version: 66.06
glider: 523
mission: 4
dive: 208
start: 5 16 113 23 4 52
data:
$ID,523
$MISSION,4
$DIVE,208
$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,-39999.461
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,225525,2107.887,-15801.705,13,1.0,13,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-74.6
$GPS2,230435,2107.927,-15801.875,18,1.3,18,9.8
$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,87.0,32988,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-75.57,0.000,2,0.000,0.000,40,1965,3356,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.1,-4.6,12,114,9.40,0.00,-0.88,0.000,6,0.229,0.000,2394,1965,3396,0,0,0,0,0,0
$GC,275,-0.74,-146.0,39.6,-17.8,44,282,0.00,2.25,0.00,0.000,4,0.000,0.054,2386,3365,3398,0,0,0,0,0,0
$GC,329,-0.74,-146.0,47.8,-15.3,53,334,0.00,2.25,0.00,0.000,6,0.000,0.046,2386,1949,3398,0,0,0,0,0,0
$GC,659,-0.74,-146.0,96.5,-15.8,104,663,0.00,2.25,0.00,0.000,4,0.000,0.059,2385,540,3400,0,0,0,0,0,0
$GC,735,-0.74,-146.0,109.5,-15.8,110,744,0.00,2.20,0.00,0.000,6,0.000,0.038,2377,1965,3400,0,0,0,0,0,0
$GC,1061,-0.74,-146.0,153.6,-13.7,141,1065,0.00,2.28,0.00,0.000,4,0.000,0.054,2376,541,3400,0,0,0,0,0,0
$GC,1115,-0.74,-146.0,161.4,-13.6,145,1122,0.10,2.20,0.00,0.000,6,0.152,0.038,2397,1970,3400,0,0,0,0,0,0
$GC,1442,-0.74,-146.0,198.9,-11.2,176,1446,0.00,2.28,0.00,0.000,4,0.000,0.055,2398,547,3401,0,0,0,0,0,0
$GC,1699,-0.74,-146.0,227.7,-9.1,187,1705,0.00,2.12,0.00,0.000,6,0.000,0.038,2390,1959,3401,0,0,0,0,0,0
$GC,2018,-0.74,-146.0,255.1,-9.5,203,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1959,3401,0,0,0,0,0,0
$GC,2325,-0.74,-146.0,284.5,-8.5,218,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1960,3401,0,0,0,0,0,0
$GC,2635,-0.74,-146.0,307.7,-7.6,231,2639,0.00,2.28,0.00,0.000,4,0.000,0.057,2389,549,3401,0,0,0,0,0,0
$GC,2702,-0.74,-146.0,313.4,-8.0,232,2706,0.00,2.15,0.00,0.000,6,0.000,0.042,2380,1963,3401,0,0,0,0,0,0
$GC,3039,-0.74,-146.0,338.5,-7.4,241,3043,0.00,2.28,0.00,0.000,4,0.000,0.061,2380,546,3401,0,0,0,0,0,0
$GC,3297,-0.74,-146.0,355.5,-7.0,246,3303,0.12,2.20,0.00,0.000,6,0.170,0.045,2403,1964,3399,0,0,0,0,0,0
$GC,3629,-0.74,-146.0,379.0,-8.0,255,3633,0.00,2.28,0.00,0.000,4,0.000,0.063,2403,549,3397,0,0,0,0,0,0
$GC,3849,-0.74,-146.0,399.2,-8.7,260,3853,0.00,2.20,0.00,0.000,6,0.000,0.044,2395,1976,3395,0,0,0,0,0,0
$GC,4176,-0.74,-146.0,422.6,-6.8,268,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1976,3393,0,0,0,0,0,0
$GC,4500,-0.74,-146.0,441.1,-5.8,276,4504,0.00,2.30,0.00,0.000,4,0.000,0.063,2395,540,3391,0,0,0,0,0,0
$STATE,4619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4619,begin apogee
$GC,4628,-0.17,0.0,450.1,7.9,278,4749,0.60,0.00,118.12,0.783,6,0.128,0.000,2581,1977,2800,0,0,0,0,0,0
$STATE,4750,end apogee,CONTROL_FINISHED_OK
