version: 66.06
glider: 523
mission: 4
dive: 214
start: 5 17 113 14 7 11
data:
$ID,523
$MISSION,4
$DIVE,214
$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,-40107.719
$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,27
$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
$GPS1,140049,2107.937,-15756.203,16,1.3,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.3
$GPS2,140655,2107.892,-15756.290,20,1.6,20,9.8
$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,89.7,23424,-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,-76.38,0.000,2,0.000,0.000,40,1983,3382,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.2,12,113,9.55,2.20,-0.28,0.000,4,0.234,0.059,2382,3367,3396,0,0,0,0,0,0
$GC,138,-0.74,-146.0,15.7,-30.8,18,145,0.00,2.25,0.00,0.000,6,0.000,0.044,2381,1967,3397,0,0,0,0,0,0
$GC,308,-0.74,-146.0,46.0,-15.7,49,314,0.00,2.28,0.00,0.000,4,0.000,0.059,2382,539,3398,0,0,0,0,0,0
$GC,441,-0.74,-146.0,67.3,-15.3,73,447,0.12,2.17,0.00,0.000,6,0.172,0.037,2403,1974,3398,0,0,0,0,0,0
$GC,770,-0.74,-146.0,111.7,-12.8,112,774,0.00,2.25,0.00,0.000,4,0.000,0.054,2404,546,3399,0,0,0,0,0,0
$GC,865,-0.74,-146.0,124.7,-13.9,120,872,0.00,2.12,0.00,0.000,6,0.000,0.034,2396,1965,3399,0,0,0,0,0,0
$GC,1200,-0.74,-146.0,162.8,-10.9,151,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1965,3400,0,0,0,0,0,0
$GC,1518,-0.74,-146.0,197.7,-10.0,181,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1965,3401,0,0,0,0,0,0
$GC,1828,-0.74,-146.0,228.3,-8.5,197,1832,0.00,2.28,0.00,0.000,4,0.000,0.051,2396,546,3402,0,0,0,0,0,0
$GC,1928,-0.74,-146.0,237.8,-8.7,201,1933,0.00,2.12,0.00,0.000,6,0.000,0.036,2386,1960,3402,0,0,0,0,0,0
$GC,2246,-0.74,-146.0,264.4,-7.5,216,2253,0.00,2.28,0.00,0.000,4,0.000,0.053,2386,538,3402,0,0,0,0,0,0
$GC,2411,-0.74,-146.0,278.3,-8.4,223,2415,0.00,2.17,0.00,0.000,6,0.000,0.038,2376,1963,3402,0,0,0,0,0,0
$GC,2734,-0.74,-146.0,304.6,-9.1,238,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1963,3401,0,0,0,0,0,0
$GC,3057,-0.74,-146.0,337.3,-10.4,246,3061,0.00,2.22,0.00,0.000,4,0.000,0.059,2366,3372,3401,0,0,0,0,0,0
$GC,3141,-0.74,-146.0,346.3,-11.2,248,3146,0.12,2.22,0.00,0.000,6,0.152,0.043,2398,1952,3401,0,0,0,0,0,0
$GC,3468,-0.74,-146.0,374.9,-7.7,256,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1952,3399,0,0,0,0,0,0
$GC,3791,-0.74,-146.0,394.2,-5.9,264,3795,0.00,2.22,0.00,0.000,4,0.000,0.062,2399,546,3395,0,0,0,0,0,0
$GC,3892,-0.74,-146.0,401.6,-7.4,266,3896,0.00,2.17,0.00,0.000,6,0.000,0.042,2390,1966,3396,0,0,0,0,0,0
$GC,4240,-0.74,-146.0,424.6,-6.4,275,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1967,3393,0,0,0,0,0,0
$GC,4565,-0.74,-146.0,447.0,-6.9,283,4569,0.00,2.25,0.00,0.000,4,0.000,0.064,2379,3374,3391,0,0,0,0,0,0
$STATE,4603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4603,begin apogee
$GC,4612,-0.17,0.0,450.1,7.3,284,4734,0.62,0.00,118.55,0.784,6,0.128,0.000,2579,1978,2800,0,0,0,0,0,0
$STATE,4735,end apogee,CONTROL_FINISHED_OK
