version: 66.06
glider: 523
mission: 4
dive: 248
start: 5 21 113 3 56 42
data:
$ID,523
$MISSION,4
$DIVE,248
$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,-40750.707
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,035041,2106.545,-15758.531,17,1.2,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-75.8
$GPS2,035626,2106.553,-15758.498,22,1.3,22,9.8
$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,288.4,6989,-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,-77.85,0.000,6,0.000,0.000,28,1981,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-7.0,13,118,9.55,2.30,0.00,0.000,4,0.231,0.048,2393,541,3397,0,0,0,0,0,0
$GC,165,-0.74,-146.0,23.4,-22.9,23,172,0.00,2.22,0.00,0.000,6,0.000,0.037,2384,1963,3398,0,0,0,0,0,0
$GC,336,-0.74,-146.0,53.8,-13.5,54,344,0.00,2.30,0.00,0.000,4,0.000,0.054,2384,555,3399,0,0,0,0,0,0
$GC,401,-0.74,-146.0,63.0,-14.2,65,406,0.00,2.17,0.00,0.000,6,0.000,0.037,2375,1974,3399,0,0,0,0,0,0
$GC,730,-0.74,-146.0,108.0,-12.7,107,734,0.00,2.30,0.00,0.000,4,0.000,0.053,2375,547,3400,0,0,0,0,0,0
$GC,919,-0.74,-146.0,136.3,-14.5,123,923,0.12,2.15,0.00,0.000,6,0.169,0.035,2397,1967,3401,0,0,0,0,0,0
$GC,1251,-0.74,-146.0,170.3,-9.8,154,1255,0.00,2.17,0.00,0.000,4,0.000,0.055,2389,3361,3402,0,0,0,0,0,0
$GC,1282,-0.74,-146.0,173.5,-11.0,156,1286,0.00,2.22,0.00,0.000,6,0.000,0.045,2389,1955,3402,0,0,0,0,0,0
$GC,1605,-0.74,-146.0,207.0,-10.3,183,1609,0.00,2.20,0.00,0.000,4,0.000,0.053,2389,546,3402,0,0,0,0,0,0
$GC,1690,-0.74,-146.0,215.7,-10.1,187,1694,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1966,3403,0,0,0,0,0,0
$GC,2016,-0.74,-146.0,247.3,-10.0,203,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1966,3403,0,0,0,0,0,0
$GC,2328,-0.74,-146.0,277.2,-7.7,218,2332,0.00,2.20,0.00,0.000,4,0.000,0.055,2369,3362,3403,0,0,0,0,0,0
$GC,2430,-0.74,-146.0,285.1,-7.4,222,2436,0.12,2.22,0.00,0.000,6,0.153,0.044,2402,1948,3402,0,0,0,0,0,0
$GC,2748,-0.74,-146.0,307.0,-7.0,236,2752,0.00,2.22,0.00,0.000,4,0.000,0.052,2394,3365,3402,0,0,0,0,0,0
$GC,2788,-0.74,-146.0,309.9,-6.9,237,2792,0.00,2.20,0.00,0.000,6,0.000,0.044,2394,1960,3402,0,0,0,0,0,0
$GC,3119,-0.74,-146.0,334.8,-7.6,245,3124,0.00,2.28,0.00,0.000,4,0.000,0.060,2394,544,3402,0,0,0,0,0,0
$GC,3377,-0.74,-146.0,355.6,-7.6,250,3381,0.00,2.17,0.00,0.000,6,0.000,0.040,2384,1961,3400,0,0,0,0,0,0
$GC,3710,-0.74,-146.0,374.4,-5.5,258,3714,0.00,2.28,0.00,0.000,4,0.000,0.058,2383,547,3398,0,0,0,0,0,0
$GC,3969,-0.74,-146.0,394.4,-8.0,263,3974,0.00,2.17,0.00,0.000,6,0.000,0.042,2374,1969,3397,0,0,0,0,0,0
$GC,4301,-0.74,-146.0,421.6,-8.4,272,4305,0.00,2.30,0.00,0.000,4,0.000,0.061,2374,553,3394,0,0,0,0,0,0
$GC,4402,-0.74,-146.0,430.6,-8.2,274,4406,0.12,2.17,0.00,0.000,6,0.170,0.044,2398,1963,3393,0,0,0,0,0,0
$STATE,4708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4708,begin apogee
$GC,4716,-0.17,0.0,451.2,6.3,282,4838,0.57,0.00,118.78,0.778,6,0.123,0.000,2584,1963,2800,0,0,0,0,0,0
$STATE,4839,end apogee,CONTROL_FINISHED_OK
