version: 66.06
glider: 523
mission: 4
dive: 313
start: 5 28 113 1 56 19
data:
$ID,523
$MISSION,4
$DIVE,313
$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,-42016.934
$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,30
$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
$GPS1,014704,2107.115,-15744.432,24,0.8,24,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.7
$GPS2,015600,2107.045,-15744.555,14,0.9,14,9.8
$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,119.1,3633,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.78,0.000,2,0.000,0.000,43,1972,3378,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.8,12,113,9.57,2.30,-0.38,0.000,4,0.233,0.062,2392,551,3396,0,0,0,0,0,0
$GC,271,-0.74,-146.0,40.8,-17.1,44,279,0.00,2.20,0.00,0.000,6,0.000,0.035,2384,1965,3397,0,0,0,0,0,0
$GC,609,-0.74,-146.0,93.7,-18.1,99,616,0.00,2.30,0.00,0.000,4,0.000,0.053,2384,542,3399,0,0,0,0,0,0
$GC,669,-0.74,-146.0,104.5,-17.9,104,680,0.00,2.17,0.00,0.000,6,0.000,0.034,2375,1957,3398,0,0,0,0,0,0
$GC,997,-0.74,-146.0,146.9,-12.4,135,1001,0.00,2.25,0.00,0.000,4,0.000,0.051,2375,546,3400,0,0,0,0,0,0
$GC,1138,-0.74,-146.0,165.5,-13.3,147,1142,0.12,2.15,0.00,0.000,6,0.169,0.034,2397,1975,3400,0,0,0,0,0,0
$GC,1467,-0.74,-146.0,203.0,-11.2,177,1471,0.00,2.15,0.00,0.000,4,0.000,0.053,2389,3359,3400,0,0,0,0,0,0
$GC,1505,-0.74,-146.0,207.0,-10.4,178,1511,0.00,2.20,0.00,0.000,6,0.000,0.043,2388,1956,3400,0,0,0,0,0,0
$GC,1824,-0.74,-146.0,236.6,-9.3,194,1828,0.00,2.22,0.00,0.000,4,0.000,0.051,2388,550,3401,0,0,0,0,0,0
$GC,1981,-0.74,-146.0,251.1,-8.6,201,1985,0.00,2.12,0.00,0.000,6,0.000,0.033,2379,1959,3400,0,0,0,0,0,0
$GC,2305,-0.74,-146.0,279.2,-8.8,217,2310,0.00,2.25,0.00,0.000,4,0.000,0.052,2379,551,3401,0,0,0,0,0,0
$GC,2356,-0.74,-146.0,284.0,-8.8,219,2360,0.12,2.12,0.00,0.000,6,0.172,0.035,2402,1963,3400,0,0,0,0,0,0
$GC,2679,-0.74,-146.0,300.3,-5.5,235,2683,0.00,2.28,0.00,0.000,4,0.000,0.054,2403,547,3401,0,0,0,0,0,0
$GC,2844,-0.74,-146.0,313.1,-8.9,238,2848,0.00,2.15,0.00,0.000,6,0.000,0.038,2395,1957,3400,0,0,0,0,0,0
$GC,3181,-0.74,-146.0,339.6,-8.0,247,3188,0.00,2.25,0.00,0.000,4,0.000,0.056,2395,551,3399,0,0,0,0,0,0
$GC,3221,-0.74,-146.0,343.7,-9.9,247,3227,0.00,2.15,0.00,0.000,6,0.000,0.040,2385,1955,3399,0,0,0,0,0,0
$GC,3554,-0.74,-146.0,371.9,-7.8,256,3558,0.00,2.28,0.00,0.000,4,0.000,0.059,2385,554,3397,0,0,0,0,0,0
$GC,3639,-0.74,-146.0,378.4,-7.2,258,3643,0.00,2.17,0.00,0.000,6,0.000,0.041,2375,1961,3396,0,0,0,0,0,0
$GC,3966,-0.74,-146.0,399.5,-6.1,266,3970,0.00,2.20,0.00,0.000,4,0.000,0.059,2365,3373,3395,0,0,0,0,0,0
$GC,4053,-0.74,-146.0,405.3,-7.2,268,4058,0.12,2.22,0.00,0.000,6,0.151,0.044,2398,1953,3394,0,0,0,0,0,0
$GC,4380,-0.74,-146.0,427.6,-6.9,276,4384,0.00,2.25,0.00,0.000,4,0.000,0.058,2390,3370,3392,0,0,0,0,0,0
$GC,4428,-0.74,-146.0,431.1,-6.8,277,4432,0.00,2.22,0.00,0.000,6,0.000,0.046,2390,1959,3392,0,0,0,0,0,0
$STATE,4709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4709,begin apogee
$GC,4716,-0.17,0.0,450.4,6.5,284,4838,0.60,0.00,118.80,0.772,6,0.120,0.000,2583,1959,2800,0,0,0,0,0,0
