version: 66.06
glider: 523
mission: 4
dive: 246
start: 5 20 113 22 57 11
data:
$ID,523
$MISSION,4
$DIVE,246
$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,-40707.645
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,225117,2105.148,-15757.077,17,1.8,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-74.8
$GPS2,225655,2105.205,-15757.112,19,1.2,19,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,294.3,10332,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.88,0.000,6,0.000,0.000,44,1978,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.3,13,118,9.52,2.15,0.00,0.000,4,0.234,0.044,2381,3368,3396,0,0,0,0,0,0
$GC,153,-0.74,-146.0,20.3,-25.1,21,160,0.00,2.28,0.00,0.000,6,0.000,0.043,2381,1957,3398,0,0,0,0,0,0
$GC,323,-0.74,-146.0,52.6,-16.9,52,330,0.00,2.30,0.00,0.000,4,0.000,0.059,2380,546,3398,0,0,0,0,0,0
$GC,445,-0.74,-146.0,73.1,-15.1,74,452,0.08,2.20,0.00,0.000,6,0.159,0.038,2395,1958,3399,0,0,0,0,0,0
$GC,780,-0.74,-146.0,118.5,-11.6,110,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1959,3400,0,0,0,0,0,0
$GC,1098,-0.74,-146.0,158.4,-12.1,140,1102,0.00,2.22,0.00,0.000,4,0.000,0.051,2395,547,3402,0,0,0,0,0,0
$GC,1184,-0.74,-146.0,169.4,-12.0,147,1193,0.00,2.17,0.00,0.000,6,0.000,0.034,2387,1968,3401,0,0,0,0,0,0
$GC,1508,-0.74,-146.0,205.1,-10.5,176,1512,0.00,2.28,0.00,0.000,4,0.000,0.051,2387,540,3402,0,0,0,0,0,0
$GC,1645,-0.74,-146.0,219.8,-10.6,182,1652,0.00,2.15,0.00,0.000,6,0.000,0.034,2377,1965,3402,0,0,0,0,0,0
$GC,1974,-0.74,-146.0,251.5,-9.6,198,1978,0.00,2.25,0.00,0.000,4,0.000,0.051,2377,544,3402,0,0,0,0,0,0
$GC,2041,-0.74,-146.0,258.9,-11.0,201,2046,0.12,2.15,0.00,0.000,6,0.163,0.035,2401,1964,3403,0,0,0,0,0,0
$GC,2368,-0.74,-146.0,289.5,-8.4,217,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1965,3402,0,0,0,0,0,0
$GC,2695,-0.74,-146.0,309.0,-5.5,229,2699,0.00,2.28,0.00,0.000,4,0.000,0.054,2402,547,3402,0,0,0,0,0,0
$GC,2936,-0.74,-146.0,329.8,-9.5,234,2940,0.00,2.15,0.00,0.000,6,0.000,0.037,2394,1958,3402,0,0,0,0,0,0
$GC,3286,-0.74,-146.0,357.9,-7.9,243,3290,0.00,2.22,0.00,0.000,4,0.000,0.058,2382,3370,3401,0,0,0,0,0,0
$GC,3320,-0.74,-146.0,360.8,-7.8,243,3326,0.00,2.20,0.00,0.000,6,0.000,0.043,2383,1954,3401,0,0,0,0,0,0
$GC,3654,-0.74,-146.0,388.0,-8.6,252,3658,0.00,2.25,0.00,0.000,4,0.000,0.060,2383,548,3399,0,0,0,0,0,0
$GC,3721,-0.74,-146.0,394.5,-9.6,253,3725,0.00,2.17,0.00,0.000,6,0.000,0.040,2374,1962,3399,0,0,0,0,0,0
$GC,4060,-0.74,-146.0,420.7,-7.4,262,4064,0.00,2.28,0.00,0.000,4,0.000,0.060,2374,553,3397,0,0,0,0,0,0
$GC,4216,-0.74,-146.0,435.9,-9.4,265,4221,0.12,2.17,0.00,0.000,6,0.168,0.044,2397,1958,3395,0,0,0,0,0,0
$STATE,4429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4429,begin apogee
$GC,4435,-0.17,0.0,452.7,7.7,271,4558,0.57,0.00,119.00,0.774,6,0.120,0.000,2585,1958,2799,0,0,0,0,0,0
$STATE,4558,end apogee,CONTROL_FINISHED_OK
$STATE,4558,begin climb
