version: 66.06
glider: 523
mission: 4
dive: 255
start: 5 21 113 21 29 9
data:
$ID,523
$MISSION,4
$DIVE,255
$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,-40886.109
$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,24
$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
$GPS1,212306,2108.334,-15756.672,14,0.8,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.4
$GPS2,212853,2108.358,-15756.704,19,0.8,19,9.8
$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,91.4,24282,-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,-76.22,0.000,2,0.000,0.000,52,1969,3366,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.4,12,113,9.48,2.20,-0.62,0.000,4,0.233,0.056,2385,3376,3395,0,0,0,0,0,0
$GC,267,-0.74,-146.0,38.6,-15.8,43,273,0.00,2.22,0.00,0.000,6,0.000,0.041,2385,1946,3397,0,0,0,0,0,0
$GC,599,-0.74,-146.0,84.8,-13.4,101,603,0.00,2.20,0.00,0.000,4,0.000,0.054,2385,551,3398,0,0,0,0,0,0
$GC,666,-0.74,-146.0,94.3,-14.2,107,671,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1966,3398,0,0,0,0,0,0
$GC,999,-0.74,-146.0,137.1,-12.2,138,1002,0.00,2.20,0.00,0.000,4,0.000,0.052,2365,3368,3400,0,0,0,0,0,0
$GC,1061,-0.74,-146.0,144.3,-11.0,143,1066,0.12,2.22,0.00,0.000,6,0.156,0.043,2397,1953,3400,0,0,0,0,0,0
$GC,1395,-0.74,-146.0,175.1,-8.8,174,1399,0.00,2.22,0.00,0.000,4,0.000,0.053,2398,551,3401,0,0,0,0,0,0
$GC,1536,-0.74,-146.0,188.2,-9.5,186,1540,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1972,3401,0,0,0,0,0,0
$GC,1865,-0.74,-146.0,222.5,-10.9,207,1869,0.00,2.15,0.00,0.000,4,0.000,0.053,2379,3364,3402,0,0,0,0,0,0
$GC,2011,-0.74,-146.0,236.4,-8.8,213,2016,0.00,2.20,0.00,0.000,6,0.000,0.043,2379,1958,3402,0,0,0,0,0,0
$GC,2329,-0.74,-146.0,264.2,-8.6,229,2333,0.00,2.22,0.00,0.000,4,0.000,0.057,2378,554,3402,0,0,0,0,0,0
$GC,2588,-0.74,-146.0,289.8,-10.2,240,2595,0.12,2.12,0.00,0.000,6,0.170,0.037,2402,1961,3402,0,0,0,0,0,0
$GC,2925,-0.74,-146.0,315.9,-7.3,252,2929,0.00,2.28,0.00,0.000,4,0.000,0.057,2402,553,3402,0,0,0,0,0,0
$GC,3031,-0.74,-146.0,324.9,-8.9,254,3038,0.00,2.12,0.00,0.000,6,0.000,0.038,2395,1957,3402,0,0,0,0,0,0
$GC,3383,-0.74,-146.0,354.3,-8.6,263,3387,0.00,2.25,0.00,0.000,4,0.000,0.058,2395,555,3401,0,0,0,0,0,0
$GC,3486,-0.74,-146.0,362.8,-7.6,265,3490,0.00,2.17,0.00,0.000,6,0.000,0.041,2385,1966,3400,0,0,0,0,0,0
$GC,3799,-0.74,-146.0,383.5,-6.6,273,3803,0.00,2.30,0.00,0.000,4,0.000,0.061,2385,547,3398,0,0,0,0,0,0
$GC,3832,-0.74,-146.0,386.0,-7.7,273,3837,0.00,2.17,0.00,0.000,6,0.000,0.041,2375,1957,3398,0,0,0,0,0,0
$GC,4166,-0.74,-146.0,412.3,-8.3,282,4170,0.00,2.22,0.00,0.000,4,0.000,0.061,2366,3367,3395,0,0,0,0,0,0
$GC,4255,-0.74,-146.0,421.6,-10.3,284,4260,0.12,2.20,0.00,0.000,6,0.150,0.045,2398,1963,3395,0,0,0,0,0,0
$GC,4578,-0.74,-146.0,447.8,-7.8,292,4582,0.00,2.28,0.00,0.000,4,0.000,0.059,2390,3365,3392,0,0,0,0,0,0
$STATE,4605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4605,begin apogee
$GC,4613,-0.17,0.0,450.3,7.6,292,4736,0.57,0.00,119.12,0.777,6,0.123,0.000,2579,1974,2799,0,0,0,0,0,0
