version: 66.06
glider: 523
mission: 4
dive: 221
start: 5 18 113 7 55 3
data:
$ID,523
$MISSION,4
$DIVE,221
$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,-40245.062
$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
$GPS1,074904,2107.984,-15748.316,37,1.2,37,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.2
$GPS2,075447,2107.988,-15748.391,28,0.9,28,9.8
$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,103.3,10277,-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,-76.18,0.000,2,0.000,0.000,36,1972,3385,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.8,12,111,9.45,0.00,0.00,0.000,6,0.231,0.000,2391,1972,3386,0,0,0,0,0,0
$GC,270,-0.74,-146.0,42.5,-17.7,44,277,0.00,2.33,0.00,0.000,4,0.000,0.056,2391,554,3388,0,0,0,0,0,0
$GC,292,-0.74,-146.0,46.0,-16.6,47,297,0.00,2.17,0.00,0.000,6,0.000,0.037,2383,1970,3388,0,0,0,0,0,0
$GC,629,-0.74,-146.0,100.4,-14.4,97,633,0.00,2.28,0.00,0.000,4,0.000,0.053,2383,553,3390,0,0,0,0,0,0
$GC,801,-0.74,-146.0,125.9,-13.4,112,805,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1974,3390,0,0,0,0,0,0
$GC,1128,-0.74,-146.0,164.1,-11.1,142,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1974,3391,0,0,0,0,0,0
$GC,1446,-0.74,-146.0,196.5,-9.6,172,1450,0.00,2.25,0.00,0.000,4,0.000,0.050,2374,551,3392,0,0,0,0,0,0
$GC,1556,-0.74,-146.0,208.2,-10.4,178,1561,0.15,2.10,0.00,0.000,6,0.160,0.035,2404,1962,3393,0,0,0,0,0,0
$GC,1877,-0.74,-146.0,237.7,-9.0,194,1881,0.00,2.15,0.00,0.000,4,0.000,0.054,2396,3358,3392,0,0,0,0,0,0
$GC,1996,-0.74,-146.0,247.6,-7.6,199,2001,0.00,2.15,0.00,0.000,6,0.000,0.042,2396,1956,3393,0,0,0,0,0,0
$GC,2316,-0.74,-146.0,273.5,-7.6,214,2320,0.00,2.20,0.00,0.000,4,0.000,0.054,2396,554,3392,0,0,0,0,0,0
$GC,2575,-0.74,-146.0,298.1,-10.4,225,2581,0.00,2.15,0.00,0.000,6,0.000,0.038,2386,1964,3392,0,0,0,0,0,0
$GC,2888,-0.74,-146.0,326.4,-8.4,234,2892,0.00,2.22,0.00,0.000,4,0.000,0.056,2387,555,3392,0,0,0,0,0,0
$GC,2954,-0.74,-146.0,332.5,-9.2,235,2958,0.00,2.12,0.00,0.000,6,0.000,0.040,2377,1959,3391,0,0,0,0,0,0
$GC,3298,-0.74,-146.0,360.4,-8.1,244,3302,0.00,2.20,0.00,0.000,4,0.000,0.058,2367,3363,3390,0,0,0,0,0,0
$GC,3349,-0.74,-146.0,364.7,-8.1,245,3354,0.12,2.17,0.00,0.000,6,0.153,0.042,2399,1963,3390,0,0,0,0,0,0
$GC,3676,-0.74,-146.0,387.4,-6.9,253,3680,0.00,2.22,0.00,0.000,4,0.000,0.061,2400,554,3387,0,0,0,0,0,0
$GC,3772,-0.74,-146.0,394.4,-7.6,255,3776,0.00,2.17,0.00,0.000,6,0.000,0.042,2392,1966,3387,0,0,0,0,0,0
$GC,4090,-0.74,-146.0,414.5,-6.5,263,4094,0.00,2.20,0.00,0.000,4,0.000,0.061,2381,3368,3384,0,0,0,0,0,0
$GC,4176,-0.74,-146.0,420.1,-6.4,265,4180,0.00,2.20,0.00,0.000,6,0.000,0.044,2381,1961,3384,0,0,0,0,0,0
$GC,4500,-0.74,-146.0,443.6,-7.4,273,4504,0.00,2.25,0.00,0.000,4,0.000,0.065,2381,555,3382,0,0,0,0,0,0
$STATE,4582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4583,begin apogee
$GC,4591,-0.17,0.0,450.3,7.4,275,4711,0.68,0.00,116.38,0.783,6,0.131,0.000,2585,1974,2800,0,0,0,0,0,0
