version: 66.06
glider: 523
mission: 4
dive: 212
start: 5 17 113 9 7 46
data:
$ID,523
$MISSION,4
$DIVE,212
$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,-40066.055
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,090142,2108.153,-15758.326,19,0.9,19,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.0
$GPS2,090729,2108.181,-15758.367,15,1.0,15,9.8
$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,89.5,27052,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.90,0.000,2,0.000,0.000,39,1963,3359,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.2,12,113,9.40,2.35,-0.80,0.000,4,0.229,0.064,2394,541,3397,0,0,0,0,0,0
$GC,162,-0.74,-146.0,18.9,-18.8,23,170,0.00,2.22,0.00,0.000,6,0.000,0.038,2386,1961,3398,0,0,0,0,0,0
$GC,331,-0.74,-146.0,50.3,-18.4,54,338,0.00,2.25,0.00,0.000,4,0.000,0.057,2376,3359,3398,0,0,0,0,0,0
$GC,375,-0.74,-146.0,59.2,-21.2,61,380,0.00,2.22,0.00,0.000,6,0.000,0.045,2376,1963,3398,0,0,0,0,0,0
$GC,703,-0.74,-146.0,109.2,-13.8,102,710,0.00,2.22,0.00,0.000,4,0.000,0.058,2376,547,3400,0,0,0,0,0,0
$GC,784,-0.74,-146.0,121.9,-16.5,109,789,0.12,2.12,0.00,0.000,6,0.173,0.036,2398,1965,3400,0,0,0,0,0,0
$GC,1111,-0.74,-146.0,165.0,-11.4,139,1118,0.00,2.28,0.00,0.000,4,0.000,0.052,2398,543,3401,0,0,0,0,0,0
$GC,1191,-0.74,-146.0,174.8,-12.4,146,1196,0.00,2.15,0.00,0.000,6,0.000,0.036,2390,1962,3401,0,0,0,0,0,0
$GC,1529,-0.74,-146.0,212.4,-11.5,173,1533,0.00,2.25,0.00,0.000,4,0.000,0.051,2389,545,3401,0,0,0,0,0,0
$GC,1680,-0.74,-146.0,229.0,-10.6,180,1684,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1963,3401,0,0,0,0,0,0
$GC,2006,-0.74,-146.0,263.3,-10.2,196,2010,0.00,2.17,0.00,0.000,4,0.000,0.056,2370,3363,3401,0,0,0,0,0,0
$GC,2264,-0.74,-146.0,288.4,-8.6,207,2270,0.12,2.22,0.00,0.000,6,0.159,0.042,2402,1945,3402,0,0,0,0,0,0
$GC,2601,-0.74,-146.0,311.4,-6.3,220,2605,0.00,2.25,0.00,0.000,4,0.000,0.054,2394,3362,3402,0,0,0,0,0,0
$GC,2656,-0.74,-146.0,316.0,-7.7,221,2660,0.00,2.20,0.00,0.000,6,0.000,0.044,2394,1958,3402,0,0,0,0,0,0
$GC,2970,-0.74,-146.0,339.2,-7.3,229,2974,0.00,2.22,0.00,0.000,4,0.000,0.057,2394,544,3402,0,0,0,0,0,0
$GC,3060,-0.74,-146.0,345.3,-6.4,231,3064,0.00,2.15,0.00,0.000,6,0.000,0.038,2384,1958,3401,0,0,0,0,0,0
$GC,3378,-0.74,-146.0,364.5,-6.2,239,3382,0.00,2.28,0.00,0.000,4,0.000,0.058,2384,550,3400,0,0,0,0,0,0
$GC,3464,-0.74,-146.0,371.3,-8.6,241,3468,0.00,2.17,0.00,0.000,6,0.000,0.041,2375,1962,3399,0,0,0,0,0,0
$GC,3791,-0.74,-146.0,397.6,-8.3,249,3795,0.00,2.28,0.00,0.000,4,0.000,0.060,2375,549,3397,0,0,0,0,0,0
$GC,3885,-0.74,-146.0,406.5,-9.1,251,3890,0.12,2.17,0.00,0.000,6,0.168,0.044,2398,1966,3396,0,0,0,0,0,0
$GC,4201,-0.74,-146.0,430.2,-7.5,259,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1966,3394,0,0,0,0,0,0
$STATE,4440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4440,begin apogee
$GC,4446,-0.17,0.0,451.6,9.1,265,4568,0.57,0.00,119.00,0.780,6,0.123,0.000,2586,1966,2799,0,0,0,0,0,0
$STATE,4569,end apogee,CONTROL_FINISHED_OK
