version: 66.06
glider: 523
mission: 4
dive: 219
start: 5 18 113 2 56 23
data:
$ID,523
$MISSION,4
$DIVE,219
$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,-40198.758
$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,32
$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
$GPS1,025033,2108.240,-15750.493,50,1.5,50,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.5
$GPS2,025607,2108.213,-15750.507,20,1.5,20,9.8
$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,98.9,13845,-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,-76.03,0.000,2,0.000,0.000,36,1992,3356,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-4.5,12,113,9.50,2.38,-0.88,0.000,4,0.232,0.064,2390,546,3398,0,0,0,0,0,0
$GC,226,-0.74,-146.0,32.3,-21.0,35,232,0.00,2.20,0.00,0.000,6,0.000,0.038,2382,1971,3399,0,0,0,0,0,0
$GC,561,-0.74,-146.0,88.5,-15.5,92,565,0.00,2.25,0.00,0.000,4,0.000,0.051,2382,549,3400,0,0,0,0,0,0
$GC,720,-0.74,-146.0,111.9,-13.4,106,725,0.00,2.15,0.00,0.000,6,0.000,0.035,2373,1977,3400,0,0,0,0,0,0
$GC,1053,-0.74,-146.0,153.2,-11.9,137,1058,0.10,2.28,0.00,0.000,4,0.176,0.051,2398,540,3402,0,0,0,0,0,0
$GC,1217,-0.74,-146.0,173.0,-11.1,151,1221,0.00,2.12,0.00,0.000,6,0.000,0.034,2389,1962,3402,0,0,0,0,0,0
$GC,1550,-0.74,-146.0,208.5,-10.2,178,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1963,3403,0,0,0,0,0,0
$GC,1859,-0.74,-146.0,234.2,-7.8,193,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1963,3403,0,0,0,0,0,0
$GC,2172,-0.74,-146.0,260.6,-8.7,208,2176,0.00,2.17,0.00,0.000,4,0.000,0.054,2379,3359,3403,0,0,0,0,0,0
$GC,2284,-0.74,-146.0,269.7,-7.1,213,2291,0.00,2.17,0.00,0.000,6,0.000,0.041,2379,1950,3403,0,0,0,0,0,0
$GC,2615,-0.74,-146.0,294.6,-8.2,229,2622,0.00,2.17,0.00,0.000,4,0.000,0.056,2379,553,3403,0,0,0,0,0,0
$GC,2649,-0.74,-146.0,298.0,-9.5,230,2654,0.12,2.12,0.00,0.000,6,0.170,0.038,2402,1961,3403,0,0,0,0,0,0
$GC,2965,-0.74,-146.0,322.5,-7.8,238,2969,0.00,2.25,0.00,0.000,4,0.000,0.056,2403,550,3403,0,0,0,0,0,0
$GC,3091,-0.74,-146.0,333.3,-8.4,240,3096,0.00,2.17,0.00,0.000,6,0.000,0.039,2395,1967,3402,0,0,0,0,0,0
$GC,3422,-0.74,-146.0,359.3,-7.6,249,3426,0.00,2.22,0.00,0.000,4,0.000,0.059,2384,3369,3400,0,0,0,0,0,0
$GC,3518,-0.74,-146.0,366.7,-7.2,251,3522,0.00,2.17,0.00,0.000,6,0.000,0.042,2384,1959,3400,0,0,0,0,0,0
$GC,3833,-0.74,-146.0,390.9,-8.1,259,3837,0.00,2.25,0.00,0.000,4,0.000,0.063,2384,547,3398,0,0,0,0,0,0
$GC,3951,-0.74,-146.0,401.9,-9.7,261,3955,0.00,2.17,0.00,0.000,6,0.000,0.042,2375,1962,3397,0,0,0,0,0,0
$GC,4289,-0.74,-146.0,430.5,-8.2,270,4293,0.00,2.25,0.00,0.000,4,0.000,0.061,2375,554,3394,0,0,0,0,0,0
$GC,4329,-0.74,-146.0,434.0,-8.7,271,4334,0.12,2.20,0.00,0.000,6,0.170,0.045,2397,1964,3394,0,0,0,0,0,0
$STATE,4614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4614,begin apogee
$GC,4620,-0.17,0.0,452.1,6.1,278,4742,0.57,0.00,118.72,0.785,6,0.126,0.000,2583,1964,2800,0,0,0,0,0,0
