version: 66.06
glider: 523
mission: 4
dive: 314
start: 5 28 113 4 29 58
data:
$ID,523
$MISSION,4
$DIVE,314
$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,-42038.18
$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,33
$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
$GPS1,042359,2106.595,-15744.050,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.8
$GPS2,042942,2106.608,-15744.117,20,0.9,20,9.8
$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,115.6,2541,-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,-76.22,0.000,2,0.000,0.000,26,1956,3367,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.4,12,113,9.57,2.33,-0.68,0.000,4,0.229,0.067,2394,550,3400,0,0,0,0,0,0
$GC,203,-0.74,-146.0,27.6,-17.6,31,210,0.00,2.22,0.00,0.000,6,0.000,0.041,2387,1959,3401,0,0,0,0,0,0
$GC,374,-0.74,-146.0,57.0,-15.9,62,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1959,3401,0,0,0,0,0,0
$GC,705,-0.74,-146.0,104.7,-11.3,106,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1959,3403,0,0,0,0,0,0
$GC,1024,-0.74,-146.0,141.0,-12.0,136,1028,0.00,2.28,0.00,0.000,4,0.000,0.054,2387,542,3404,0,0,0,0,0,0
$GC,1107,-0.74,-146.0,150.8,-9.9,143,1112,0.00,2.15,0.00,0.000,6,0.000,0.036,2377,1972,3404,0,0,0,0,0,0
$GC,1441,-0.74,-146.0,185.3,-10.2,174,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1972,3405,0,0,0,0,0,0
$GC,1764,-0.74,-146.0,216.0,-9.7,197,1768,0.00,2.25,0.00,0.000,4,0.000,0.052,2377,549,3404,0,0,0,0,0,0
$GC,1960,-0.74,-146.0,236.1,-11.0,206,1965,0.12,2.15,0.00,0.000,6,0.161,0.035,2400,1969,3404,0,0,0,0,0,0
$GC,2287,-0.74,-146.0,262.9,-8.0,222,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1969,3405,0,0,0,0,0,0
$GC,2596,-0.74,-146.0,284.7,-6.7,237,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1969,3404,0,0,0,0,0,0
$GC,2905,-0.74,-146.0,306.5,-7.2,250,2909,0.00,2.25,0.00,0.000,4,0.000,0.054,2401,551,3404,0,0,0,0,0,0
$GC,3163,-0.74,-146.0,325.7,-6.2,255,3168,0.00,2.15,0.00,0.000,6,0.000,0.039,2393,1956,3404,0,0,0,0,0,0
$GC,3495,-0.74,-146.0,345.9,-6.6,264,3499,0.00,2.28,0.00,0.000,4,0.000,0.057,2393,547,3402,0,0,0,0,0,0
$GC,3562,-0.74,-146.0,351.1,-7.5,265,3566,0.00,2.17,0.00,0.000,6,0.000,0.041,2383,1963,3402,0,0,0,0,0,0
$GC,3900,-0.74,-146.0,376.1,-7.5,274,3904,0.00,2.22,0.00,0.000,4,0.000,0.059,2373,3366,3400,0,0,0,0,0,0
$GC,4006,-0.74,-146.0,384.6,-8.1,276,4011,0.00,2.20,0.00,0.000,6,0.000,0.045,2373,1961,3399,0,0,0,0,0,0
$GC,4319,-0.74,-146.0,408.0,-7.1,284,4323,0.00,2.25,0.00,0.000,4,0.000,0.059,2373,550,3397,0,0,0,0,0,0
$GC,4462,-0.74,-146.0,418.4,-7.8,287,4467,0.15,2.17,0.00,0.000,6,0.157,0.041,2404,1971,3397,0,0,0,0,0,0
$GC,4779,-0.74,-146.0,437.0,-5.7,295,4783,0.00,2.15,0.00,0.000,4,0.000,0.055,2395,3363,3395,0,0,0,0,0,0
$GC,4831,-0.74,-146.0,440.4,-6.0,296,4835,0.00,2.22,0.00,0.000,6,0.000,0.048,2395,1956,3395,0,0,0,0,0,0
$STATE,5020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5020,begin apogee