$STATE,4569,begin climb
$GC,4572,0.74,146.0,456.4,0.0,268,4707,0.82,2.38,125.03,0.753,4,0.077,0.053,2875,3386,2203,0,0,0,0,0,0
$GC,4752,0.74,146.0,441.4,13.2,272,4756,0.00,2.35,0.00,0.000,6,0.000,0.052,2884,1980,2200,0,0,0,0,0,0
$GC,5099,0.74,146.0,395.1,13.8,281,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1980,2196,0,0,0,0,0,0
$GC,5424,0.74,146.0,348.6,15.1,289,5428,0.00,2.25,0.00,0.000,4,0.000,0.061,2895,560,2193,0,0,0,0,0,0
$GC,5525,0.74,146.0,335.4,11.8,291,5529,0.00,2.20,0.00,0.000,6,0.000,0.043,2895,1984,2192,0,0,0,0,0,0
$GC,5852,0.74,146.0,294.2,13.3,300,5856,0.00,2.17,0.00,0.000,4,0.000,0.052,2895,3384,2191,0,0,0,0,0,0
$GC,5902,0.74,146.0,287.1,14.2,302,5907,0.00,2.22,0.00,0.000,6,0.000,0.042,2905,1965,2190,0,0,0,0,0,0
$GC,6218,0.74,146.0,242.7,13.9,317,6222,0.00,2.20,0.00,0.000,4,0.000,0.058,2915,567,2189,0,0,0,0,0,0
$GC,6284,0.74,146.0,233.0,14.4,320,6289,0.12,2.17,0.00,0.000,6,0.146,0.038,2881,1984,2188,0,0,0,0,0,0
$GC,6609,0.74,146.0,191.8,12.6,339,6613,0.00,2.17,0.00,0.000,4,0.000,0.051,2881,3390,2188,0,0,0,0,0,0
$GC,6759,0.74,146.0,172.3,12.2,352,6763,0.00,2.20,0.00,0.000,6,0.000,0.041,2889,1973,2187,0,0,0,0,0,0
$GC,7085,0.74,146.0,134.9,10.6,382,7089,0.00,2.20,0.00,0.000,4,0.000,0.056,2899,568,2187,0,0,0,0,0,0
$GC,7105,0.74,146.0,132.6,11.5,383,7109,0.00,2.15,0.00,0.000,6,0.000,0.037,2900,1978,2186,0,0,0,0,0,0
$GC,7432,0.74,146.0,95.3,10.8,413,7436,0.00,2.17,0.00,0.000,4,0.000,0.051,2899,3389,2186,0,0,0,0,0,0
$GC,7464,0.74,146.0,91.6,11.0,415,7471,0.08,2.22,0.00,0.000,6,0.140,0.041,2882,1973,2186,0,0,0,0,0,0
$GC,7795,0.74,146.0,62.7,9.3,463,7800,0.00,2.20,0.00,0.000,4,0.000,0.054,2891,564,2187,0,0,0,0,0,0
$GC,8016,0.74,151.8,42.3,8.8,504,8023,0.00,2.17,0.00,0.000,6,0.000,0.035,2891,1977,2187,0,0,0,0,0,0
$GC,8346,0.76,164.9,14.0,8.5,565,8367,0.00,2.17,14.73,0.449,4,0.000,0.048,2891,3381,2126,0,0,0,0,0,0
$GC,8406,0.76,164.9,8.2,10.0,575,8413,0.00,2.22,0.00,0.000,6,0.000,0.040,2901,1970,2125,0,0,0,0,0,0
$STATE,8460,end climb,SURFACE_DEPTH_REACHED
$STATE,8460,begin surface coast
$FINISH,0.4,1.010264
$STATE,8488,end surface coast,CONTROL_FINISHED_OK
$STATE,8488,begin surface
$SM_CCo,8505,61.40,0.443,0,0,1576,300.24
$SM_GC,1.45,0.00,0.00,61.40,0.000,0.000,0.443,41,1966,1576,-8.12,0.17,300.24
$IRIDIUM_FIX,2104.07,-15800.33,110802,060646
$TT8_MAMPS,0.028379
$HUMID,62.16
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.7,17.531
$10V_AH,10.4,19.166
$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,18.750,84.200,258.750,61.400,0.000,25.216,38.918,157.011,19.250,0.000,15.451,1100.783,5014.674,382.855,1969.670,446.086,0.000,1081.859,0.000,1919.365,0.000,121.560,0.000
$DEVICE_MAMPS,228.566,64.428,780.039,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,400.980,328.604,1152.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31881,590
$CAP_FILE_SIZE,95949,0
$CFSIZE,260165632,245133312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170513,113203,2107.994,-15757.341,48,1.0,51,9.8