version: 66.06
glider: 523
mission: 4
dive: 213
start: 5 17 113 11 38 10
data:
$ID,523
$MISSION,4
$DIVE,213
$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,-40086.637
$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,31
$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
$GPS1,113203,2107.994,-15757.341,48,1.0,51,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.3
$GPS2,113754,2107.948,-15757.370,19,1.2,19,9.8
$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,89.2,25281,-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,-76.18,0.000,2,0.000,0.000,41,1961,3388,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-4.7,12,112,9.50,2.20,0.00,0.000,4,0.232,0.049,2383,3363,3389,0,0,0,0,0,0
$GC,121,-0.74,-146.0,12.2,-25.5,15,128,0.00,2.25,0.00,0.000,6,0.000,0.047,2383,1965,3391,0,0,0,0,0,0
$GC,290,-0.74,-146.0,45.9,-16.6,46,298,0.00,2.30,0.00,0.000,4,0.000,0.061,2383,546,3391,0,0,0,0,0,0
$GC,379,-0.74,-146.0,62.1,-17.2,62,387,0.00,2.20,0.00,0.000,6,0.000,0.038,2374,1959,3391,0,0,0,0,0,0
$GC,715,-0.74,-146.0,109.9,-12.9,103,720,0.00,2.28,0.00,0.000,4,0.000,0.054,2374,536,3393,0,0,0,0,0,0
$GC,848,-0.74,-146.0,128.9,-14.6,115,853,0.15,2.17,0.00,0.000,6,0.165,0.035,2404,1969,3393,0,0,0,0,0,0
$GC,1181,-0.74,-146.0,168.3,-11.4,146,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1970,3393,0,0,0,0,0,0
$GC,1506,-0.74,-146.0,202.3,-8.6,176,1510,0.00,2.25,0.00,0.000,4,0.000,0.051,2404,542,3394,0,0,0,0,0,0
$GC,1557,-0.74,-146.0,207.1,-9.4,178,1561,0.00,2.15,0.00,0.000,6,0.000,0.035,2396,1973,3394,0,0,0,0,0,0
$GC,1878,-0.74,-146.0,240.5,-11.5,194,1882,0.00,2.15,0.00,0.000,4,0.000,0.055,2385,3359,3394,0,0,0,0,0,0
$GC,1968,-0.74,-146.0,250.5,-9.4,198,1972,0.00,2.17,0.00,0.000,6,0.000,0.043,2385,1954,3394,0,0,0,0,0,0
$GC,2291,-0.74,-146.0,272.4,-6.0,214,2295,0.00,2.20,0.00,0.000,4,0.000,0.054,2385,541,3394,0,0,0,0,0,0
$GC,2448,-0.74,-146.0,283.2,-6.6,221,2452,0.00,2.12,0.00,0.000,6,0.000,0.038,2375,1960,3394,0,0,0,0,0,0
$GC,2790,-0.74,-146.0,311.3,-8.9,235,2794,0.00,2.22,0.00,0.000,4,0.000,0.054,2376,550,3393,0,0,0,0,0,0
$GC,2863,-0.74,-146.0,319.3,-10.8,236,2868,0.12,2.15,0.00,0.000,6,0.164,0.040,2399,1969,3393,0,0,0,0,0,0
$GC,3199,-0.74,-146.0,346.3,-7.6,244,3203,0.00,2.28,0.00,0.000,4,0.000,0.057,2400,549,3392,0,0,0,0,0,0
$GC,3266,-0.74,-146.0,352.2,-8.2,245,3270,0.00,2.15,0.00,0.000,6,0.000,0.041,2392,1959,3392,0,0,0,0,0,0
$GC,3603,-0.74,-146.0,373.8,-5.7,254,3607,0.00,2.22,0.00,0.000,4,0.000,0.060,2381,3376,3390,0,0,0,0,0,0
$GC,3723,-0.74,-146.0,380.7,-6.1,256,3727,0.00,2.22,0.00,0.000,6,0.000,0.044,2380,1950,3389,0,0,0,0,0,0
$GC,4060,-0.74,-146.0,403.7,-7.1,265,4064,0.00,2.22,0.00,0.000,4,0.000,0.065,2381,555,3388,0,0,0,0,0,0
$GC,4256,-0.74,-146.0,419.8,-8.6,269,4261,0.12,2.17,0.00,0.000,6,0.170,0.044,2404,1957,3386,0,0,0,0,0,0
$GC,4607,-0.74,-146.0,446.9,-8.0,278,4611,0.00,2.17,0.00,0.000,4,0.000,0.057,2395,3370,3384,0,0,0,0,0,0
$STATE,4645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4646,begin apogee
