version: 66.06
glider: 523
mission: 4
dive: 344
start: 5 31 113 8 53 7
data:
$ID,523
$MISSION,4
$DIVE,344
$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,285
$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,-42655.402
$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,2660
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,084556,2109.412,-15757.034,48,0.8,48,9.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.9
$GPS2,085250,2109.522,-15757.105,16,0.9,17,9.8
$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,95.9,25457,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-69.88,0.000,2,0.000,0.000,52,1962,3405,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.5,-4.8,11,106,9.60,0.00,-1.88,0.000,6,0.230,0.000,2413,1963,3498,0,0,0,0,0,0
$GC,265,-0.74,-146.0,39.8,-15.1,43,271,0.00,2.25,0.00,0.000,4,0.000,0.055,2404,3366,3500,0,0,0,0,0,0
$GC,344,-0.74,-146.0,51.4,-14.9,57,349,0.00,2.22,0.00,0.000,6,0.000,0.044,2404,1959,3500,0,0,0,0,0,0
$GC,681,-0.74,-146.0,98.5,-13.7,106,685,0.00,2.22,0.00,0.000,4,0.000,0.057,2404,548,3502,0,0,0,0,0,0
$GC,855,-0.74,-146.0,126.3,-14.1,121,863,0.00,2.17,0.00,0.000,6,0.000,0.035,2395,1965,3502,0,0,0,0,0,0
$GC,1182,-0.74,-146.0,171.5,-13.4,152,1186,0.00,2.28,0.00,0.000,4,0.000,0.052,2395,541,3503,0,0,0,0,0,0
$GC,1212,-0.74,-146.0,175.5,-13.2,154,1217,0.12,2.15,0.00,0.000,6,0.161,0.036,2418,1959,3503,0,0,0,0,0,0
$GC,1535,-0.74,-146.0,208.3,-9.0,180,1539,0.00,2.28,0.00,0.000,4,0.000,0.052,2419,537,3503,0,0,0,0,0,0
$GC,1630,-0.74,-146.0,216.9,-8.6,184,1634,0.00,2.15,0.00,0.000,6,0.000,0.036,2410,1964,3503,0,0,0,0,0,0
$GC,1953,-0.74,-146.0,244.3,-8.8,200,1960,0.00,2.28,0.00,0.000,4,0.000,0.053,2411,541,3503,0,0,0,0,0,0
$GC,1982,-0.74,-146.0,247.3,-9.3,201,1986,0.00,2.15,0.00,0.000,6,0.000,0.037,2401,1957,3503,0,0,0,0,0,0
$GC,2306,-0.74,-146.0,273.3,-7.7,217,2310,0.00,2.20,0.00,0.000,4,0.000,0.053,2391,3362,3503,0,0,0,0,0,0
$GC,2325,-0.74,-146.0,275.1,-8.7,218,2330,0.12,2.17,0.00,0.000,6,0.146,0.041,2426,1956,3503,0,0,0,0,0,0
$GC,2654,-0.74,-146.0,301.3,-7.3,234,2658,0.00,2.22,0.00,0.000,4,0.000,0.057,2427,546,3503,0,0,0,0,0,0
$GC,2797,-0.74,-146.0,312.2,-7.5,237,2801,0.00,2.15,0.00,0.000,6,0.000,0.038,2418,1958,3503,0,0,0,0,0,0
$GC,3118,-0.74,-146.0,335.9,-7.6,245,3122,0.00,2.17,0.00,0.000,4,0.000,0.054,2408,3367,3503,0,0,0,0,0,0
$GC,3185,-0.74,-146.0,341.4,-7.7,246,3189,0.00,2.20,0.00,0.000,6,0.000,0.041,2408,1950,3503,0,0,0,0,0,0
$GC,3530,-0.74,-146.0,367.8,-7.5,255,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1949,3502,0,0,0,0,0,0
$GC,3853,-0.74,-146.0,395.7,-8.9,263,3857,0.00,2.22,0.00,0.000,4,0.000,0.060,2408,547,3500,0,0,0,0,0,0
$GC,4111,-0.74,-146.0,419.7,-8.3,268,4120,0.00,2.15,0.00,0.000,6,0.000,0.039,2398,1962,3497,0,0,0,0,0,0
$GC,4443,-0.74,-146.0,444.5,-7.0,277,4447,0.00,2.25,0.00,0.000,4,0.000,0.059,2398,547,3496,0,0,0,0,0,0
$STATE,4525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4526,begin apogee
