version: 66.06
glider: 523
mission: 4
dive: 250
start: 5 21 113 8 58 36
data:
$ID,523
$MISSION,4
$DIVE,250
$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,-40789.828
$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,28
$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
$GPS1,084929,2107.538,-15800.039,15,1.0,15,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-74.2
$GPS2,085818,2107.580,-15800.040,19,0.9,19,9.8
$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,282.0,3765,-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,-76.12,0.000,2,0.000,0.000,43,1963,3386,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.5,12,112,9.50,2.25,0.00,0.000,4,0.231,0.049,2395,548,3388,0,0,0,0,0,0
$GC,189,-0.74,-146.0,26.4,-18.2,28,196,0.00,2.20,0.00,0.000,6,0.000,0.038,2387,1963,3389,0,0,0,0,0,0
$GC,362,-0.74,-146.0,54.7,-17.0,59,367,0.00,2.22,0.00,0.000,4,0.000,0.057,2376,3373,3389,0,0,0,0,0,0
$GC,462,-0.74,-146.0,70.8,-15.2,77,467,0.00,2.22,0.00,0.000,6,0.000,0.044,2376,1965,3390,0,0,0,0,0,0
$GC,790,-0.74,-146.0,119.5,-15.3,113,794,0.00,2.25,0.00,0.000,4,0.000,0.058,2376,547,3391,0,0,0,0,0,0
$GC,998,-0.74,-146.0,151.4,-14.5,132,1002,0.12,2.15,0.00,0.000,6,0.170,0.035,2398,1971,3391,0,0,0,0,0,0
$GC,1325,-0.74,-146.0,184.8,-9.2,162,1329,0.00,2.28,0.00,0.000,4,0.000,0.051,2398,540,3392,0,0,0,0,0,0
$GC,1426,-0.74,-146.0,195.0,-9.8,171,1430,0.00,2.15,0.00,0.000,6,0.000,0.034,2390,1968,3392,0,0,0,0,0,0
$GC,1751,-0.74,-146.0,221.3,-8.3,189,1755,0.00,2.25,0.00,0.000,4,0.000,0.051,2390,546,3392,0,0,0,0,0,0
$GC,2009,-0.74,-146.0,243.7,-7.9,200,2015,0.00,2.15,0.00,0.000,6,0.000,0.035,2381,1962,3392,0,0,0,0,0,0
$GC,2327,-0.74,-146.0,268.3,-9.2,216,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1962,3392,0,0,0,0,0,0
$GC,2635,-0.74,-146.0,293.2,-7.8,231,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1963,3392,0,0,0,0,0,0
$GC,2943,-0.74,-146.0,317.9,-8.4,241,2947,0.00,2.28,0.00,0.000,4,0.000,0.054,2381,549,3392,0,0,0,0,0,0
$GC,3191,-0.74,-146.0,341.2,-8.7,246,3196,0.12,2.17,0.00,0.000,6,0.170,0.038,2404,1964,3390,0,0,0,0,0,0
$GC,3530,-0.74,-146.0,363.2,-6.2,255,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1965,3388,0,0,0,0,0,0
$GC,3853,-0.74,-146.0,388.9,-8.0,263,3857,0.00,2.20,0.00,0.000,4,0.000,0.061,2395,3369,3385,0,0,0,0,0,0
$GC,3967,-0.74,-146.0,396.3,-6.0,265,3971,0.00,2.22,0.00,0.000,6,0.000,0.045,2395,1956,3385,0,0,0,0,0,0
$GC,4310,-0.74,-146.0,417.1,-6.0,274,4314,0.00,2.25,0.00,0.000,4,0.000,0.063,2395,553,3383,0,0,0,0,0,0
$GC,4399,-0.74,-146.0,424.3,-8.1,276,4404,0.00,2.15,0.00,0.000,6,0.000,0.043,2385,1958,3383,0,0,0,0,0,0
$STATE,4718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4718,begin apogee
$GC,4725,-0.17,0.0,451.5,8.5,284,4845,0.62,0.00,116.82,0.782,6,0.129,0.000,2584,1958,2800,0,0,0,0,0,0
$STATE,4845,end apogee,CONTROL_FINISHED_OK
$STATE,4845,begin climb
$GC,4848,0.74,146.0,453.3,0.0,287,4985,0.85,2.45,125.35,0.752,4,0.081,0.061,2875,3376,2203,0,0,0,0,0,0
