version: 66.06
glider: 523
mission: 4
dive: 131
start: 5 8 113 21 47 22
data:
$ID,523
$MISSION,4
$DIVE,131
$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,-38509.035
$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,26
$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
$GPS1,213741,2105.848,-15745.850,15,0.9,15,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.5
$GPS2,214705,2105.865,-15745.804,14,1.0,14,9.8
$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,81.3,4987,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.40,0.000,6,0.000,0.000,51,1985,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.4,13,118,9.45,2.28,0.00,0.000,4,0.235,0.045,2391,548,3398,0,0,0,0,0,0
$GC,224,-0.74,-146.0,36.4,-21.1,35,229,0.00,2.15,0.00,0.000,6,0.000,0.037,2382,1960,3398,0,0,0,0,0,0
$GC,553,-0.74,-146.0,89.9,-13.2,89,560,0.00,2.17,0.00,0.000,4,0.000,0.056,2372,3366,3399,0,0,0,0,0,0
$GC,570,-0.74,-146.0,92.5,-12.3,90,577,0.00,2.22,0.00,0.000,6,0.000,0.044,2372,1970,3399,0,0,0,0,0,0
$GC,898,-0.74,-146.0,135.8,-13.4,121,902,0.10,2.20,0.00,0.000,4,0.171,0.054,2389,3370,3401,0,0,0,0,0,0
$GC,960,-0.74,-146.0,143.9,-12.4,126,964,0.00,2.20,0.00,0.000,6,0.000,0.045,2390,1954,3401,0,0,0,0,0,0
$GC,1288,-0.74,-146.0,185.7,-12.3,156,1292,0.00,2.20,0.00,0.000,4,0.000,0.056,2389,543,3401,0,0,0,0,0,0
$GC,1541,-0.74,-146.0,216.8,-11.9,172,1547,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1969,3402,0,0,0,0,0,0
$GC,1861,-0.74,-146.0,246.2,-8.1,188,1865,0.00,2.25,0.00,0.000,4,0.000,0.053,2379,549,3402,0,0,0,0,0,0
$GC,1973,-0.74,-146.0,257.0,-9.0,193,1978,0.12,2.12,0.00,0.000,6,0.173,0.037,2402,1965,3402,0,0,0,0,0,0
$GC,2295,-0.74,-146.0,281.4,-8.1,209,2299,0.00,2.25,0.00,0.000,4,0.000,0.055,2403,549,3402,0,0,0,0,0,0
$GC,2410,-0.74,-146.0,291.5,-9.0,214,2414,0.00,2.15,0.00,0.000,6,0.000,0.039,2395,1956,3402,0,0,0,0,0,0
$GC,2730,-0.74,-146.0,318.3,-8.2,225,2734,0.00,2.20,0.00,0.000,4,0.000,0.059,2384,3364,3401,0,0,0,0,0,0
$GC,2831,-0.74,-146.0,325.8,-6.7,227,2835,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,1956,3401,0,0,0,0,0,0
$GC,3178,-0.74,-146.0,349.5,-7.1,236,3182,0.00,2.22,0.00,0.000,4,0.000,0.061,2384,553,3399,0,0,0,0,0,0
$GC,3264,-0.74,-146.0,356.6,-8.8,238,3268,0.00,2.15,0.00,0.000,6,0.000,0.043,2375,1963,3398,0,0,0,0,0,0
$GC,3590,-0.74,-146.0,384.2,-8.6,246,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1963,3396,0,0,0,0,0,0
$GC,3913,-0.74,-146.0,414.7,-9.7,254,3918,0.00,2.22,0.00,0.000,4,0.000,0.064,2365,3373,3394,0,0,0,0,0,0
$GC,4052,-0.74,-146.0,427.4,-8.6,257,4057,0.12,2.20,0.00,0.000,6,0.152,0.045,2398,1955,3393,0,0,0,0,0,0
$GC,4379,-0.74,-146.0,447.5,-5.7,265,4383,0.00,2.25,0.00,0.000,4,0.000,0.067,2398,550,3391,0,0,0,0,0,0
$STATE,4424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4424,begin apogee
$GC,4433,-0.17,0.0,450.0,5.8,266,4554,0.60,0.00,118.45,0.777,6,0.124,0.000,2584,1972,2800,0,0,0,0,0,0
$STATE,4555,end apogee,CONTROL_FINISHED_OK
$STATE,4555,begin climb
