version: 66.06
glider: 523
mission: 4
dive: 254
start: 5 21 113 18 57 28
data:
$ID,523
$MISSION,4
$DIVE,254
$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,-40865.656
$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,37
$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
$GPS1,185132,2108.290,-15757.848,20,0.8,21,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.6
$GPS2,185711,2108.274,-15757.851,14,1.3,14,9.8
$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,90.2,26200,-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,-77.70,0.000,6,0.000,0.000,52,1972,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-5.9,13,118,9.52,2.15,0.00,0.000,4,0.234,0.041,2383,3369,3397,0,0,0,0,0,0
$GC,321,-0.74,-146.0,51.9,-18.2,53,326,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1961,3399,0,0,0,0,0,0
$GC,655,-0.74,-146.0,101.5,-12.4,100,659,0.00,2.20,0.00,0.000,4,0.000,0.056,2383,551,3400,0,0,0,0,0,0
$GC,688,-0.74,-146.0,106.1,-12.9,102,695,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1959,3401,0,0,0,0,0,0
$GC,1015,-0.74,-146.0,145.6,-12.7,133,1019,0.00,2.25,0.00,0.000,4,0.000,0.053,2374,546,3401,0,0,0,0,0,0
$GC,1113,-0.74,-146.0,158.8,-13.7,141,1122,0.10,2.17,0.00,0.000,6,0.147,0.036,2395,1965,3401,0,0,0,0,0,0
$GC,1440,-0.74,-146.0,197.5,-11.0,172,1444,0.00,2.28,0.00,0.000,4,0.000,0.053,2396,552,3402,0,0,0,0,0,0
$GC,1529,-0.74,-146.0,207.1,-9.2,177,1533,0.00,2.15,0.00,0.000,6,0.000,0.036,2388,1966,3402,0,0,0,0,0,0
$GC,1852,-0.74,-146.0,232.4,-8.4,193,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1966,3402,0,0,0,0,0,0
$GC,2160,-0.74,-146.0,255.9,-7.3,208,2165,0.00,2.30,0.00,0.000,4,0.000,0.054,2388,541,3403,0,0,0,0,0,0
$GC,2239,-0.74,-146.0,262.8,-8.4,211,2244,0.00,2.15,0.00,0.000,6,0.000,0.037,2378,1960,3403,0,0,0,0,0,0
$GC,2559,-0.74,-146.0,285.5,-6.8,227,2563,0.00,2.20,0.00,0.000,4,0.000,0.054,2368,3367,3403,0,0,0,0,0,0
$GC,2599,-0.74,-146.0,288.7,-7.3,229,2604,0.12,2.22,0.00,0.000,6,0.150,0.043,2401,1954,3403,0,0,0,0,0,0
$GC,2947,-0.74,-146.0,311.3,-6.4,242,2951,0.00,2.22,0.00,0.000,4,0.000,0.060,2402,554,3403,0,0,0,0,0,0
$GC,3183,-0.74,-146.0,329.3,-8.5,247,3187,0.00,2.12,0.00,0.000,6,0.000,0.038,2394,1963,3401,0,0,0,0,0,0
$GC,3535,-0.74,-146.0,352.6,-6.3,256,3538,0.00,2.17,0.00,0.000,4,0.000,0.058,2383,3364,3399,0,0,0,0,0,0
$GC,3557,-0.74,-146.0,354.2,-6.1,256,3561,0.00,2.20,0.00,0.000,6,0.000,0.042,2383,1954,3399,0,0,0,0,0,0
$GC,3894,-0.74,-146.0,374.5,-5.9,265,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1954,3397,0,0,0,0,0,0
$GC,4219,-0.74,-146.0,394.9,-6.4,273,4224,0.00,2.25,0.00,0.000,4,0.000,0.064,2383,549,3395,0,0,0,0,0,0
$GC,4266,-0.74,-146.0,398.2,-8.0,274,4270,0.00,2.17,0.00,0.000,6,0.000,0.041,2374,1961,3394,0,0,0,0,0,0
$GC,4593,-0.74,-146.0,426.7,-9.5,282,4597,0.00,2.20,0.00,0.000,4,0.000,0.059,2364,3363,3392,0,0,0,0,0,0
$GC,4626,-0.74,-146.0,430.2,-10.1,282,4633,0.12,2.20,0.00,0.000,6,0.153,0.044,2397,1956,3392,0,0,0,0,0,0