$STATE,4750,begin climb
$GC,4753,0.74,146.0,452.0,0.0,281,4887,0.85,2.30,125.00,0.751,4,0.080,0.051,2874,3382,2205,0,0,0,0,0,0
$GC,4898,0.74,146.0,436.7,13.9,284,4903,0.00,2.33,0.00,0.000,6,0.000,0.050,2882,1977,2203,0,0,0,0,0,0
$GC,5235,0.74,146.0,385.1,14.6,293,5240,0.00,2.28,0.00,0.000,4,0.000,0.061,2893,554,2196,0,0,0,0,0,0
$GC,5336,0.74,146.0,368.7,16.6,295,5340,0.00,2.20,0.00,0.000,6,0.000,0.043,2893,1972,2195,0,0,0,0,0,0
$GC,5684,0.74,146.0,314.0,14.5,304,5688,0.00,2.30,0.00,0.000,4,0.000,0.064,2902,560,2194,0,0,0,0,0,0
$GC,5718,0.74,146.0,308.4,16.3,304,5723,0.00,2.20,0.00,0.000,6,0.000,0.045,2902,1973,2194,0,0,0,0,0,0
$GC,6032,0.74,146.0,259.0,14.1,318,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1974,2192,0,0,0,0,0,0
$GC,6341,0.74,146.0,215.8,14.4,333,6345,0.00,2.20,0.00,0.000,4,0.000,0.052,2902,3390,2191,0,0,0,0,0,0
$GC,6386,0.74,146.0,209.1,14.5,335,6391,0.12,2.20,0.00,0.000,6,0.160,0.041,2878,1966,2190,0,0,0,0,0,0
$GC,6716,0.74,146.0,171.5,11.5,362,6720,0.00,2.22,0.00,0.000,4,0.000,0.052,2878,3386,2189,0,0,0,0,0,0
$GC,6768,0.74,146.0,165.1,12.5,366,6772,0.00,2.20,0.00,0.000,6,0.000,0.040,2886,1969,2188,0,0,0,0,0,0
$GC,7094,0.74,146.0,127.1,10.8,396,7098,0.00,2.20,0.00,0.000,4,0.000,0.057,2897,556,2188,0,0,0,0,0,0
$GC,7189,0.74,146.0,116.4,12.1,404,7193,0.00,2.15,0.00,0.000,6,0.000,0.037,2897,1981,2188,0,0,0,0,0,0
$GC,7516,0.74,146.0,78.4,11.3,435,7521,0.00,2.15,0.00,0.000,4,0.000,0.052,2897,3380,2188,0,0,0,0,0,0
$GC,7606,0.74,146.0,67.5,12.1,451,7612,0.00,2.15,0.00,0.000,6,0.000,0.040,2907,1977,2188,0,0,0,0,0,0
$GC,7935,0.76,165.9,35.5,8.2,512,7958,0.00,2.25,15.70,0.469,4,0.000,0.056,2915,566,2121,0,0,0,0,0,0
$GC,8119,0.76,165.9,17.0,9.8,546,8127,0.00,2.17,0.00,0.000,6,0.000,0.036,2915,1972,2121,0,0,0,0,0,0
$STATE,8263,end climb,SURFACE_DEPTH_REACHED
$STATE,8264,begin surface coast
$FINISH,0.5,1.023035
$STATE,8296,end surface coast,CONTROL_FINISHED_OK
$STATE,8296,begin surface
$SM_CCo,8314,59.42,0.445,0,0,1576,300.24
$SM_GC,1.31,0.00,0.00,59.42,0.000,0.000,0.445,43,1977,1576,-8.12,0.45,300.24
$IRIDIUM_FIX,2057.14,-15801.19,100802,232311
$TT8_MAMPS,0.028379
$HUMID,62.60
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.7,17.200
$10V_AH,10.5,18.817
$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,18.425,71.250,258.825,59.425,0.000,58.785,66.515,227.850,19.000,0.000,18.600,1068.036,4963.626,377.646,1936.468,578.338,0.000,1056.913,0.000,1885.068,0.000,119.304,0.000
$DEVICE_MAMPS,228.566,64.428,783.107,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,393.106,326.598,1122.563,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31867,579
$CAP_FILE_SIZE,93527,0
$CFSIZE,260165632,245325824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170513,012535,2108.065,-15800.793,30,0.9,30,9.8