$GC,5019,0.74,146.0,433.8,16.1,291,5023,0.00,2.33,0.00,0.000,6,0.000,0.050,2884,1979,2199,0,0,0,0,0,0
$GC,5337,0.74,146.0,386.8,14.2,299,5341,0.00,2.28,0.00,0.000,4,0.000,0.059,2894,553,2195,0,0,0,0,0,0
$GC,5386,0.74,146.0,379.9,13.6,300,5391,0.00,2.22,0.00,0.000,6,0.000,0.038,2895,1980,2195,0,0,0,0,0,0
$GC,5700,0.74,146.0,335.1,14.1,308,5704,0.00,2.17,0.00,0.000,4,0.000,0.053,2895,3385,2194,0,0,0,0,0,0
$GC,5727,0.74,146.0,331.0,14.9,308,5732,0.00,2.22,0.00,0.000,6,0.000,0.043,2905,1961,2192,0,0,0,0,0,0
$GC,6039,0.74,146.0,284.9,15.4,317,6043,0.00,2.20,0.00,0.000,4,0.000,0.058,2913,561,2192,0,0,0,0,0,0
$GC,6133,0.74,146.0,270.8,13.8,321,6138,0.12,2.17,0.00,0.000,6,0.153,0.038,2881,1976,2190,0,0,0,0,0,0
$GC,6449,0.74,146.0,232.6,10.7,336,6453,0.00,2.25,0.00,0.000,4,0.000,0.055,2889,561,2189,0,0,0,0,0,0
$GC,6510,0.74,146.0,225.4,11.3,338,6515,0.00,2.17,0.00,0.000,6,0.000,0.038,2889,1979,2189,0,0,0,0,0,0
$GC,6830,0.74,146.0,188.0,11.7,358,6834,0.00,2.15,0.00,0.000,4,0.000,0.052,2889,3382,2188,0,0,0,0,0,0
$GC,6872,0.74,146.0,182.8,12.7,361,6876,0.00,2.20,0.00,0.000,6,0.000,0.040,2898,1969,2187,0,0,0,0,0,0
$GC,7199,0.74,146.0,141.7,12.1,391,7203,0.00,2.20,0.00,0.000,4,0.000,0.055,2909,569,2187,0,0,0,0,0,0
$GC,7239,0.74,146.0,136.9,11.4,394,7244,0.12,2.12,0.00,0.000,6,0.145,0.036,2875,1977,2187,0,0,0,0,0,0
$GC,7568,0.74,146.0,103.4,9.9,424,7572,0.00,2.17,0.00,0.000,4,0.000,0.050,2875,3382,2187,0,0,0,0,0,0
$GC,7673,0.74,146.0,92.4,10.7,433,7677,0.00,2.20,0.00,0.000,6,0.000,0.038,2883,1965,2187,0,0,0,0,0,0
$GC,8003,0.78,182.3,61.4,7.5,482,8038,0.00,2.22,28.70,0.504,4,0.000,0.053,2893,569,2056,0,0,0,0,0,0
$GC,8069,0.83,222.0,56.8,7.4,493,8109,0.00,2.15,34.28,0.494,6,0.000,0.035,2893,1974,1892,0,0,0,0,0,0
$GC,8436,0.83,222.0,21.1,9.9,560,8443,0.00,2.25,0.00,0.000,4,0.000,0.051,2893,3381,1890,0,0,0,0,0,0
$GC,8562,0.83,222.0,8.0,10.5,583,8569,0.00,2.22,0.00,0.000,6,0.000,0.038,2902,1976,1889,0,0,0,0,0,0
$STATE,8606,end climb,SURFACE_DEPTH_REACHED
$STATE,8606,begin surface coast
$FINISH,0.6,1.009999
$STATE,8634,end surface coast,CONTROL_FINISHED_OK
$STATE,8634,begin surface
$SM_CCo,8652,36.58,0.440,0,0,1575,300.24
$SM_GC,1.32,0.00,0.00,36.58,0.000,0.000,0.440,41,1973,1575,-8.12,0.37,300.24
$IRIDIUM_FIX,2104.07,-15800.33,150802,090917
$TT8_MAMPS,0.027612
$HUMID,63.70
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.7,20.564
$10V_AH,10.4,22.499
$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,18.800,79.775,305.150,36.575,0.000,67.542,63.472,201.200,19.250,0.000,19.739,1103.074,5195.779,379.045,1972.104,569.595,0.000,1092.768,0.000,1920.982,0.000,121.561,0.000
$DEVICE_MAMPS,230.867,62.894,781.573,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.579,341.875,1133.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,31918,596
$CAP_FILE_SIZE,98732,0
$CFSIZE,260165632,243322880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210513,112434,2107.938,-15801.368,29,0.9,29,9.8