version: 66.06
glider: 523
mission: 4
dive: 218
start: 5 18 113 0 23 41
data:
$ID,523
$MISSION,4
$DIVE,218
$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,-40176.891
$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,24
$R_STBD_OVSHOOT,34
$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
$GPS1,001742,2108.265,-15752.004,19,0.8,19,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-65.3
$GPS2,002324,2108.249,-15752.015,17,0.8,17,9.8
$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,96.2,16352,-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,-146.0,0.0,0.0,0,138,0.00,0.00,-120.18,0.000,2,0.000,0.000,31,1981,3360,0,0,0,0,0,0
$GC,142,-0.74,-146.0,3.0,-4.6,19,163,9.52,2.40,-0.80,0.000,4,0.231,0.064,2393,550,3398,0,0,0,0,0,0
$GC,288,-0.74,-146.0,34.4,-18.0,45,293,0.00,2.15,0.00,0.000,6,0.000,0.037,2384,1957,3399,0,0,0,0,0,0
$GC,626,-0.74,-146.0,89.0,-15.8,102,633,0.00,2.30,0.00,0.000,4,0.000,0.053,2384,549,3399,0,0,0,0,0,0
$GC,799,-0.74,-146.0,116.2,-14.4,117,807,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1967,3400,0,0,0,0,0,0
$GC,1127,-0.74,-146.0,154.1,-11.4,148,1131,0.00,2.28,0.00,0.000,4,0.000,0.051,2375,548,3400,0,0,0,0,0,0
$GC,1361,-0.74,-146.0,182.3,-11.5,169,1365,0.12,2.12,0.00,0.000,6,0.170,0.035,2397,1969,3400,0,0,0,0,0,0
$GC,1691,-0.74,-146.0,217.3,-10.5,192,1695,0.00,2.17,0.00,0.000,4,0.000,0.054,2388,3368,3400,0,0,0,0,0,0
$GC,1848,-0.74,-146.0,233.6,-10.5,199,1852,0.00,2.20,0.00,0.000,6,0.000,0.043,2389,1948,3400,0,0,0,0,0,0
$GC,2171,-0.74,-146.0,258.3,-6.4,215,2175,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,544,3401,0,0,0,0,0,0
$GC,2244,-0.74,-146.0,263.8,-7.6,218,2248,0.00,2.12,0.00,0.000,6,0.000,0.037,2379,1959,3400,0,0,0,0,0,0
$GC,2563,-0.74,-146.0,288.1,-7.9,233,2567,0.00,2.20,0.00,0.000,4,0.000,0.057,2369,3373,3400,0,0,0,0,0,0
$GC,2652,-0.74,-146.0,295.9,-8.5,237,2657,0.12,2.17,0.00,0.000,6,0.156,0.042,2401,1956,3400,0,0,0,0,0,0
$GC,2972,-0.74,-146.0,318.8,-7.0,247,2976,0.00,2.20,0.00,0.000,4,0.000,0.058,2402,544,3399,0,0,0,0,0,0
$GC,3033,-0.74,-146.0,323.1,-6.9,248,3037,0.00,2.15,0.00,0.000,6,0.000,0.039,2394,1962,3398,0,0,0,0,0,0
$GC,3376,-0.74,-146.0,344.7,-6.3,257,3381,0.00,2.25,0.00,0.000,4,0.000,0.058,2394,548,3396,0,0,0,0,0,0
$GC,3466,-0.74,-146.0,351.7,-8.2,259,3470,0.00,2.15,0.00,0.000,6,0.000,0.042,2383,1957,3395,0,0,0,0,0,0
$GC,3793,-0.74,-146.0,376.4,-7.6,267,3797,0.00,2.22,0.00,0.000,4,0.000,0.062,2373,3367,3393,0,0,0,0,0,0
$GC,3832,-0.74,-146.0,379.4,-7.5,268,3836,0.00,2.17,0.00,0.000,6,0.000,0.043,2373,1955,3393,0,0,0,0,0,0
$GC,4159,-0.74,-146.0,403.9,-7.0,276,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1955,3391,0,0,0,0,0,0
$GC,4482,-0.74,-146.0,429.7,-8.3,284,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1955,3388,0,0,0,0,0,0
$STATE,4723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4723,begin apogee
$GC,4730,-0.17,0.0,451.0,8.6,290,4851,0.65,0.00,117.90,0.781,6,0.128,0.000,2580,1955,2799,0,0,0,0,0,0
$STATE,4852,end apogee,CONTROL_FINISHED_OK
$STATE,4852,begin climb
