0.00,0.000,6,0.000,0.035,2374,1966,3401,0,0,0,0,0,0
$GC,788,-0.74,-146.0,120.2,-14.5,111,792,0.00,2.20,0.00,0.000,4,0.000,0.054,2364,3362,3402,0,0,0,0,0,0
$GC,818,-0.74,-146.0,124.7,-15.2,113,826,0.12,2.22,0.00,0.000,6,0.155,0.045,2397,1955,3402,0,0,0,0,0,0
$GC,1153,-0.74,-146.0,162.2,-10.6,144,1157,0.00,2.20,0.00,0.000,4,0.000,0.051,2397,536,3403,0,0,0,0,0,0
$GC,1226,-0.74,-146.0,170.7,-12.3,150,1230,0.00,2.15,0.00,0.000,6,0.000,0.032,2389,1977,3403,0,0,0,0,0,0
$GC,1558,-0.74,-146.0,200.0,-8.0,181,1565,0.00,2.25,0.00,0.000,4,0.000,0.049,2389,546,3404,0,0,0,0,0,0
$GC,1661,-0.74,-146.0,209.5,-8.2,186,1665,0.00,2.12,0.00,0.000,6,0.000,0.034,2379,1969,3404,0,0,0,0,0,0
$GC,1979,-0.74,-146.0,235.0,-8.4,201,1983,0.00,2.25,0.00,0.000,4,0.000,0.050,2379,546,3404,0,0,0,0,0,0
$GC,2053,-0.74,-146.0,241.4,-8.1,204,2058,0.12,2.15,0.00,0.000,6,0.171,0.035,2402,1963,3404,0,0,0,0,0,0
$GC,2376,-0.74,-146.0,265.0,-7.5,220,2380,0.00,2.28,0.00,0.000,4,0.000,0.054,2403,547,3404,0,0,0,0,0,0
$GC,2518,-0.74,-146.0,277.6,-8.7,226,2522,0.00,2.12,0.00,0.000,6,0.000,0.035,2395,1964,3404,0,0,0,0,0,0
$GC,2838,-0.74,-146.0,300.4,-6.7,241,2842,0.00,2.28,0.00,0.000,4,0.000,0.054,2395,540,3404,0,0,0,0,0,0
$GC,3035,-0.74,-146.0,315.1,-7.9,245,3039,0.00,2.17,0.00,0.000,6,0.000,0.036,2384,1970,3404,0,0,0,0,0,0
$GC,3384,-0.74,-146.0,343.7,-9.1,254,3388,0.00,2.20,0.00,0.000,4,0.000,0.055,2376,3366,3402,0,0,0,0,0,0
$GC,3468,-0.74,-146.0,352.3,-10.2,255,3473,0.00,2.17,0.00,0.000,6,0.000,0.040,2375,1955,3402,0,0,0,0,0,0
$GC,3800,-0.74,-146.0,380.0,-7.8,264,3804,0.00,2.28,0.00,0.000,4,0.000,0.059,2375,541,3400,0,0,0,0,0,0
$GC,3961,-0.74,-146.0,392.8,-8.1,267,3966,0.12,2.17,0.00,0.000,6,0.164,0.039,2398,1961,3398,0,0,0,0,0,0
$GC,4297,-0.74,-146.0,415.7,-7.1,275,4301,0.00,2.22,0.00,0.000,4,0.000,0.056,2390,3370,3396,0,0,0,0,0,0
$GC,4443,-0.74,-146.0,426.9,-7.5,278,4447,0.00,2.17,0.00,0.000,6,0.000,0.043,2389,1960,3396,0,0,0,0,0,0
$STATE,4790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4791,begin apogee
$GC,4799,-0.17,0.0,451.9,6.8,287,4922,0.60,0.00,119.85,0.775,6,0.119,0.000,2583,1960,2800,0,0,0,0,0,0
$STATE,4923,end apogee,CONTROL_FINISHED_OK
$STATE,4923,begin climb
$GC,4926,0.74,146.0,453.0,0.0,290,5056,0.82,0.00,126.30,0.747,6,0.076,0.000,2872,1960,2204,0,0,0,0,0,0
$GC,5374,0.74,146.0,392.6,14.9,301,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1960,2196,0,0,0,0,0,0
