version: 66.06
glider: 523
mission: 4
dive: 217
start: 5 17 113 21 48 52
data:
$ID,523
$MISSION,4
$DIVE,217
$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,578.89856
$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,-40158.562
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,213304,2108.255,-15753.209,31,0.9,31,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.4
$GPS2,214835,2108.317,-15753.319,16,0.9,16,9.8
$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,94.7,18560,-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,-76.00,0.000,2,0.000,0.000,24,1978,3366,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.1,12,113,9.45,2.25,-0.65,0.000,4,0.230,0.061,2393,551,3397,0,0,0,0,0,0
$GC,168,-0.74,-146.0,21.2,-18.9,24,176,0.00,2.20,0.00,0.000,6,0.000,0.035,2384,1971,3398,0,0,0,0,0,0
$GC,341,-0.74,-146.0,51.4,-14.7,55,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1971,3398,0,0,0,0,0,0
$GC,670,-0.74,-146.0,101.8,-14.2,103,674,0.00,2.28,0.00,0.000,4,0.000,0.051,2384,544,3399,0,0,0,0,0,0
$GC,712,-0.74,-146.0,108.4,-16.4,106,716,0.00,2.12,0.00,0.000,6,0.000,0.033,2375,1965,3399,0,0,0,0,0,0
$GC,1039,-0.74,-146.0,151.4,-12.7,136,1043,0.00,2.25,0.00,0.000,4,0.000,0.050,2375,550,3400,0,0,0,0,0,0
$GC,1147,-0.74,-146.0,165.5,-14.4,145,1152,0.12,2.12,0.00,0.000,6,0.172,0.034,2397,1963,3400,0,0,0,0,0,0
$GC,1476,-0.74,-146.0,203.3,-11.5,175,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1965,3400,0,0,0,0,0,0
$GC,1788,-0.74,-146.0,232.3,-8.3,190,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1965,3400,0,0,0,0,0,0
$GC,2095,-0.74,-146.0,259.0,-7.2,205,2099,0.00,2.25,0.00,0.000,4,0.000,0.053,2397,547,3400,0,0,0,0,0,0
$GC,2233,-0.74,-146.0,269.3,-8.0,211,2237,0.00,2.12,0.00,0.000,6,0.000,0.036,2389,1961,3400,0,0,0,0,0,0
$GC,2560,-0.74,-146.0,295.9,-7.9,227,2564,0.00,2.22,0.00,0.000,4,0.000,0.056,2378,3369,3400,0,0,0,0,0,0
$GC,2627,-0.74,-146.0,301.8,-8.5,230,2631,0.00,2.17,0.00,0.000,6,0.000,0.041,2378,1956,3400,0,0,0,0,0,0
$GC,2966,-0.74,-146.0,328.1,-8.3,239,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1956,3399,0,0,0,0,0,0
$GC,3290,-0.74,-146.0,356.1,-8.2,247,3294,0.00,2.22,0.00,0.000,4,0.000,0.059,2378,548,3397,0,0,0,0,0,0
$GC,3549,-0.74,-146.0,377.2,-7.9,252,3555,0.12,2.15,0.00,0.000,6,0.166,0.040,2402,1965,3395,0,0,0,0,0,0
$GC,3882,-0.74,-146.0,398.1,-6.3,261,3886,0.00,2.25,0.00,0.000,4,0.000,0.060,2403,553,3393,0,0,0,0,0,0
$GC,3967,-0.74,-146.0,404.1,-6.6,263,3971,0.00,2.15,0.00,0.000,6,0.000,0.042,2395,1955,3392,0,0,0,0,0,0
$GC,4300,-0.74,-146.0,425.0,-6.2,271,4303,0.00,2.22,0.00,0.000,4,0.000,0.061,2384,3366,3390,0,0,0,0,0,0
$GC,4367,-0.74,-146.0,429.3,-6.1,272,4371,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,1962,3390,0,0,0,0,0,0
$STATE,4709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4709,begin apogee
$GC,4717,-0.17,0.0,452.3,7.4,281,4838,0.62,0.00,117.55,0.781,6,0.129,0.000,2583,1961,2800,0,0,0,0,0,0