$STATE,4839,begin climb
$GC,4842,0.74,146.0,452.0,0.0,285,4972,0.88,0.00,125.65,0.747,6,0.077,0.000,2880,1963,2203,0,0,0,0,0,0
$GC,5274,0.74,146.0,395.7,14.0,296,5278,0.00,2.25,0.00,0.000,4,0.000,0.054,2881,3385,2196,0,0,0,0,0,0
$GC,5346,0.74,146.0,384.4,15.8,297,5350,0.00,2.22,0.00,0.000,6,0.000,0.043,2890,1977,2194,0,0,0,0,0,0
$GC,5683,0.74,146.0,331.3,16.0,306,5687,0.00,2.25,0.00,0.000,4,0.000,0.058,2900,564,2193,0,0,0,0,0,0
$GC,5728,0.74,146.0,324.0,16.7,307,5732,0.00,2.17,0.00,0.000,6,0.000,0.038,2901,1984,2193,0,0,0,0,0,0
$GC,6060,0.74,146.0,272.4,16.8,319,6064,0.00,2.28,0.00,0.000,4,0.000,0.054,2911,561,2191,0,0,0,0,0,0
$GC,6126,0.74,146.0,261.2,16.5,322,6131,0.12,2.20,0.00,0.000,6,0.153,0.038,2878,1986,2191,0,0,0,0,0,0
$GC,6447,0.74,146.0,218.6,13.3,338,6451,0.00,2.17,0.00,0.000,4,0.000,0.052,2878,3389,2189,0,0,0,0,0,0
$GC,6474,0.74,146.0,214.6,14.0,339,6478,0.00,2.20,0.00,0.000,6,0.000,0.041,2886,1970,2188,0,0,0,0,0,0
$GC,6806,0.74,146.0,175.6,9.9,365,6810,0.00,2.22,0.00,0.000,4,0.000,0.056,2896,564,2188,0,0,0,0,0,0
$GC,6836,0.74,146.0,172.7,9.1,367,6841,0.00,2.17,0.00,0.000,6,0.000,0.037,2896,1984,2187,0,0,0,0,0,0
$GC,7165,0.74,146.0,134.1,12.8,397,7169,0.00,2.15,0.00,0.000,4,0.000,0.051,2896,3379,2187,0,0,0,0,0,0
$GC,7281,0.74,146.0,119.6,12.5,407,7285,0.00,2.15,0.00,0.000,6,0.000,0.039,2906,1975,2186,0,0,0,0,0,0
$GC,7609,0.74,146.0,80.8,10.2,437,7613,0.00,2.17,0.00,0.000,4,0.000,0.054,2915,568,2187,0,0,0,0,0,0
$GC,7694,0.74,146.0,71.6,11.1,451,7700,0.12,2.15,0.00,0.000,6,0.140,0.035,2880,1981,2186,0,0,0,0,0,0
$GC,8027,0.75,160.1,44.3,8.4,512,8046,0.00,2.20,10.32,0.456,4,0.000,0.050,2880,3383,2146,0,0,0,0,0,0
$GC,8199,0.75,160.1,28.0,9.3,543,8207,0.00,2.20,0.00,0.000,6,0.000,0.038,2888,1977,2146,0,0,0,0,0,0
$GC,8369,0.77,175.1,14.9,8.4,574,8390,0.00,2.25,13.93,0.443,4,0.000,0.052,2898,566,2086,0,0,0,0,0,0
$GC,8469,0.82,214.5,6.6,7.4,592,8509,0.00,2.17,34.05,0.452,6,0.000,0.034,2898,1976,1924,0,0,0,0,0,0
$STATE,8515,end climb,SURFACE_DEPTH_REACHED
$STATE,8515,begin surface coast
$FINISH,0.4,1.017859
$STATE,8556,end surface coast,CONTROL_FINISHED_OK
$STATE,8557,begin surface
$SM_CCo,8574,38.90,0.436,0,0,1575,300.24
$SM_GC,1.47,0.00,0.00,38.90,0.000,0.000,0.436,39,1982,1575,-8.13,0.62,300.24
$IRIDIUM_FIX,2057.14,-15818.78,150802,010149
$TT8_MAMPS,0.028379
$HUMID,62.67
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.7,20.400
$10V_AH,10.5,22.324
$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,19.000,84.025,302.725,38.900,0.000,29.259,42.230,138.697,19.000,0.000,22.998,1127.757,4971.611,391.146,2018.823,448.464,0.000,1113.934,0.000,1962.051,0.000,121.289,0.000
$DEVICE_MAMPS,230.867,60.593,777.738,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.190,344.166,1186.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,35041,606
$CAP_FILE_SIZE,97050,0
$CFSIZE,260165632,243417088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210513,062134,2107.102,-15759.052,39,0.9,39,9.8