version: 66.06
glider: 523
mission: 4
dive: 181
start: 5 14 113 3 2 33
data:
$ID,523
$MISSION,4
$DIVE,181
$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,-39477.48
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,025618,2106.672,-15746.371,13,1.1,13,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.4
$GPS2,030217,2106.633,-15746.502,19,1.2,19,9.8
$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,94.0,6376,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.35,0.000,2,0.000,0.000,38,1987,3368,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-4.3,12,115,9.38,2.30,-0.62,0.000,4,0.229,0.063,2395,555,3397,0,0,0,0,0,0
$GC,228,-0.74,-146.0,33.2,-19.7,35,234,0.00,2.15,0.00,0.000,6,0.000,0.037,2386,1963,3398,0,0,0,0,0,0
$GC,561,-0.74,-146.0,91.6,-16.7,90,565,0.00,2.28,0.00,0.000,4,0.000,0.055,2386,551,3399,0,0,0,0,0,0
$GC,647,-0.74,-146.0,106.2,-16.8,97,651,0.00,2.12,0.00,0.000,6,0.000,0.035,2377,1965,3399,0,0,0,0,0,0
$GC,973,-0.74,-146.0,148.5,-11.2,127,978,0.00,2.28,0.00,0.000,4,0.000,0.052,2377,551,3400,0,0,0,0,0,0
$GC,1049,-0.74,-146.0,157.4,-11.1,133,1057,0.10,2.15,0.00,0.000,6,0.150,0.034,2398,1962,3400,0,0,0,0,0,0
$GC,1376,-0.74,-146.0,184.3,-9.1,164,1380,0.00,2.22,0.00,0.000,4,0.000,0.051,2399,553,3402,0,0,0,0,0,0
$GC,1483,-0.74,-146.0,194.7,-9.8,173,1490,0.00,2.10,0.00,0.000,6,0.000,0.035,2391,1955,3402,0,0,0,0,0,0
$GC,1809,-0.74,-146.0,230.9,-11.1,191,1813,0.00,2.20,0.00,0.000,4,0.000,0.057,2380,3367,3402,0,0,0,0,0,0
$GC,1836,-0.74,-146.0,234.1,-10.6,192,1840,0.00,2.20,0.00,0.000,6,0.000,0.044,2380,1960,3402,0,0,0,0,0,0
$GC,2157,-0.74,-146.0,268.2,-10.4,208,2161,0.00,2.28,0.00,0.000,4,0.000,0.054,2380,546,3402,0,0,0,0,0,0
$GC,2297,-0.74,-146.0,281.3,-8.0,214,2301,0.12,2.15,0.00,0.000,6,0.170,0.035,2404,1965,3402,0,0,0,0,0,0
$GC,2619,-0.74,-146.0,299.3,-6.2,230,2623,0.00,2.15,0.00,0.000,4,0.000,0.056,2395,3361,3402,0,0,0,0,0,0
$GC,2821,-0.74,-146.0,317.4,-9.4,235,2826,0.00,2.20,0.00,0.000,6,0.000,0.044,2395,1958,3402,0,0,0,0,0,0
$GC,3162,-0.74,-146.0,347.2,-8.1,244,3166,0.00,2.25,0.00,0.000,4,0.000,0.061,2394,549,3401,0,0,0,0,0,0
$GC,3234,-0.74,-146.0,353.1,-7.3,245,3238,0.00,2.15,0.00,0.000,6,0.000,0.039,2385,1954,3400,0,0,0,0,0,0
$GC,3566,-0.74,-146.0,374.7,-6.9,253,3573,0.00,2.25,0.00,0.000,4,0.000,0.060,2385,548,3398,0,0,0,0,0,0
$GC,3629,-0.74,-146.0,379.8,-7.7,254,3634,0.00,2.20,0.00,0.000,6,0.000,0.043,2376,1969,3398,0,0,0,0,0,0
$GC,3946,-0.74,-146.0,405.2,-8.2,262,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1969,3396,0,0,0,0,0,0
$GC,4267,-0.74,-146.0,434.0,-9.2,270,4271,0.00,2.20,0.00,0.000,4,0.000,0.056,2366,3370,3394,0,0,0,0,0,0
$GC,4288,-0.74,-146.0,436.2,-9.6,270,4293,0.12,2.20,0.00,0.000,6,0.149,0.043,2399,1962,3393,0,0,0,0,0,0
$STATE,4462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4462,begin apogee
$GC,4468,-0.17,0.0,450.1,8.0,275,4590,0.55,0.00,118.85,0.780,6,0.120,0.000,2580,1962,2800,0,0,0,0,0,0