$STATE,4735,begin climb
$GC,4737,0.74,146.0,452.0,0.0,287,4872,0.85,2.38,124.95,0.754,4,0.081,0.058,2881,560,2203,0,0,0,0,0,0
$GC,4911,0.74,146.0,433.6,15.0,291,4915,0.00,2.28,0.00,0.000,6,0.000,0.038,2881,1980,2199,0,0,0,0,0,0
$GC,5224,0.74,146.0,385.7,15.4,299,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1981,2196,0,0,0,0,0,0
$GC,5549,0.74,146.0,338.5,14.0,307,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1981,2195,0,0,0,0,0,0
$GC,5874,0.74,146.0,295.8,13.2,315,5878,0.00,2.20,0.00,0.000,4,0.000,0.053,2881,3392,2193,0,0,0,0,0,0
$GC,5897,0.74,146.0,292.3,15.6,316,5901,0.00,2.28,0.00,0.000,6,0.000,0.051,2891,1970,2193,0,0,0,0,0,0
$GC,6224,0.74,146.0,246.2,13.7,332,6228,0.00,2.22,0.00,0.000,4,0.000,0.061,2900,557,2191,0,0,0,0,0,0
$GC,6269,0.74,146.0,240.1,13.6,334,6273,0.00,2.20,0.00,0.000,6,0.000,0.038,2900,1985,2191,0,0,0,0,0,0
$GC,6590,0.74,146.0,201.3,10.5,350,6594,0.00,2.28,0.00,0.000,4,0.000,0.056,2910,555,2189,0,0,0,0,0,0
$GC,6611,0.74,146.0,198.8,11.1,351,6619,0.08,2.20,0.00,0.000,6,0.124,0.039,2884,1970,2189,0,0,0,0,0,0
$GC,6940,0.74,146.0,160.3,10.0,382,6944,0.00,2.17,0.00,0.000,4,0.000,0.051,2884,3387,2188,0,0,0,0,0,0
$GC,7024,0.74,146.0,151.2,11.7,389,7028,0.00,2.20,0.00,0.000,6,0.000,0.039,2892,1957,2188,0,0,0,0,0,0
$GC,7351,0.74,146.0,115.5,12.3,419,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1957,2187,0,0,0,0,0,0
$GC,7669,0.74,146.0,78.1,10.2,450,7677,0.00,2.20,0.00,0.000,4,0.000,0.056,2902,576,2188,0,0,0,0,0,0
$GC,7744,0.74,146.0,70.5,10.2,463,7750,0.00,2.15,0.00,0.000,6,0.000,0.037,2902,1988,2188,0,0,0,0,0,0
$GC,8076,0.74,146.0,36.3,9.2,524,8083,0.00,2.17,0.00,0.000,4,0.000,0.050,2902,3370,2188,0,0,0,0,0,0
$GC,8204,0.74,146.0,23.8,10.1,547,8212,0.10,2.17,0.00,0.000,6,0.122,0.039,2876,1983,2189,0,0,0,0,0,0
$GC,8374,0.75,156.9,10.0,8.6,578,8388,0.00,2.25,8.23,0.416,4,0.000,0.054,2885,567,2159,0,0,0,0,0,0
$GC,8427,0.76,167.3,5.8,8.6,587,8442,0.00,2.17,10.07,0.422,6,0.000,0.038,2885,1971,2118,0,0,0,0,0,0
$STATE,8458,end climb,SURFACE_DEPTH_REACHED
$STATE,8458,begin surface coast
$FINISH,0.5,1.011974
$STATE,8490,end surface coast,CONTROL_FINISHED_OK
$STATE,8490,begin surface
$SM_CCo,8508,58.88,0.446,0,0,1574,300.24
$SM_GC,1.34,0.00,0.00,58.88,0.000,0.000,0.446,35,1975,1574,-8.14,0.42,300.24
$IRIDIUM_FIX,2101.76,-15805.48,110802,111147
$TT8_MAMPS,0.027612
$HUMID,62.60
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.7,17.686
$10V_AH,10.5,19.339
$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,18.600,71.000,261.800,58.875,0.000,30.089,50.191,153.167,19.000,0.000,20.453,1079.468,5148.481,377.943,1873.698,452.944,0.000,1023.601,0.000,1823.180,0.000,117.244,0.000
$DEVICE_MAMPS,233.935,63.661,783.874,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.369,340.371,1173.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31836,598
$CAP_FILE_SIZE,89848,0
$CFSIZE,260165632,245043200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170513,163105,2108.089,-15755.160,28,1.1,28,9.8