$STATE,4838,end apogee,CONTROL_FINISHED_OK
$STATE,4838,begin climb
$GC,4842,0.74,146.0,455.0,0.0,284,4976,0.82,2.42,124.57,0.752,4,0.079,0.058,2870,3384,2202,0,0,0,0,0,0
$GC,4998,0.74,146.0,440.5,12.8,287,5004,0.00,2.33,0.00,0.000,6,0.000,0.051,2879,1983,2201,0,0,0,0,0,0
$GC,5330,0.74,146.0,394.4,13.9,296,5334,0.00,2.35,0.00,0.000,4,0.000,0.072,2890,557,2196,0,0,0,0,0,0
$GC,5430,0.74,146.0,380.3,13.6,298,5434,0.00,2.25,0.00,0.000,6,0.000,0.047,2890,1975,2195,0,0,0,0,0,0
$GC,5778,0.74,146.0,330.9,14.2,307,5782,0.00,2.30,0.00,0.000,4,0.000,0.068,2900,562,2193,0,0,0,0,0,0
$GC,5840,0.74,146.0,321.5,14.8,308,5844,0.00,2.20,0.00,0.000,6,0.000,0.048,2900,1975,2192,0,0,0,0,0,0
$GC,6164,0.74,146.0,272.6,14.9,320,6168,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3389,2191,0,0,0,0,0,0
$GC,6219,0.74,146.0,264.1,15.3,322,6225,0.12,2.20,0.00,0.000,6,0.162,0.041,2876,1965,2190,0,0,0,0,0,0
$GC,6535,0.74,146.0,225.1,11.5,338,6539,0.00,2.20,0.00,0.000,4,0.000,0.058,2885,560,2189,0,0,0,0,0,0
$GC,6684,0.74,146.0,209.4,10.8,344,6689,0.00,2.20,0.00,0.000,6,0.000,0.038,2885,1995,2188,0,0,0,0,0,0
$GC,7010,0.74,146.0,171.8,14.1,371,7014,0.00,2.15,0.00,0.000,4,0.000,0.053,2885,3383,2187,0,0,0,0,0,0
$GC,7052,0.74,146.0,165.3,14.9,374,7056,0.00,2.17,0.00,0.000,6,0.000,0.041,2895,1969,2187,0,0,0,0,0,0
$GC,7378,0.74,146.0,124.0,11.7,404,7382,0.00,2.20,0.00,0.000,4,0.000,0.057,2905,569,2187,0,0,0,0,0,0
$GC,7410,0.74,146.0,119.6,12.5,406,7418,0.00,2.17,0.00,0.000,6,0.000,0.037,2905,1975,2187,0,0,0,0,0,0
$GC,7739,0.74,146.0,79.2,10.2,437,7744,0.00,2.17,0.00,0.000,4,0.000,0.051,2905,3383,2187,0,0,0,0,0,0
$GC,7799,0.74,146.0,72.5,10.4,448,7807,0.10,2.20,0.00,0.000,6,0.129,0.040,2880,1979,2187,0,0,0,0,0,0
$GC,8135,0.78,183.8,46.0,7.5,509,8170,0.00,2.25,29.65,0.492,4,0.000,0.053,2889,556,2050,0,0,0,0,0,0
$GC,8302,0.80,196.3,32.4,8.5,539,8319,0.00,2.17,11.80,0.446,6,0.000,0.035,2889,1979,1999,0,0,0,0,0,0
$STATE,8599,end climb,SURFACE_DEPTH_REACHED
$STATE,8599,begin surface coast
$FINISH,0.4,1.012205
$STATE,8629,end surface coast,CONTROL_FINISHED_OK
$STATE,8629,begin surface
$SM_CCo,8646,224.90,0.441,0,0,439,578.90
$SM_GC,1.10,0.00,0.00,224.90,0.000,0.000,0.441,31,1980,439,-8.16,0.57,578.90
$IRIDIUM_FIX,2052.52,-15829.07,110802,212123
$TT8_MAMPS,0.027612
$HUMID,59.21
$INTERNAL_PRESSURE,9.28472
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.7,17.961
$10V_AH,10.5,19.604
$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,18.600,75.325,283.575,224.900,0.000,140.263,184.801,193.161,19.250,0.000,16.501,1097.909,5416.768,556.316,1940.460,792.578,0.000,1244.577,0.000,1889.435,0.000,119.407,0.000
$DEVICE_MAMPS,230.100,72.098,780.806,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.370,329.466,1125.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,31812,600
$CAP_FILE_SIZE,98066,0
$CFSIZE,260165632,244883456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180513,001742,2108.265,-15752.004,19,0.8,19,9.8