$GC,4535,-0.17,0.0,450.3,6.6,279,4657,0.68,0.00,118.97,0.761,6,0.117,0.000,2606,1989,2900,0,0,0,0,0,0
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4658,begin climb
$GC,4661,0.74,146.0,450.8,0.0,282,4790,0.82,0.00,125.75,0.736,6,0.078,0.000,2897,1989,2304,0,0,0,0,0,0
$GC,5092,0.74,146.0,394.9,13.7,293,5096,0.00,2.22,0.00,0.000,4,0.000,0.053,2897,3390,2295,0,0,0,0,0,0
$GC,5159,0.74,146.0,385.7,13.9,294,5163,0.00,2.28,0.00,0.000,6,0.000,0.048,2906,1980,2295,0,0,0,0,0,0
$GC,5502,0.74,146.0,334.0,16.0,303,5506,0.00,2.25,0.00,0.000,4,0.000,0.059,2917,564,2293,0,0,0,0,0,0
$GC,5551,0.74,146.0,325.7,16.9,304,5555,0.00,2.20,0.00,0.000,6,0.000,0.041,2917,1985,2292,0,0,0,0,0,0
$GC,5878,0.74,146.0,272.2,15.3,316,5882,0.00,2.20,0.00,0.000,4,0.000,0.052,2917,3397,2291,0,0,0,0,0,0
$GC,5933,0.74,146.0,263.4,16.4,318,5939,0.00,2.22,0.00,0.000,6,0.000,0.042,2927,1975,2291,0,0,0,0,0,0
$GC,6249,0.74,146.0,219.8,12.9,334,6253,0.00,2.28,0.00,0.000,4,0.000,0.058,2927,3393,2289,0,0,0,0,0,0
$GC,6315,0.74,146.0,210.5,14.2,337,6320,0.15,2.22,0.00,0.000,6,0.156,0.050,2896,1976,2289,0,0,0,0,0,0
$GC,6644,0.74,146.0,175.7,10.1,363,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1976,2288,0,0,0,0,0,0
$GC,6966,0.74,146.0,143.2,10.6,393,6970,0.00,2.22,0.00,0.000,4,0.000,0.058,2905,564,2287,0,0,0,0,0,0
$GC,7060,0.74,146.0,132.2,11.3,401,7064,0.00,2.17,0.00,0.000,6,0.000,0.039,2905,1988,2286,0,0,0,0,0,0
$GC,7387,0.74,146.0,95.7,10.8,431,7391,0.00,2.28,0.00,0.000,4,0.000,0.058,2913,568,2287,0,0,0,0,0,0
$GC,7427,0.74,146.0,91.1,11.3,434,7431,0.00,2.15,0.00,0.000,6,0.000,0.038,2913,1979,2287,0,0,0,0,0,0
$GC,7757,0.74,146.0,59.7,10.1,484,7765,0.00,2.25,0.00,0.000,4,0.000,0.052,2914,3385,2288,0,0,0,0,0,0
$GC,7910,0.74,146.0,44.3,9.9,511,7916,0.00,2.17,0.00,0.000,6,0.000,0.041,2923,1974,2288,0,0,0,0,0,0
$GC,8238,0.78,182.7,16.4,7.5,572,8272,0.00,2.33,29.17,0.455,4,0.000,0.051,2923,3392,2154,0,0,0,0,0,0
$GC,8374,0.78,182.7,3.6,11.0,596,8382,0.00,2.25,0.00,0.000,6,0.000,0.041,2932,1976,2152,0,0,0,0,0,0
$STATE,8388,end climb,SURFACE_DEPTH_REACHED
$STATE,8388,begin surface coast
$FINISH,0.6,1.023034
$STATE,8416,end surface coast,CONTROL_FINISHED_OK
$STATE,8416,begin surface
$SM_CCo,8434,44.70,0.433,0,0,1737,285.03
$SM_GC,1.43,0.00,0.00,44.70,0.000,0.000,0.433,50,1973,1737,-8.16,0.45,285.03
$IRIDIUM_FIX,2104.07,-15810.63,250802,060641
$TT8_MAMPS,0.028379
$HUMID,62.99
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.7,28.172
$10V_AH,10.5,30.935
$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,18.850,79.875,273.900,44.700,0.000,23.601,42.519,217.915,19.250,0.000,17.612,1113.297,4908.089,402.442,1952.401,516.763,0.000,1061.567,0.000,1905.178,0.000,117.262,0.000
$DEVICE_MAMPS,230.100,59.826,760.864,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.868,345.492,1183.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,34941,603
$CAP_FILE_SIZE,94304,0
$CFSIZE,260165632,238829568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310513,111533,2109.632,-15756.189,25,1.2,27,9.8