$STATE,4839,end apogee,CONTROL_FINISHED_OK
$STATE,4839,begin climb
$GC,4841,0.74,146.0,450.8,0.0,287,4975,0.85,2.42,126.62,0.744,4,0.077,0.052,2873,3379,2203,0,0,0,0,0,0
$GC,4998,0.74,146.0,432.4,14.6,291,5002,0.00,2.30,0.00,0.000,6,0.000,0.045,2882,1968,2200,0,0,0,0,0,0
$GC,5316,0.74,146.0,384.5,14.7,299,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1968,2195,0,0,0,0,0,0
$GC,5641,0.74,146.0,339.7,13.8,307,5645,0.00,2.25,0.00,0.000,4,0.000,0.060,2893,568,2193,0,0,0,0,0,0
$GC,5742,0.74,146.0,326.9,12.7,309,5746,0.00,2.20,0.00,0.000,6,0.000,0.040,2893,1987,2192,0,0,0,0,0,0
$GC,6056,0.74,146.0,286.6,13.2,319,6060,0.00,2.30,0.00,0.000,4,0.000,0.064,2901,559,2191,0,0,0,0,0,0
$GC,6095,0.74,146.0,280.9,14.6,321,6099,0.00,2.20,0.00,0.000,6,0.000,0.042,2901,1981,2190,0,0,0,0,0,0
$GC,6421,0.74,146.0,237.1,12.9,337,6425,0.00,2.17,0.00,0.000,4,0.000,0.052,2901,3382,2189,0,0,0,0,0,0
$GC,6471,0.74,146.0,229.9,13.9,339,6476,0.12,2.25,0.00,0.000,6,0.158,0.051,2876,1978,2188,0,0,0,0,0,0
$GC,6791,0.74,146.0,193.5,10.7,356,6795,0.00,2.25,0.00,0.000,4,0.000,0.058,2885,564,2188,0,0,0,0,0,0
$GC,6950,0.74,146.0,175.9,11.7,370,6954,0.00,2.20,0.00,0.000,6,0.000,0.041,2885,1979,2187,0,0,0,0,0,0
$GC,7277,0.74,146.0,140.9,12.2,400,7281,0.00,2.17,0.00,0.000,4,0.000,0.051,2885,3385,2187,0,0,0,0,0,0
$GC,7363,0.74,146.0,130.3,11.8,407,7371,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1971,2186,0,0,0,0,0,0
$GC,7690,0.74,146.0,90.5,11.7,438,7694,0.00,2.22,0.00,0.000,4,0.000,0.058,2905,562,2187,0,0,0,0,0,0
$GC,7743,0.74,146.0,84.9,9.9,442,7751,0.00,2.17,0.00,0.000,6,0.000,0.038,2905,1967,2187,0,0,0,0,0,0
$GC,8076,0.74,146.0,53.9,11.7,497,8081,0.00,2.17,0.00,0.000,4,0.000,0.051,2905,3387,2187,0,0,0,0,0,0
$GC,8144,0.74,146.0,45.6,12.6,509,8150,0.12,2.20,0.00,0.000,6,0.146,0.038,2879,1965,2187,0,0,0,0,0,0
$GC,8472,0.78,180.2,20.2,7.6,570,8505,0.00,0.00,26.90,0.462,6,0.000,0.000,2879,1965,2065,0,0,0,0,0,0
$GC,8666,0.78,180.2,3.4,10.0,605,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1964,2062,0,0,0,0,0,0
$STATE,8679,end climb,SURFACE_DEPTH_REACHED
$STATE,8679,begin surface coast
$FINISH,0.5,1.014926
$STATE,8711,end surface coast,CONTROL_FINISHED_OK
$STATE,8711,begin surface
$SM_CCo,8729,54.08,0.438,0,0,1574,300.24
$SM_GC,1.41,0.00,0.00,54.08,0.000,0.000,0.438,26,1956,1574,-8.17,-0.11,300.24
$IRIDIUM_FIX,2101.76,-15745.74,220802,010150
$TT8_MAMPS,0.027612
$HUMID,63.15
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.7,25.680
$10V_AH,10.4,28.148
$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,18.800,84.350,272.325,54.075,0.000,53.732,67.584,219.967,19.250,0.000,15.038,1134.149,5188.186,414.969,1998.260,586.286,0.000,1110.671,0.000,1952.266,0.000,119.394,0.000
$DEVICE_MAMPS,233.168,63.661,772.369,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,416.548,345.937,1183.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34941,613
$CAP_FILE_SIZE,99341,0
$CFSIZE,260165632,240304128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280513,042359,2106.595,-15744.050,37,0.8,37,9.8