version: 66.06
glider: 523
mission: 4
dive: 209
start: 5 17 113 1 35 30
data:
$ID,523
$MISSION,4
$DIVE,209
$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,-40017.906
$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,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
$GPS1,012535,2108.065,-15800.793,30,0.9,30,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.3
$GPS2,013511,2108.040,-15800.945,17,1.1,17,9.8
$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,87.7,31421,-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,16,-0.74,-146.0,0.0,0.0,0,99,0.00,0.00,-77.18,0.000,6,0.000,0.000,43,1977,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.9,13,117,9.45,0.00,0.00,0.000,6,0.231,0.000,2395,1977,3397,0,0,0,0,0,0
$GC,282,-0.74,-146.0,41.1,-15.0,45,287,0.00,2.33,0.00,0.000,4,0.000,0.055,2396,553,3399,0,0,0,0,0,0
$GC,382,-0.74,-146.0,57.5,-17.0,63,387,0.00,2.15,0.00,0.000,6,0.000,0.037,2388,1971,3399,0,0,0,0,0,0
$GC,717,-0.74,-146.0,106.0,-12.6,108,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1971,3399,0,0,0,0,0,0
$GC,1044,-0.74,-146.0,144.5,-12.0,139,1049,0.00,2.28,0.00,0.000,4,0.000,0.051,2387,543,3401,0,0,0,0,0,0
$GC,1191,-0.74,-146.0,164.4,-12.7,152,1200,0.00,2.17,0.00,0.000,6,0.000,0.035,2378,1968,3401,0,0,0,0,0,0
$GC,1526,-0.74,-146.0,203.3,-11.8,183,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1968,3401,0,0,0,0,0,0
$GC,1837,-0.74,-146.0,232.0,-8.3,198,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1969,3402,0,0,0,0,0,0
$GC,2145,-0.74,-146.0,257.0,-9.1,213,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1969,3402,0,0,0,0,0,0
$GC,2454,-0.74,-146.0,284.6,-9.0,228,2458,0.00,2.28,0.00,0.000,4,0.000,0.051,2378,545,3401,0,0,0,0,0,0
$GC,2561,-0.74,-146.0,295.0,-9.8,233,2568,0.12,2.15,0.00,0.000,6,0.166,0.038,2401,1972,3401,0,0,0,0,0,0
$GC,2916,-0.74,-146.0,321.0,-7.0,243,2920,0.00,2.30,0.00,0.000,4,0.000,0.054,2402,546,3400,0,0,0,0,0,0
$GC,3162,-0.74,-146.0,341.3,-8.1,248,3166,0.00,2.17,0.00,0.000,6,0.000,0.040,2394,1970,3398,0,0,0,0,0,0
$GC,3506,-0.74,-146.0,367.9,-8.0,257,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1970,3396,0,0,0,0,0,0
$GC,3830,-0.74,-146.0,393.4,-7.7,265,3834,0.00,2.30,0.00,0.000,4,0.000,0.059,2394,543,3394,0,0,0,0,0,0
$GC,3859,-0.74,-146.0,395.8,-8.2,265,3863,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,1962,3394,0,0,0,0,0,0
$GC,4191,-0.74,-146.0,423.3,-8.3,273,4195,0.00,2.25,0.00,0.000,4,0.000,0.063,2374,3373,3392,0,0,0,0,0,0
$GC,4246,-0.74,-146.0,427.9,-8.0,274,4250,0.00,2.22,0.00,0.000,6,0.000,0.045,2374,1956,3392,0,0,0,0,0,0
$STATE,4558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4558,begin apogee
$GC,4564,-0.17,0.0,450.0,7.0,282,4686,0.65,0.00,118.35,0.784,6,0.127,0.000,2582,1956,2800,0,0,0,0,0,0
$STATE,4687,end apogee,CONTROL_FINISHED_OK
$STATE,4687,begin climb
$GC,4689,0.74,146.0,452.5,0.0,285,4823,0.88,2.47,126.15,0.752,4,0.079,0.060,2878,3373,2203,0,0,0,0,0,0