$GC,4561,0.74,146.0,454.3,0.0,274,4693,0.82,0.00,125.10,0.746,6,0.077,0.000,2872,1958,2204,0,0,0,0,0,0
$GC,5008,0.74,146.0,398.4,13.4,285,5012,0.00,2.28,0.00,0.000,4,0.000,0.064,2882,572,2196,0,0,0,0,0,0
$GC,5087,0.74,146.0,387.5,13.3,286,5092,0.00,2.22,0.00,0.000,6,0.000,0.044,2882,1983,2195,0,0,0,0,0,0
$GC,5418,0.74,146.0,339.4,15.7,295,5422,0.00,2.20,0.00,0.000,4,0.000,0.052,2882,3392,2193,0,0,0,0,0,0
$GC,5463,0.74,146.0,332.5,15.4,296,5467,0.00,2.22,0.00,0.000,6,0.000,0.042,2892,1977,2192,0,0,0,0,0,0
$GC,5794,0.74,146.0,289.2,12.5,306,5798,0.00,2.22,0.00,0.000,4,0.000,0.058,2902,561,2191,0,0,0,0,0,0
$GC,5942,0.74,146.0,269.7,13.2,312,5948,0.00,2.17,0.00,0.000,6,0.000,0.038,2902,1987,2189,0,0,0,0,0,0
$GC,6258,0.74,146.0,227.0,13.6,328,6262,0.00,2.17,0.00,0.000,4,0.000,0.052,2902,3384,2189,0,0,0,0,0,0
$GC,6314,0.74,146.0,219.0,14.3,330,6319,0.12,2.20,0.00,0.000,6,0.164,0.041,2878,1973,2188,0,0,0,0,0,0
$GC,6639,0.74,146.0,185.0,11.4,351,6643,0.00,2.22,0.00,0.000,4,0.000,0.054,2887,564,2187,0,0,0,0,0,0
$GC,6669,0.74,146.0,180.9,12.4,353,6673,0.00,2.15,0.00,0.000,6,0.000,0.037,2887,1979,2187,0,0,0,0,0,0
$GC,6996,0.74,146.0,137.4,13.5,383,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1980,2187,0,0,0,0,0,0
$GC,7317,0.75,154.3,102.7,8.7,413,7330,0.00,2.30,5.43,0.443,4,0.000,0.054,2897,575,2170,0,0,0,0,0,0
$GC,7355,0.75,156.9,99.0,8.9,416,7368,0.00,2.15,3.90,0.372,6,0.000,0.035,2897,1980,2160,0,0,0,0,0,0
$GC,7691,0.75,156.9,69.2,9.4,457,7696,0.00,2.17,0.00,0.000,4,0.000,0.050,2897,3387,2160,0,0,0,0,0,0
$GC,7740,0.75,156.9,63.6,11.2,466,7747,0.00,2.22,0.00,0.000,6,0.000,0.038,2906,1976,2159,0,0,0,0,0,0
$GC,8075,0.75,156.9,30.4,9.8,527,8081,0.00,2.22,0.00,0.000,4,0.000,0.054,2916,564,2159,0,0,0,0,0,0
$GC,8173,0.75,156.9,21.1,9.6,545,8179,0.10,2.15,0.00,0.000,6,0.107,0.035,2880,1962,2159,0,0,0,0,0,0
$GC,8341,0.79,191.4,7.4,7.6,576,8375,0.00,0.00,30.52,0.453,6,0.000,0.000,2880,1962,2018,0,0,0,0,0,0
$STATE,8398,end climb,SURFACE_DEPTH_REACHED
$STATE,8398,begin surface coast
$FINISH,0.5,1.805603
$STATE,8436,end surface coast,CONTROL_FINISHED_OK
$STATE,8436,begin surface
$SM_CCo,8454,49.00,0.439,0,0,1575,300.24
$SM_GC,1.14,0.00,0.00,49.00,0.000,0.000,0.439,41,1962,1575,-8.12,0.06,300.24
$IRIDIUM_FIX,2052.52,-15754.77,140802,202015
$TT8_MAMPS,0.028379
$HUMID,62.20
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.7,20.239
$10V_AH,10.5,22.148
$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,18.725,75.175,283.950,49.000,0.000,27.127,32.729,147.424,19.000,0.000,19.651,1088.592,4980.567,388.147,1944.142,438.557,0.000,1083.953,0.000,1893.570,0.000,119.201,0.000
$DEVICE_MAMPS,233.935,64.428,773.903,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,401.880,334.625,1160.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,34994,592
$CAP_FILE_SIZE,93166,0
$CFSIZE,260165632,243519488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210513,012004,2105.851,-15757.994,31,0.9,31,9.8