$GC,4855,0.74,146.0,452.6,0.0,293,4986,0.85,0.00,125.05,0.749,6,0.081,0.000,2872,1954,2204,0,0,0,0,0,0
$GC,5302,0.74,146.0,393.8,15.2,304,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1954,2195,0,0,0,0,0,0
$GC,5626,0.74,146.0,347.2,14.0,312,5630,0.00,2.22,0.00,0.000,4,0.000,0.059,2882,560,2192,0,0,0,0,0,0
$GC,5648,0.74,146.0,344.0,14.2,312,5652,0.00,2.20,0.00,0.000,6,0.000,0.038,2882,1980,2192,0,0,0,0,0,0
$GC,5985,0.74,146.0,297.3,13.5,321,5989,0.00,2.28,0.00,0.000,4,0.000,0.057,2892,568,2190,0,0,0,0,0,0
$GC,6025,0.74,146.0,291.8,13.6,323,6029,0.00,2.17,0.00,0.000,6,0.000,0.038,2892,1976,2189,0,0,0,0,0,0
$GC,6352,0.74,146.0,250.4,12.4,339,6356,0.00,2.17,0.00,0.000,4,0.000,0.052,2892,3390,2188,0,0,0,0,0,0
$GC,6424,0.74,146.0,240.3,14.9,342,6428,0.00,2.20,0.00,0.000,6,0.000,0.043,2902,1965,2188,0,0,0,0,0,0
$GC,6740,0.74,146.0,197.8,12.3,357,6744,0.00,2.20,0.00,0.000,4,0.000,0.058,2912,567,2187,0,0,0,0,0,0
$GC,6808,0.74,146.0,189.0,13.5,363,6812,0.12,2.17,0.00,0.000,6,0.147,0.038,2879,1985,2186,0,0,0,0,0,0
$GC,7134,0.74,146.0,151.1,10.0,393,7138,0.00,2.15,0.00,0.000,4,0.000,0.051,2879,3386,2186,0,0,0,0,0,0
$GC,7175,0.74,146.0,146.8,10.7,396,7179,0.00,2.17,0.00,0.000,6,0.000,0.040,2887,1974,2185,0,0,0,0,0,0
$GC,7502,0.74,146.0,111.9,10.1,426,7506,0.00,2.20,0.00,0.000,4,0.000,0.056,2897,566,2185,0,0,0,0,0,0
$GC,7597,0.74,146.0,101.6,10.3,434,7601,0.00,2.15,0.00,0.000,6,0.000,0.036,2897,1977,2185,0,0,0,0,0,0
$GC,7925,0.75,153.1,69.0,8.7,475,7938,0.00,2.28,4.25,0.381,4,0.000,0.055,2907,568,2174,0,0,0,0,0,0
$GC,7964,0.75,153.1,65.3,9.7,481,7969,0.00,2.12,0.00,0.000,6,0.000,0.036,2907,1975,2174,0,0,0,0,0,0
$GC,8294,0.75,153.1,32.6,9.4,542,8301,0.00,2.20,0.00,0.000,4,0.000,0.050,2906,3376,2174,0,0,0,0,0,0
$GC,8363,0.75,153.1,26.1,9.8,554,8370,0.10,2.20,0.00,0.000,6,0.123,0.038,2878,1970,2175,0,0,0,0,0,0
$GC,8529,0.78,183.8,12.2,7.8,585,8561,0.00,2.22,26.80,0.460,4,0.000,0.054,2887,563,2051,0,0,0,0,0,0
$GC,8612,0.82,217.4,5.0,7.6,599,8634,0.00,2.20,17.17,0.437,2,0.000,0.036,2886,1982,1966,0,0,0,0,0,0
$STATE,8634,end climb,SURFACE_DEPTH_REACHED
$STATE,8635,begin surface coast
$FINISH,0.4,1.011283
$STATE,8661,end surface coast,CONTROL_FINISHED_OK
$STATE,8661,begin surface
$SM_CCo,8679,43.62,0.440,0,0,1575,300.24
$SM_GC,1.44,0.00,0.00,43.62,0.000,0.000,0.440,36,1991,1575,-8.14,0.88,300.24
$IRIDIUM_FIX,2057.14,-15756.91,110802,212155
$TT8_MAMPS,0.028379
$HUMID,63.19
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.7,18.039
$10V_AH,10.5,19.692
$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,18.700,79.175,291.175,43.625,0.000,28.486,37.772,146.689,19.000,0.000,17.698,1106.560,5158.833,396.926,1938.779,463.849,0.000,1113.368,0.000,1905.844,0.000,119.156,0.000
$DEVICE_MAMPS,230.867,63.661,780.806,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.689,353.092,1180.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,34899,607
$CAP_FILE_SIZE,94803,0
$CFSIZE,260165632,244826112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180513,025033,2108.240,-15750.493,50,1.5,50,9.8