$GC,4558,0.74,146.0,450.1,0.0,269,4693,0.85,2.33,124.90,0.747,4,0.085,0.051,2875,3388,2203,0,0,0,0,0,0
$GC,4722,0.74,146.0,430.2,16.0,273,4726,0.00,2.35,0.00,0.000,6,0.000,0.048,2884,1970,2200,0,0,0,0,0,0
$GC,5045,0.74,146.0,380.9,14.4,281,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1969,2196,0,0,0,0,0,0
$GC,5370,0.74,146.0,336.1,13.3,289,5374,0.00,2.22,0.00,0.000,4,0.000,0.061,2894,564,2193,0,0,0,0,0,0
$GC,5493,0.74,146.0,319.3,13.4,291,5499,0.00,2.20,0.00,0.000,6,0.000,0.039,2894,1989,2192,0,0,0,0,0,0
$GC,5807,0.74,146.0,280.7,12.4,303,5810,0.00,2.17,0.00,0.000,4,0.000,0.054,2894,3386,2191,0,0,0,0,0,0
$GC,5834,0.74,146.0,276.3,15.5,304,5838,0.00,2.22,0.00,0.000,6,0.000,0.050,2904,1972,2190,0,0,0,0,0,0
$GC,6150,0.74,146.0,233.3,11.9,319,6154,0.00,2.25,0.00,0.000,4,0.000,0.061,2913,555,2189,0,0,0,0,0,0
$GC,6239,0.74,146.0,221.1,14.4,323,6244,0.12,2.17,0.00,0.000,6,0.148,0.039,2879,1975,2189,0,0,0,0,0,0
$GC,6562,0.74,146.0,187.0,9.7,344,6566,0.00,2.25,0.00,0.000,4,0.000,0.065,2887,564,2187,0,0,0,0,0,0
$GC,6657,0.74,146.0,177.0,11.2,352,6661,0.00,2.15,0.00,0.000,6,0.000,0.041,2887,1973,2187,0,0,0,0,0,0
$GC,6984,0.74,146.0,140.9,12.4,382,6988,0.00,2.25,0.00,0.000,4,0.000,0.061,2896,564,2187,0,0,0,0,0,0
$GC,7036,0.74,146.0,134.3,13.2,386,7040,0.00,2.17,0.00,0.000,6,0.000,0.040,2896,1981,2187,0,0,0,0,0,0
$GC,7363,0.74,146.0,98.8,11.0,416,7366,0.00,2.17,0.00,0.000,4,0.000,0.055,2896,3386,2187,0,0,0,0,0,0
$GC,7492,0.74,146.0,83.3,11.5,427,7500,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,1977,2187,0,0,0,0,0,0
$GC,7822,0.74,146.0,49.7,10.1,485,7828,0.00,2.20,0.00,0.000,4,0.000,0.054,2905,3380,2187,0,0,0,0,0,0
$GC,7904,0.74,146.0,40.1,11.7,500,7912,0.10,2.20,0.00,0.000,6,0.124,0.043,2879,1978,2187,0,0,0,0,0,0
$GC,8232,0.76,168.4,14.5,8.1,561,8260,0.00,2.28,17.35,0.456,4,0.000,0.059,2887,568,2111,0,0,0,0,0,0
$GC,8361,0.79,193.2,4.5,8.0,583,8382,0.00,2.17,16.30,0.439,6,0.000,0.036,2887,1977,2011,0,0,0,0,0,0
$STATE,8388,end climb,SURFACE_DEPTH_REACHED
$STATE,8388,begin surface coast
$FINISH,0.4,1.008270
$STATE,8426,end surface coast,CONTROL_FINISHED_OK
$STATE,8426,begin surface
$SM_CCo,8444,48.78,0.446,0,0,1575,300.24
$SM_GC,1.15,0.00,0.00,48.78,0.000,0.000,0.446,44,1980,1575,-8.11,0.57,300.24
$IRIDIUM_FIX,2052.52,-15747.49,020802,212120
$TT8_MAMPS,0.028379
$HUMID,60.94
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.7,11.023
$10V_AH,10.4,12.067
$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,18.775,84.050,277.000,48.775,0.000,48.937,83.710,223.270,19.250,0.000,14.413,1112.582,4961.241,378.182,1995.759,609.937,0.000,1095.106,0.000,1950.806,0.000,117.256,0.000
$DEVICE_MAMPS,235.469,67.496,776.971,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.323,342.791,1169.975,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31846,594
$CAP_FILE_SIZE,98113,0
$CFSIZE,260165632,248930304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090513,001005,2105.458,-15745.313,31,0.9,31,9.8