$GC,5026,-0.17,0.0,452.7,6.5,301,5149,0.57,0.00,119.90,0.781,6,0.119,0.000,2580,1956,2800,0,0,0,0,0,0
$STATE,5150,end apogee,CONTROL_FINISHED_OK
$STATE,5150,begin climb
$GC,5153,0.74,146.0,454.0,0.0,304,5290,0.85,2.45,125.72,0.752,4,0.075,0.056,2876,3376,2202,0,0,0,0,0,0
$GC,5307,0.74,146.0,438.4,14.3,307,5311,0.00,2.33,0.00,0.000,6,0.000,0.050,2885,1980,2200,0,0,0,0,0,0
$GC,5639,0.74,146.0,388.5,15.0,315,5643,0.00,2.28,0.00,0.000,4,0.000,0.060,2896,556,2196,0,0,0,0,0,0
$GC,5683,0.74,146.0,381.6,15.3,316,5687,0.00,2.22,0.00,0.000,6,0.000,0.043,2896,1977,2195,0,0,0,0,0,0
$GC,6001,0.74,146.0,333.0,15.5,324,6005,0.00,2.20,0.00,0.000,4,0.000,0.052,2896,3385,2193,0,0,0,0,0,0
$GC,6062,0.74,146.0,322.5,17.4,325,6066,0.00,2.22,0.00,0.000,6,0.000,0.042,2906,1969,2192,0,0,0,0,0,0
$GC,6386,0.74,146.0,272.1,16.0,337,6390,0.00,2.25,0.00,0.000,4,0.000,0.061,2916,559,2191,0,0,0,0,0,0
$GC,6431,0.74,146.0,264.6,16.9,339,6436,0.15,2.20,0.00,0.000,6,0.141,0.039,2874,1981,2191,0,0,0,0,0,0
$GC,6763,0.74,146.0,223.8,9.9,355,6767,0.00,2.17,0.00,0.000,4,0.000,0.051,2874,3390,2189,0,0,0,0,0,0
$GC,6886,0.74,146.0,209.3,12.1,360,6890,0.00,2.22,0.00,0.000,6,0.000,0.040,2882,1964,2188,0,0,0,0,0,0
$GC,7213,0.74,146.0,171.4,12.3,386,7217,0.00,2.20,0.00,0.000,4,0.000,0.059,2893,563,2188,0,0,0,0,0,0
$GC,7298,0.74,146.0,161.2,11.8,393,7302,0.00,2.17,0.00,0.000,6,0.000,0.038,2893,1977,2187,0,0,0,0,0,0
$GC,7625,0.74,146.0,123.8,11.3,423,7629,0.00,2.15,0.00,0.000,4,0.000,0.051,2893,3380,2187,0,0,0,0,0,0
$GC,7687,0.74,146.0,116.0,12.4,428,7691,0.00,2.17,0.00,0.000,6,0.000,0.039,2902,1974,2187,0,0,0,0,0,0
$GC,8016,0.74,146.0,79.7,11.3,458,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1975,2187,0,0,0,0,0,0
$GC,8350,0.79,188.8,47.8,7.3,519,8391,0.00,2.25,33.75,0.497,4,0.000,0.051,2902,3384,2029,0,0,0,0,0,0
$GC,8421,0.79,188.8,41.3,10.5,531,8426,0.00,2.17,0.00,0.000,6,0.000,0.039,2912,1976,2028,0,0,0,0,0,0
$GC,8748,0.79,188.8,6.3,10.1,592,8755,0.00,2.25,0.00,0.000,4,0.000,0.050,2911,3373,2027,0,0,0,0,0,0
$STATE,8782,end climb,SURFACE_DEPTH_REACHED
$STATE,8782,begin surface coast
$FINISH,1.0,1.023289
$STATE,8794,end surface coast,CONTROL_FINISHED_OK
$STATE,8794,begin surface
$SM_CCo,8814,51.15,0.445,0,0,1576,300.24
$SM_GC,1.24,0.00,0.00,51.15,0.000,0.000,0.445,37,1949,1576,-8.14,-0.31,300.24
$IRIDIUM_FIX,2101.76,-15748.75,220802,020239
$TT8_MAMPS,0.028379
$HUMID,64.53
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.6,25.759
$10V_AH,10.5,28.236
$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,18.750,75.625,279.375,51.150,0.000,29.507,34.172,147.308,19.000,0.000,20.618,1107.630,5266.225,381.703,2004.053,447.805,0.000,1094.232,0.000,1957.116,0.000,119.500,0.000
$DEVICE_MAMPS,229.333,66.729,780.806,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.048,339.353,1156.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31905,600
$CAP_FILE_SIZE,95223,0
$CFSIZE,260165632,240263168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280513,065900,2106.206,-15743.199,37,2.0,37,9.8