$STATE,4591,end apogee,CONTROL_FINISHED_OK
$STATE,4591,begin climb
$GC,4594,0.74,146.0,452.6,0.0,278,4725,0.85,0.00,125.20,0.751,6,0.079,0.000,2875,1961,2204,0,0,0,0,0,0
$GC,5041,0.74,146.0,397.7,13.4,289,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1961,2195,0,0,0,0,0,0
$GC,5365,0.74,146.0,356.5,11.8,297,5369,0.00,2.22,0.00,0.000,4,0.000,0.061,2885,567,2193,0,0,0,0,0,0
$GC,5513,0.74,146.0,337.2,13.3,300,5517,0.00,2.22,0.00,0.000,6,0.000,0.044,2885,1985,2192,0,0,0,0,0,0
$GC,5840,0.74,146.0,293.6,12.5,309,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1985,2190,0,0,0,0,0,0
$GC,6150,0.74,146.0,252.5,13.7,324,6154,0.00,2.20,0.00,0.000,4,0.000,0.054,2885,3393,2188,0,0,0,0,0,0
$GC,6217,0.74,146.0,242.8,15.3,327,6221,0.00,2.25,0.00,0.000,6,0.000,0.048,2893,1966,2188,0,0,0,0,0,0
$GC,6538,0.74,146.0,201.8,11.6,343,6542,0.00,2.22,0.00,0.000,4,0.000,0.060,2902,558,2187,0,0,0,0,0,0
$GC,6623,0.74,146.0,191.6,12.9,350,6627,0.00,2.20,0.00,0.000,6,0.000,0.044,2902,1976,2187,0,0,0,0,0,0
$GC,6950,0.74,146.0,151.1,13.0,380,6954,0.00,2.17,0.00,0.000,4,0.000,0.052,2902,3388,2187,0,0,0,0,0,0
$GC,7023,0.74,146.0,141.3,13.9,386,7028,0.12,2.17,0.00,0.000,6,0.158,0.041,2878,1971,2187,0,0,0,0,0,0
$GC,7350,0.74,146.0,106.4,10.3,416,7354,0.00,2.20,0.00,0.000,4,0.000,0.058,2886,568,2186,0,0,0,0,0,0
$GC,7476,0.74,146.0,93.6,11.4,427,7480,0.00,2.15,0.00,0.000,6,0.000,0.038,2887,1984,2186,0,0,0,0,0,0
$GC,7802,0.75,154.8,59.7,8.7,476,7815,0.00,2.15,5.85,0.426,4,0.000,0.050,2887,3379,2167,0,0,0,0,0,0
$GC,7834,0.75,154.8,57.0,9.3,481,7840,0.00,2.15,0.00,0.000,6,0.000,0.038,2895,1973,2167,0,0,0,0,0,0
$GC,8166,0.77,175.3,29.0,8.2,542,8193,0.00,2.25,18.98,0.471,4,0.000,0.057,2906,569,2083,0,0,0,0,0,0
$GC,8232,0.77,175.3,23.2,9.6,553,8240,0.00,2.20,0.00,0.000,6,0.000,0.041,2906,1977,2082,0,0,0,0,0,0
$GC,8400,0.77,175.3,6.0,10.2,584,8408,0.00,2.20,0.00,0.000,4,0.000,0.051,2906,3377,2082,0,0,0,0,0,0
$STATE,8425,end climb,SURFACE_DEPTH_REACHED
$STATE,8425,begin surface coast
$FINISH,2.4,1.023452
$STATE,8433,end surface coast,CONTROL_FINISHED_OK
$STATE,8433,begin surface
$SM_CCo,8453,59.47,0.449,0,0,1575,300.24
$SM_GC,1.31,0.00,0.00,59.47,0.000,0.000,0.449,39,1951,1575,-8.13,-0.25,300.24
$IRIDIUM_FIX,2057.14,-15741.46,080802,000059
$TT8_MAMPS,0.028379
$HUMID,62.16
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.7,15.002
$10V_AH,10.5,16.445
$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,18.575,79.250,268.875,59.475,0.000,31.144,36.243,162.584,19.250,0.000,19.693,1085.121,5027.517,384.138,1915.453,458.243,0.000,1062.796,0.000,1867.371,0.000,117.260,0.000
$DEVICE_MAMPS,229.333,62.894,780.039,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,400.982,334.980,1140.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31883,589
$CAP_FILE_SIZE,93576,0
$CFSIZE,260165632,246587392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140513,052534,2106.371,-15745.943,29,1.0,29,9.8