$GC,4654,-0.17,0.0,450.3,7.1,279,4774,0.57,0.00,117.20,0.780,6,0.122,0.000,2581,1973,2799,0,0,0,0,0,0
$STATE,4775,end apogee,CONTROL_FINISHED_OK
$STATE,4775,begin climb
$GC,4778,0.74,146.0,452.4,0.0,282,4913,0.85,2.35,125.20,0.751,4,0.080,0.059,2884,569,2202,0,0,0,0,0,0
$GC,4957,0.74,146.0,431.8,15.7,286,4962,0.00,2.28,0.00,0.000,6,0.000,0.044,2884,1986,2199,0,0,0,0,0,0
$GC,5306,0.74,146.0,377.2,16.1,295,5310,0.00,2.30,0.00,0.000,4,0.000,0.067,2893,571,2195,0,0,0,0,0,0
$GC,5333,0.74,146.0,372.7,15.7,295,5337,0.00,2.22,0.00,0.000,6,0.000,0.046,2893,1974,2195,0,0,0,0,0,0
$GC,5664,0.74,146.0,323.1,14.5,303,5668,0.00,2.17,0.00,0.000,4,0.000,0.052,2893,3386,2194,0,0,0,0,0,0
$GC,5731,0.74,146.0,312.9,15.2,304,5735,0.00,2.22,0.00,0.000,6,0.000,0.042,2902,1966,2192,0,0,0,0,0,0
$GC,6051,0.74,146.0,266.0,13.2,318,6055,0.00,2.22,0.00,0.000,4,0.000,0.060,2913,562,2191,0,0,0,0,0,0
$GC,6113,0.74,146.0,256.8,14.9,321,6118,0.12,2.17,0.00,0.000,6,0.149,0.038,2879,1985,2190,0,0,0,0,0,0
$GC,6439,0.74,146.0,215.0,14.1,337,6443,0.00,2.25,0.00,0.000,4,0.000,0.056,2887,558,2189,0,0,0,0,0,0
$GC,6517,0.74,146.0,204.3,11.8,340,6523,0.00,2.17,0.00,0.000,6,0.000,0.037,2887,1977,2189,0,0,0,0,0,0
$GC,6847,0.74,146.0,168.4,10.9,369,6851,0.00,2.17,0.00,0.000,4,0.000,0.051,2888,3384,2188,0,0,0,0,0,0
$GC,6888,0.74,146.0,163.5,12.0,372,6892,0.00,2.17,0.00,0.000,6,0.000,0.040,2897,1969,2187,0,0,0,0,0,0
$GC,7214,0.74,146.0,124.5,11.0,402,7218,0.00,2.22,0.00,0.000,4,0.000,0.050,2897,3386,2187,0,0,0,0,0,0
$GC,7267,0.74,146.0,118.4,11.6,406,7271,0.00,2.17,0.00,0.000,6,0.000,0.041,2907,1969,2187,0,0,0,0,0,0
$GC,7594,0.74,146.0,80.6,10.6,436,7598,0.00,2.17,0.00,0.000,4,0.000,0.056,2916,567,2187,0,0,0,0,0,0
$GC,7752,0.74,146.0,63.7,10.7,464,7759,0.10,2.17,0.00,0.000,6,0.117,0.037,2881,1974,2187,0,0,0,0,0,0
$GC,8088,0.74,146.0,29.9,10.8,525,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1975,2187,0,0,0,0,0,0
$GC,8254,0.76,164.1,15.3,8.3,556,8274,0.00,0.00,14.05,0.451,6,0.000,0.000,2881,1975,2129,0,0,0,0,0,0
$STATE,8396,end climb,SURFACE_DEPTH_REACHED
$STATE,8396,begin surface coast
$FINISH,0.6,1.023390
$STATE,8423,end surface coast,CONTROL_FINISHED_OK
$STATE,8423,begin surface
$SM_CCo,8441,62.25,0.449,0,0,1575,300.24
$SM_GC,1.38,0.00,0.00,62.25,0.000,0.000,0.449,40,1982,1575,-8.13,0.62,300.24
$IRIDIUM_FIX,2108.69,-15750.02,110802,090927
$TT8_MAMPS,0.028379
$HUMID,62.83
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,24.7,17.608
$10V_AH,10.5,19.253
$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,18.750,83.975,256.450,62.250,0.000,28.594,34.865,156.050,19.000,0.000,19.952,1089.491,4983.091,377.361,1950.996,452.766,0.000,1068.351,0.000,1895.755,0.000,121.353,0.000
$DEVICE_MAMPS,232.401,66.729,780.039,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.380,339.057,1148.937,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31874,587
$CAP_FILE_SIZE,95052,0
$CFSIZE,260165632,245084160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170513,140049,2107.937,-15756.203,16,1.3,16,9.8