$STATE,4874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4874,begin apogee
$GC,4881,-0.17,0.0,450.3,7.8,289,5003,0.57,0.00,118.68,0.782,6,0.120,0.000,2585,1956,2800,0,0,0,0,0,0
$STATE,5003,end apogee,CONTROL_FINISHED_OK
$STATE,5004,begin climb
$GC,5006,0.74,146.0,451.7,0.0,292,5143,0.82,2.42,125.35,0.752,4,0.077,0.064,2881,568,2202,0,0,0,0,0,0
$GC,5194,0.74,146.0,431.1,14.6,296,5198,0.00,2.28,0.00,0.000,6,0.000,0.041,2881,1979,2199,0,0,0,0,0,0
$GC,5536,0.74,146.0,379.9,15.7,305,5540,0.00,2.22,0.00,0.000,4,0.000,0.060,2881,3388,2195,0,0,0,0,0,0
$GC,5591,0.74,146.0,370.1,17.6,306,5596,0.00,2.22,0.00,0.000,6,0.000,0.041,2891,1975,2194,0,0,0,0,0,0
$GC,5939,0.74,146.0,315.5,15.4,315,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1975,2193,0,0,0,0,0,0
$GC,6247,0.74,146.0,269.7,15.6,327,6251,0.00,2.25,0.00,0.000,4,0.000,0.056,2901,562,2191,0,0,0,0,0,0
$GC,6354,0.74,146.0,253.7,15.0,332,6358,0.00,2.20,0.00,0.000,6,0.000,0.038,2901,1988,2190,0,0,0,0,0,0
$GC,6680,0.74,146.0,208.8,12.2,348,6684,0.00,2.17,0.00,0.000,4,0.000,0.053,2901,3383,2189,0,0,0,0,0,0
$GC,6758,0.74,146.0,197.9,14.4,351,6764,0.12,2.17,0.00,0.000,6,0.161,0.041,2877,1973,2188,0,0,0,0,0,0
$GC,7085,0.74,146.0,163.6,10.4,382,7089,0.00,2.20,0.00,0.000,4,0.000,0.055,2886,562,2187,0,0,0,0,0,0
$GC,7149,0.74,146.0,156.4,10.8,387,7157,0.00,2.20,0.00,0.000,6,0.000,0.036,2886,1985,2187,0,0,0,0,0,0
$GC,7476,0.74,146.0,120.4,10.2,418,7480,0.00,2.17,0.00,0.000,4,0.000,0.051,2886,3391,2187,0,0,0,0,0,0
$GC,7593,0.74,146.0,106.7,12.4,428,7596,0.00,2.17,0.00,0.000,6,0.000,0.040,2897,1976,2187,0,0,0,0,0,0
$GC,7918,0.74,146.0,68.3,10.2,468,7926,0.00,2.25,0.00,0.000,4,0.000,0.054,2907,566,2187,0,0,0,0,0,0
$GC,7994,0.74,146.0,60.8,10.2,481,8000,0.00,2.15,0.00,0.000,6,0.000,0.034,2907,1980,2187,0,0,0,0,0,0
$GC,8327,0.74,146.0,25.5,10.4,542,8335,0.00,2.17,0.00,0.000,4,0.000,0.051,2907,3374,2187,0,0,0,0,0,0
$GC,8484,0.74,146.0,9.1,10.3,571,8492,0.10,2.22,0.00,0.000,6,0.120,0.044,2879,1974,2187,0,0,0,0,0,0
$STATE,8555,end climb,SURFACE_DEPTH_REACHED
$STATE,8555,begin surface coast
$FINISH,0.5,1.535947
$STATE,8596,end surface coast,CONTROL_FINISHED_OK
$STATE,8596,begin surface
$SM_CCo,8614,69.75,0.448,0,0,1574,300.24
$SM_GC,1.30,0.00,0.00,69.75,0.000,0.000,0.448,52,1969,1574,-8.09,0.25,300.24
$IRIDIUM_FIX,2057.14,-15801.19,150802,161616
$TT8_MAMPS,0.028379
$HUMID,62.71
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.7,20.886
$10V_AH,10.5,22.849
$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,18.725,79.475,244.025,69.750,0.000,23.885,40.288,151.686,19.000,0.000,14.704,1087.183,5192.811,385.393,1908.489,449.355,0.000,1057.932,0.000,1868.546,0.000,119.472,0.000
$DEVICE_MAMPS,233.935,64.428,782.340,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.117,334.312,1130.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,34931,591
$CAP_FILE_SIZE,92572,0
$CFSIZE,260165632,243138560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210513,212306,2108.334,-15756.672,14,0.8,14,9.8