version: 66.06
glider: 523
mission: 4
dive: 247
start: 5 21 113 1 26 35
data:
$ID,523
$MISSION,4
$DIVE,247
$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,-40727.078
$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,25
$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
$GPS1,012004,2105.851,-15757.994,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.0
$GPS2,012618,2105.881,-15757.955,18,1.0,18,9.8
$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,292.8,8428,-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,-76.10,0.000,2,0.000,0.000,41,1962,3360,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-4.0,12,113,9.48,2.25,-0.80,0.000,4,0.231,0.061,2381,3365,3398,0,0,0,0,0,0
$GC,132,-0.74,-146.0,14.1,-29.9,17,139,0.00,2.28,0.00,0.000,6,0.000,0.044,2382,1965,3399,0,0,0,0,0,0
$GC,299,-0.74,-146.0,47.0,-17.8,48,307,0.00,2.33,0.00,0.000,4,0.000,0.060,2382,548,3399,0,0,0,0,0,0
$GC,477,-0.74,-146.0,76.9,-16.4,80,485,0.00,2.20,0.00,0.000,6,0.000,0.038,2372,1962,3400,0,0,0,0,0,0
$GC,807,-0.74,-146.0,129.2,-15.1,112,809,0.10,0.00,0.00,0.000,6,0.179,0.000,2397,1962,3401,0,0,0,0,0,0
$GC,1126,-0.74,-146.0,166.4,-11.0,142,1130,0.00,2.25,0.00,0.000,4,0.000,0.051,2397,541,3402,0,0,0,0,0,0
$GC,1188,-0.74,-146.0,173.3,-11.2,147,1193,0.00,2.15,0.00,0.000,6,0.000,0.034,2389,1969,3402,0,0,0,0,0,0
$GC,1512,-0.74,-146.0,206.8,-9.5,174,1516,0.00,2.25,0.00,0.000,4,0.000,0.051,2389,544,3403,0,0,0,0,0,0
$GC,1581,-0.74,-146.0,213.5,-10.3,177,1585,0.00,2.12,0.00,0.000,6,0.000,0.035,2380,1960,3403,0,0,0,0,0,0
$GC,1902,-0.74,-146.0,247.3,-10.3,193,1906,0.00,2.22,0.00,0.000,4,0.000,0.051,2379,544,3403,0,0,0,0,0,0
$GC,1981,-0.74,-146.0,254.7,-9.2,196,1988,0.12,2.15,0.00,0.000,6,0.170,0.036,2402,1963,3403,0,0,0,0,0,0
$GC,2297,-0.74,-146.0,279.6,-7.2,212,2302,0.00,2.17,0.00,0.000,4,0.000,0.056,2393,3360,3403,0,0,0,0,0,0
$GC,2428,-0.74,-146.0,289.8,-7.8,217,2434,0.00,2.20,0.00,0.000,6,0.000,0.043,2394,1955,3403,0,0,0,0,0,0
$GC,2744,-0.74,-146.0,312.4,-7.0,229,2748,0.00,2.22,0.00,0.000,4,0.000,0.056,2393,550,3403,0,0,0,0,0,0
$GC,3002,-0.74,-146.0,333.7,-8.5,234,3007,0.00,2.15,0.00,0.000,6,0.000,0.038,2384,1961,3403,0,0,0,0,0,0
$GC,3333,-0.74,-146.0,358.9,-7.8,243,3337,0.00,2.25,0.00,0.000,4,0.000,0.057,2384,553,3401,0,0,0,0,0,0
$GC,3401,-0.74,-146.0,363.9,-7.2,244,3405,0.00,2.17,0.00,0.000,6,0.000,0.040,2375,1969,3401,0,0,0,0,0,0
$GC,3738,-0.74,-146.0,386.3,-6.5,253,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1969,3399,0,0,0,0,0,0
$GC,4065,-0.74,-146.0,411.5,-8.1,261,4069,0.00,2.30,0.00,0.000,4,0.000,0.060,2375,553,3396,0,0,0,0,0,0
$GC,4182,-0.74,-146.0,422.6,-9.5,263,4187,0.12,2.17,0.00,0.000,6,0.166,0.044,2397,1956,3395,0,0,0,0,0,0
$GC,4518,-0.74,-146.0,445.2,-6.6,271,4522,0.00,2.25,0.00,0.000,4,0.000,0.061,2389,3366,3392,0,0,0,0,0,0
$STATE,4583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4583,begin apogee