$GC,4846,0.74,146.0,434.8,16.0,289,4850,0.00,2.25,0.00,0.000,6,0.000,0.041,2888,1977,2200,0,0,0,0,0,0
$GC,5164,0.74,146.0,383.4,15.6,297,5168,0.00,2.28,0.00,0.000,4,0.000,0.057,2898,561,2196,0,0,0,0,0,0
$GC,5213,0.74,146.0,375.7,15.9,298,5217,0.00,2.17,0.00,0.000,6,0.000,0.038,2898,1979,2196,0,0,0,0,0,0
$GC,5526,0.74,146.0,321.4,17.6,306,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1979,2194,0,0,0,0,0,0
$GC,5833,0.74,146.0,275.3,13.5,317,5837,0.00,2.28,0.00,0.000,4,0.000,0.054,2908,563,2192,0,0,0,0,0,0
$GC,5888,0.74,146.0,267.5,13.5,319,5894,0.12,2.17,0.00,0.000,6,0.152,0.037,2876,1976,2191,0,0,0,0,0,0
$GC,6204,0.74,146.0,232.8,11.0,335,6208,0.00,2.20,0.00,0.000,4,0.000,0.051,2875,3388,2190,0,0,0,0,0,0
$GC,6288,0.74,146.0,222.6,11.2,339,6293,0.00,2.20,0.00,0.000,6,0.000,0.038,2884,1968,2188,0,0,0,0,0,0
$GC,6611,0.74,146.0,185.3,11.4,360,6615,0.00,2.20,0.00,0.000,4,0.000,0.054,2894,572,2188,0,0,0,0,0,0
$GC,6675,0.74,146.0,177.0,11.9,365,6683,0.00,2.15,0.00,0.000,6,0.000,0.036,2894,1964,2187,0,0,0,0,0,0
$GC,7002,0.74,146.0,138.1,12.0,396,7006,0.00,2.20,0.00,0.000,4,0.000,0.051,2894,3388,2187,0,0,0,0,0,0
$GC,7043,0.74,146.0,133.1,12.4,399,7047,0.00,2.17,0.00,0.000,6,0.000,0.040,2904,1975,2187,0,0,0,0,0,0
$GC,7370,0.74,146.0,95.5,11.9,429,7373,0.00,2.20,0.00,0.000,4,0.000,0.053,2914,566,2187,0,0,0,0,0,0
$GC,7391,0.74,146.0,92.4,12.3,430,7399,0.10,2.17,0.00,0.000,6,0.119,0.036,2880,1980,2187,0,0,0,0,0,0
$GC,7719,0.74,146.0,57.4,10.2,480,7727,0.00,2.17,0.00,0.000,4,0.000,0.051,2880,3375,2187,0,0,0,0,0,0
$GC,7762,0.74,146.0,53.2,9.4,487,7768,0.00,2.22,0.00,0.000,6,0.000,0.048,2886,1975,2187,0,0,0,0,0,0
$GC,8091,0.77,174.7,26.3,7.8,548,8119,0.00,2.28,22.27,0.472,4,0.000,0.054,2897,555,2088,0,0,0,0,0,0
$GC,8300,0.82,210.2,7.8,7.6,586,8340,0.00,2.20,30.75,0.455,6,0.000,0.036,2897,1974,1940,0,0,0,0,0,0
$STATE,8346,end climb,SURFACE_DEPTH_REACHED
$STATE,8346,begin surface coast
$FINISH,0.9,1.023335
$STATE,8377,end surface coast,CONTROL_FINISHED_OK
$STATE,8377,begin surface
$SM_CCo,8394,40.72,0.440,0,0,1574,300.24
$SM_GC,1.44,0.00,0.00,40.72,0.000,0.000,0.440,30,1978,1574,-8.16,0.51,300.24
$IRIDIUM_FIX,2057.14,-15806.34,110802,010123
$TT8_MAMPS,0.027612
$HUMID,62.83
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.7,17.288
$10V_AH,10.5,18.905
$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,18.625,66.800,297.525,40.725,0.000,58.353,74.532,242.293,19.000,0.000,17.817,1063.038,5072.487,404.062,1871.602,603.142,0.000,1052.669,0.000,1824.164,0.000,119.352,0.000
$DEVICE_MAMPS,230.867,62.894,783.874,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,405.968,337.369,1166.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31843,598
$CAP_FILE_SIZE,90124,0
$CFSIZE,260165632,245276672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170513,035703,2107.990,-15759.873,18,1.3,18,9.8