$STATE,4743,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4746,0.74,146.0,453.0,0.0,281,4880,0.82,2.40,125.07,0.753,4,0.082,0.061,2878,574,2202,0,0,0,0,0,0
$GC,4914,0.74,146.0,434.6,13.8,285,4918,0.00,2.28,0.00,0.000,6,0.000,0.043,2878,1984,2200,0,0,0,0,0,0
$GC,5233,0.74,146.0,389.0,14.4,293,5237,0.00,2.22,0.00,0.000,4,0.000,0.054,2879,3394,2195,0,0,0,0,0,0
$GC,5277,0.74,146.0,382.2,14.7,294,5281,0.00,2.25,0.00,0.000,6,0.000,0.043,2888,1977,2194,0,0,0,0,0,0
$GC,5595,0.74,146.0,336.4,14.4,302,5599,0.00,2.22,0.00,0.000,4,0.000,0.059,2899,566,2193,0,0,0,0,0,0
$GC,5702,0.74,146.0,322.0,12.7,304,5706,0.00,2.20,0.00,0.000,6,0.000,0.038,2899,1990,2193,0,0,0,0,0,0
$GC,6026,0.74,146.0,279.8,12.5,316,6030,0.00,2.15,0.00,0.000,4,0.000,0.052,2899,3381,2191,0,0,0,0,0,0
$GC,6053,0.74,146.0,276.0,13.9,317,6058,0.12,2.20,0.00,0.000,6,0.165,0.042,2875,1974,2190,0,0,0,0,0,0
$GC,6374,0.74,146.0,236.6,13.5,333,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1974,2189,0,0,0,0,0,0
$GC,6683,0.74,146.0,198.9,11.4,348,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1974,2188,0,0,0,0,0,0
$GC,7006,0.74,146.0,166.9,10.1,378,7010,0.00,2.20,0.00,0.000,4,0.000,0.057,2885,555,2188,0,0,0,0,0,0
$GC,7027,0.74,146.0,164.0,10.9,379,7034,0.00,2.20,0.00,0.000,6,0.000,0.038,2885,1974,2187,0,0,0,0,0,0
$GC,7354,0.74,146.0,129.9,10.8,410,7358,0.00,2.17,0.00,0.000,4,0.000,0.051,2885,3386,2187,0,0,0,0,0,0
$GC,7448,0.74,146.0,118.4,12.1,418,7452,0.00,2.17,0.00,0.000,6,0.000,0.040,2894,1963,2187,0,0,0,0,0,0
$GC,7775,0.74,146.0,84.2,9.5,448,7779,0.00,2.17,0.00,0.000,4,0.000,0.056,2905,562,2187,0,0,0,0,0,0
$GC,7826,0.74,146.0,79.3,9.8,452,7833,0.00,2.17,0.00,0.000,6,0.000,0.036,2905,1976,2186,0,0,0,0,0,0
$GC,8162,0.74,146.0,42.3,11.0,513,8167,0.00,2.15,0.00,0.000,4,0.000,0.051,2905,3388,2187,0,0,0,0,0,0
$GC,8278,0.74,146.0,29.2,11.4,534,8286,0.10,2.20,0.00,0.000,6,0.120,0.038,2878,1978,2188,0,0,0,0,0,0
$GC,8445,0.80,197.8,16.3,6.9,565,8490,0.00,0.00,40.97,0.473,6,0.000,0.000,2878,1977,1991,0,0,0,0,0,0
$STATE,8601,end climb,SURFACE_DEPTH_REACHED
$STATE,8601,begin surface coast
$FINISH,0.6,1.023419
$STATE,8634,end surface coast,CONTROL_FINISHED_OK
$STATE,8634,begin surface
$SM_CCo,8651,46.10,0.445,0,0,1575,300.24
$SM_GC,1.29,0.00,0.00,46.10,0.000,0.000,0.445,38,1974,1575,-8.14,0.40,300.24
$IRIDIUM_FIX,2057.14,-15748.75,120802,000028
$TT8_MAMPS,0.028379
$HUMID,63.38
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.7,18.117
$10V_AH,10.5,19.780
$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,18.650,75.100,284.775,46.100,0.000,30.178,35.871,138.601,19.250,0.000,21.238,1095.140,5160.737,372.553,1963.913,438.803,0.000,1067.699,0.000,1913.671,0.000,117.249,0.000
$DEVICE_MAMPS,231.634,64.428,784.641,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.615,353.907,1179.912,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,31813,599
$CAP_FILE_SIZE,93671,0
$CFSIZE,260165632,244785152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180513,052234,2108.226,-15749.242,34,0.9,34,9.8