$GC,4591,-0.17,0.0,450.4,7.3,272,4713,0.57,0.00,118.65,0.779,6,0.126,0.000,2577,1975,2800,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4717,0.74,146.0,452.5,0.0,275,4851,0.85,2.40,124.78,0.749,4,0.080,0.066,2882,571,2203,0,0,0,0,0,0
$GC,4880,0.74,146.0,436.5,12.5,279,4885,0.00,2.28,0.00,0.000,6,0.000,0.044,2882,1982,2201,0,0,0,0,0,0
$GC,5205,0.74,146.0,393.7,13.4,287,5209,0.00,2.22,0.00,0.000,4,0.000,0.058,2882,3395,2196,0,0,0,0,0,0
$GC,5232,0.74,146.0,389.5,14.7,287,5237,0.00,2.30,0.00,0.000,6,0.000,0.051,2892,1975,2195,0,0,0,0,0,0
$GC,5563,0.74,146.0,346.3,13.1,295,5568,0.00,2.25,0.00,0.000,4,0.000,0.060,2903,559,2194,0,0,0,0,0,0
$GC,5597,0.74,146.0,341.5,14.8,295,5602,0.00,2.20,0.00,0.000,6,0.000,0.039,2903,1981,2194,0,0,0,0,0,0
$GC,5928,0.74,146.0,293.7,14.4,304,5932,0.00,2.28,0.00,0.000,4,0.000,0.057,2913,548,2193,0,0,0,0,0,0
$GC,5984,0.74,146.0,284.4,16.4,306,5989,0.12,2.20,0.00,0.000,6,0.159,0.038,2880,1975,2192,0,0,0,0,0,0
$GC,6300,0.74,146.0,242.2,13.3,321,6304,0.00,2.17,0.00,0.000,4,0.000,0.052,2880,3391,2190,0,0,0,0,0,0
$GC,6406,0.74,146.0,226.8,13.4,325,6412,0.00,2.22,0.00,0.000,6,0.000,0.040,2889,1953,2189,0,0,0,0,0,0
$GC,6728,0.74,146.0,186.6,12.3,346,6732,0.00,2.15,0.00,0.000,4,0.000,0.057,2899,569,2188,0,0,0,0,0,0
$GC,6780,0.74,146.0,179.8,13.4,350,6784,0.00,2.15,0.00,0.000,6,0.000,0.038,2899,1986,2188,0,0,0,0,0,0
$GC,7108,0.74,146.0,139.5,13.2,380,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1987,2188,0,0,0,0,0,0
$GC,7437,0.74,146.0,97.8,11.1,411,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1987,2188,0,0,0,0,0,0
$GC,7766,0.74,146.0,60.1,10.4,458,7774,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3373,2188,0,0,0,0,0,0
$GC,7863,0.74,146.0,49.9,10.2,475,7870,0.12,2.17,0.00,0.000,6,0.150,0.039,2874,1976,2188,0,0,0,0,0,0
$GC,8195,0.82,211.2,27.6,6.3,536,8254,0.00,2.30,52.03,0.477,4,0.000,0.054,2883,572,1937,0,0,0,0,0,0
$GC,8331,0.84,231.1,17.8,8.2,559,8358,0.00,2.20,17.73,0.443,6,0.000,0.038,2883,1976,1857,0,0,0,0,0,0
$STATE,8506,end climb,SURFACE_DEPTH_REACHED
$STATE,8506,begin surface coast
$FINISH,0.5,1.023328
$STATE,8539,end surface coast,CONTROL_FINISHED_OK
$STATE,8539,begin surface
$SM_CCo,8557,32.42,0.433,0,0,1575,300.24
$SM_GC,1.24,0.00,0.00,32.42,0.000,0.000,0.433,28,1981,1575,-8.17,0.59,300.24
$IRIDIUM_FIX,2052.52,-15749.62,140802,232301
$TT8_MAMPS,0.028379
$HUMID,62.44
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.7,20.321
$10V_AH,10.5,22.235
$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,18.800,80.000,313.175,32.425,0.000,25.337,37.489,182.678,19.000,0.000,18.806,1086.948,5066.635,379.375,1953.102,478.593,0.000,1097.992,0.000,1905.641,0.000,119.150,0.000
$DEVICE_MAMPS,230.867,65.962,779.272,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.837,336.947,1173.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,34954,597
$CAP_FILE_SIZE,94462,0
$CFSIZE,260165632,243470336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210513,035041,2106.545,-15758.531,17,1.2,17,9.8