$STATE,4736,end apogee,CONTROL_FINISHED_OK
$STATE,4736,begin climb
$GC,4739,0.74,146.0,452.7,0.0,295,4869,0.85,0.00,126.35,0.749,6,0.078,0.000,2873,1974,2204,0,0,0,0,0,0
$GC,5191,0.74,146.0,398.4,13.5,307,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1975,2196,0,0,0,0,0,0
$GC,5516,0.74,146.0,357.9,12.0,315,5520,0.00,2.25,0.00,0.000,4,0.000,0.060,2883,558,2194,0,0,0,0,0,0
$GC,5600,0.74,146.0,347.6,12.6,317,5604,0.00,2.20,0.00,0.000,6,0.000,0.042,2883,1973,2193,0,0,0,0,0,0
$GC,5925,0.74,146.0,305.8,12.8,325,5928,0.00,2.25,0.00,0.000,4,0.000,0.055,2893,555,2191,0,0,0,0,0,0
$GC,5952,0.74,146.0,302.1,13.0,325,5956,0.00,2.20,0.00,0.000,6,0.000,0.038,2893,1993,2191,0,0,0,0,0,0
$GC,6272,0.74,146.0,257.4,14.8,340,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1994,2189,0,0,0,0,0,0
$GC,6581,0.74,146.0,213.9,12.3,355,6585,0.00,2.15,0.00,0.000,4,0.000,0.051,2893,3391,2188,0,0,0,0,0,0
$GC,6682,0.74,146.0,201.1,12.7,359,6686,0.00,2.22,0.00,0.000,6,0.000,0.041,2903,1964,2187,0,0,0,0,0,0
$GC,7008,0.74,146.0,163.0,10.7,388,7012,0.00,2.17,0.00,0.000,4,0.000,0.055,2913,569,2187,0,0,0,0,0,0
$GC,7052,0.74,146.0,157.3,12.9,391,7060,0.10,2.17,0.00,0.000,6,0.120,0.038,2879,1972,2187,0,0,0,0,0,0
$GC,7379,0.74,146.0,122.9,11.0,422,7383,0.00,2.17,0.00,0.000,4,0.000,0.050,2879,3383,2187,0,0,0,0,0,0
$GC,7441,0.74,146.0,114.8,14.0,427,7445,0.00,2.17,0.00,0.000,6,0.000,0.039,2887,1976,2186,0,0,0,0,0,0
$GC,7768,0.74,146.0,73.6,11.4,462,7775,0.00,2.22,0.00,0.000,4,0.000,0.054,2898,575,2186,0,0,0,0,0,0
$GC,7832,0.74,146.0,66.9,10.7,473,7838,0.00,2.15,0.00,0.000,6,0.000,0.035,2898,1988,2186,0,0,0,0,0,0
$GC,8164,0.74,146.0,35.3,9.1,534,8172,0.00,2.17,0.00,0.000,4,0.000,0.051,2898,3380,2187,0,0,0,0,0,0
$GC,8323,0.74,146.0,20.3,9.4,563,8331,0.00,2.20,0.00,0.000,6,0.000,0.038,2907,1980,2187,0,0,0,0,0,0
$GC,8490,0.74,146.0,5.8,9.5,594,8498,0.00,2.25,0.00,0.000,4,0.000,0.054,2915,565,2188,0,0,0,0,0,0
$GC,8517,0.75,157.5,3.4,8.6,598,8525,0.08,2.17,2.55,0.211,2,0.108,0.035,2886,1976,2170,0,0,0,0,0,0
$STATE,8526,end climb,SURFACE_DEPTH_REACHED
$STATE,8526,begin surface coast
$FINISH,0.4,1.217334
$STATE,8559,end surface coast,CONTROL_FINISHED_OK
$STATE,8559,begin surface
$SM_CCo,8577,66.68,0.446,0,0,1575,300.24
$SM_GC,1.39,0.00,0.00,66.68,0.000,0.000,0.446,29,1976,1575,-8.16,0.45,300.24
$IRIDIUM_FIX,2059.45,-15801.19,150802,191922
$TT8_MAMPS,0.028379
$HUMID,62.08
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.7,20.962
$10V_AH,10.5,22.938
$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,18.700,83.650,248.025,66.675,0.000,32.124,37.299,143.359,19.250,0.000,19.826,1122.723,5023.977,416.411,1973.006,453.031,0.000,1079.505,0.000,1928.631,0.000,117.269,0.000
$DEVICE_MAMPS,233.168,61.360,776.971,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.185,345.901,1198.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,35137,605
$CAP_FILE_SIZE,94016,0
$CFSIZE,260165632,243089408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210513,235428,2108.304,-15755.746,36,0.8,36,9.8