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$GC,4714,0.74,146.0,451.3,0.0,278,4851,0.82,2.47,125.53,0.752,4,0.080,0.063,2879,566,2203,0,0,0,0,0,0
$GC,4868,0.74,146.0,435.5,12.8,281,4872,0.00,2.28,0.00,0.000,6,0.000,0.043,2879,1977,2201,0,0,0,0,0,0
$GC,5199,0.74,146.0,386.5,15.0,289,5203,0.00,2.20,0.00,0.000,4,0.000,0.054,2879,3387,2195,0,0,0,0,0,0
$GC,5232,0.74,146.0,381.2,16.7,289,5237,0.00,2.25,0.00,0.000,6,0.000,0.046,2888,1973,2194,0,0,0,0,0,0
$GC,5563,0.74,146.0,328.2,16.3,298,5567,0.00,2.25,0.00,0.000,4,0.000,0.059,2899,559,2193,0,0,0,0,0,0
$GC,5658,0.74,146.0,313.7,15.0,300,5662,0.00,2.20,0.00,0.000,6,0.000,0.039,2899,1979,2192,0,0,0,0,0,0
$GC,5980,0.74,146.0,267.8,13.4,313,5984,0.00,2.28,0.00,0.000,4,0.000,0.056,2909,554,2191,0,0,0,0,0,0
$GC,6023,0.74,146.0,261.4,14.3,315,6028,0.12,2.17,0.00,0.000,6,0.151,0.038,2876,1978,2191,0,0,0,0,0,0
$GC,6345,0.74,146.0,223.1,11.6,331,6349,0.00,2.17,0.00,0.000,4,0.000,0.051,2876,3379,2189,0,0,0,0,0,0
$GC,6430,0.74,146.0,212.4,12.4,335,6434,0.00,2.20,0.00,0.000,6,0.000,0.041,2883,1967,2189,0,0,0,0,0,0
$GC,6756,0.74,146.0,177.1,10.5,360,6760,0.00,2.20,0.00,0.000,4,0.000,0.058,2894,563,2188,0,0,0,0,0,0
$GC,6862,0.74,146.0,165.2,11.8,369,6866,0.00,2.17,0.00,0.000,6,0.000,0.037,2894,1984,2187,0,0,0,0,0,0
$GC,7189,0.74,146.0,126.6,11.2,399,7193,0.00,2.12,0.00,0.000,4,0.000,0.050,2894,3379,2187,0,0,0,0,0,0
$GC,7262,0.74,146.0,118.0,12.3,405,7266,0.00,2.17,0.00,0.000,6,0.000,0.039,2903,1976,2187,0,0,0,0,0,0
$GC,7589,0.74,146.0,81.5,11.5,435,7593,0.00,2.20,0.00,0.000,4,0.000,0.057,2913,564,2187,0,0,0,0,0,0
$GC,7689,0.74,146.0,70.0,10.5,451,7695,0.12,2.15,0.00,0.000,6,0.139,0.037,2878,1977,2187,0,0,0,0,0,0
$GC,8020,0.76,161.2,39.6,8.4,512,8040,0.00,2.20,11.73,0.464,4,0.000,0.049,2878,3376,2140,0,0,0,0,0,0
$GC,8259,0.76,161.2,18.6,10.4,555,8266,0.00,2.20,0.00,0.000,6,0.000,0.038,2886,1973,2139,0,0,0,0,0,0
$STATE,8423,end climb,SURFACE_DEPTH_REACHED
$STATE,8424,begin surface coast
$FINISH,0.4,1.023393
$STATE,8456,end surface coast,CONTROL_FINISHED_OK
$STATE,8456,begin surface
$SM_CCo,8474,60.97,0.447,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,60.97,0.000,0.000,0.447,32,1968,1575,-8.15,0.23,300.24
$IRIDIUM_FIX,2059.45,-15459.13,120802,050526
$TT8_MAMPS,0.028379
$HUMID,62.91
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.7,18.271
$10V_AH,10.5,19.952
$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,18.700,83.850,253.625,60.975,0.000,25.440,38.917,140.647,19.250,0.000,28.579,1115.857,4939.799,385.608,2009.233,427.862,0.000,1078.976,0.000,1947.699,0.000,119.322,0.000
$DEVICE_MAMPS,230.867,65.195,783.107,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.953,337.838,1156.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,31757,592
$CAP_FILE_SIZE,95522,0
$CFSIZE,260165632,244686848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180513,101813,2107.860,-15747.317,15,1.3,15,9.8