$GC,5697,0.74,146.0,340.7,16.0,309,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1960,2193,0,0,0,0,0,0
$GC,6022,0.74,146.0,299.3,12.3,317,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1960,2192,0,0,0,0,0,0
$GC,6331,0.74,146.0,260.1,12.3,332,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1960,2190,0,0,0,0,0,0
$GC,6641,0.74,146.0,224.2,12.1,347,6645,0.00,2.22,0.00,0.000,4,0.000,0.061,2882,568,2189,0,0,0,0,0,0
$GC,6685,0.74,146.0,218.7,12.9,349,6689,0.00,2.15,0.00,0.000,6,0.000,0.040,2882,1970,2189,0,0,0,0,0,0
$GC,7016,0.74,146.0,181.6,11.3,372,7020,0.00,2.17,0.00,0.000,4,0.000,0.052,2882,3383,2188,0,0,0,0,0,0
$GC,7089,0.74,146.0,172.7,12.2,378,7093,0.00,2.20,0.00,0.000,6,0.000,0.047,2892,1973,2187,0,0,0,0,0,0
$GC,7417,0.74,146.0,136.8,11.3,408,7421,0.00,2.20,0.00,0.000,4,0.000,0.058,2901,566,2187,0,0,0,0,0,0
$GC,7503,0.74,146.0,126.3,11.7,415,7511,0.00,2.20,0.00,0.000,6,0.000,0.039,2902,1975,2187,0,0,0,0,0,0
$GC,7830,0.74,146.0,89.3,10.3,446,7834,0.00,2.17,0.00,0.000,4,0.000,0.051,2902,3384,2187,0,0,0,0,0,0
$GC,7931,0.74,146.0,78.2,11.4,455,7937,0.12,2.20,0.00,0.000,6,0.153,0.044,2875,1964,2187,0,0,0,0,0,0
$GC,8264,0.76,163.1,50.5,8.3,516,8282,0.00,2.20,13.02,0.467,4,0.000,0.054,2883,558,2134,0,0,0,0,0,0
$GC,8449,0.80,194.4,35.3,7.7,549,8485,0.00,2.17,27.38,0.472,6,0.000,0.037,2883,1993,2005,0,0,0,0,0,0
$GC,8803,0.80,194.8,5.5,9.0,615,8811,0.00,2.20,0.00,0.000,4,0.000,0.051,2883,3380,2003,0,0,0,0,0,0
$STATE,8833,end climb,SURFACE_DEPTH_REACHED
$STATE,8833,begin surface coast
$FINISH,1.1,1.023208
$STATE,8849,end surface coast,CONTROL_FINISHED_OK
$STATE,8850,begin surface
$SM_CCo,8869,48.38,0.436,0,0,1575,300.24
$SM_GC,1.23,0.00,0.00,48.38,0.000,0.000,0.436,33,1951,1575,-8.15,-0.25,300.24
$IRIDIUM_FIX,2054.83,-15744.48,210802,151542
$TT8_MAMPS,0.027612
$HUMID,63.30
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.7,25.423
$10V_AH,10.5,27.876
$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,18.600,74.875,286.550,48.375,0.000,29.604,32.910,189.778,19.250,0.000,20.776,1135.650,5262.562,407.745,1998.149,501.037,0.000,1084.505,0.000,1953.845,0.000,119.534,0.000
$DEVICE_MAMPS,227.799,60.593,774.670,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,423.465,357.773,1211.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,35017,623
$CAP_FILE_SIZE,94142,0
$CFSIZE,260165632,240459776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270513,203548,2107.578,-15747.248,13,1.1,13,9.8