version: 66.06
glider: 523
mission: 4
dive: 257
start: 5 22 113 2 28 34
data:
$ID,523
$MISSION,4
$DIVE,257
$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,-40924.844
$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,27
$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
$GPS1,022302,2108.194,-15754.639,29,0.8,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.6
$GPS2,022817,2108.193,-15754.606,15,1.2,15,9.8
$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,92.5,20671,-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,-76.18,0.000,2,0.000,0.000,47,1976,3355,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.0,-3.9,12,113,9.52,2.25,-0.88,0.000,4,0.235,0.063,2387,3367,3397,0,0,0,0,0,0
$GC,256,-0.74,-146.0,37.8,-17.9,41,262,0.00,2.25,0.00,0.000,6,0.000,0.044,2387,1952,3399,0,0,0,0,0,0
$GC,595,-0.74,-146.0,94.4,-15.5,95,599,0.00,2.28,0.00,0.000,4,0.000,0.059,2387,547,3400,0,0,0,0,0,0
$GC,674,-0.74,-146.0,105.4,-13.2,102,678,0.00,2.15,0.00,0.000,6,0.000,0.036,2377,1963,3400,0,0,0,0,0,0
$GC,1006,-0.74,-146.0,148.6,-12.8,133,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1963,3401,0,0,0,0,0,0
$GC,1324,-0.74,-146.0,182.4,-10.8,163,1328,0.00,2.25,0.00,0.000,4,0.000,0.051,2377,540,3402,0,0,0,0,0,0
$GC,1354,-0.74,-146.0,185.8,-11.7,165,1359,0.12,2.12,0.00,0.000,6,0.173,0.034,2399,1965,3402,0,0,0,0,0,0
$GC,1685,-0.74,-146.0,220.9,-10.9,187,1689,0.00,2.28,0.00,0.000,4,0.000,0.051,2399,547,3403,0,0,0,0,0,0
$GC,1757,-0.74,-146.0,227.9,-9.6,190,1761,0.00,2.12,0.00,0.000,6,0.000,0.035,2392,1963,3403,0,0,0,0,0,0
$GC,2075,-0.74,-146.0,253.7,-7.2,205,2079,0.00,2.25,0.00,0.000,4,0.000,0.053,2391,551,3403,0,0,0,0,0,0
$GC,2216,-0.74,-146.0,264.2,-8.3,211,2220,0.00,2.12,0.00,0.000,6,0.000,0.037,2381,1960,3403,0,0,0,0,0,0
$GC,2535,-0.74,-146.0,291.7,-10.0,226,2539,0.00,2.20,0.00,0.000,4,0.000,0.054,2372,3366,3403,0,0,0,0,0,0
$GC,2793,-0.74,-146.0,315.6,-8.3,233,2799,0.12,2.20,0.00,0.000,6,0.152,0.042,2405,1958,3402,0,0,0,0,0,0
$GC,3127,-0.74,-146.0,340.3,-7.8,242,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1957,3402,0,0,0,0,0,0
$GC,3451,-0.74,-146.0,363.2,-6.6,250,3455,0.00,2.22,0.00,0.000,4,0.000,0.059,2405,553,3401,0,0,0,0,0,0
$GC,3710,-0.74,-146.0,380.8,-6.4,255,3715,0.00,2.15,0.00,0.000,6,0.000,0.040,2397,1963,3399,0,0,0,0,0,0
$GC,4042,-0.74,-146.0,400.6,-6.4,264,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1963,3397,0,0,0,0,0,0
$GC,4366,-0.74,-146.0,423.7,-7.1,272,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1963,3395,0,0,0,0,0,0
$GC,4694,-0.74,-146.0,447.7,-7.5,280,4698,0.00,2.30,0.00,0.000,4,0.000,0.061,2397,552,3392,0,0,0,0,0,0
$STATE,4721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4721,begin apogee
$GC,4730,-0.17,0.0,450.3,8.0,280,4852,0.57,0.00,118.82,0.779,6,0.127,0.000,2575,1983,2799,0,0,0,0,0,0
$STATE,4853,end apogee,CONTROL_FINISHED_OK
$STATE,4853,begin climb
$GC,4856,0.74,146.0,452.7,0.0,283,4991,0.88,2.30,125.10,0.751,4,0.080,0.051,2876,3384,2203,0,0,0,0,0,0
$GC,5024,0.74,146.0,434.1,15.3,287,5028,0.00,2.30,0.00,0.000,6,0.000,0.049,2885,1979,2200,0,0,0,0,0,0
$GC,5343,0.74,146.0,385.2,15.3,295,5347,0.00,2.28,0.00,0.000,4,0.000,0.059,2896,555,2196,0,0,0,0,0,0
$GC,5404,0.74,146.0,376.0,14.8,296,5408,0.00,2.22,0.00,0.000,6,0.000,0.044,2896,1974,2195,0,0,0,0,0,0
$GC,5753,0.74,146.0,323.5,15.3,305,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1975,2194,0,0,0,0,0,0
$GC,6059,0.74,146.0,279.9,12.8,316,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1976,2192,0,0,0,0,0,0
$GC,6368,0.74,146.0,240.3,12.5,331,6372,0.00,2.22,0.00,0.000,4,0.000,0.052,2896,3390,2190,0,0,0,0,0,0
$GC,6408,0.74,146.0,235.1,13.0,333,6412,0.00,2.25,0.00,0.000,6,0.000,0.048,2906,1970,2189,0,0,0,0,0,0
$GC,6727,0.74,146.0,195.6,13.3,350,6731,0.00,2.22,0.00,0.000,4,0.000,0.058,2916,561,2188,0,0,0,0,0,0
$GC,6821,0.74,146.0,182.4,14.4,358,6826,0.15,2.20,0.00,0.000,6,0.140,0.038,2874,1992,2188,0,0,0,0,0,0
$GC,7148,0.74,146.0,146.2,10.7,388,7152,0.00,2.20,0.00,0.000,4,0.000,0.051,2874,3380,2188,0,0,0,0,0,0
$GC,7178,0.74,146.0,143.0,11.1,390,7182,0.00,2.20,0.00,0.000,6,0.000,0.040,2882,1973,2187,0,0,0,0,0,0
$GC,7504,0.74,146.0,105.1,11.0,420,7508,0.00,2.25,0.00,0.000,4,0.000,0.057,2893,558,2187,0,0,0,0,0,0
$GC,7524,0.74,146.0,103.0,10.8,421,7528,0.00,2.17,0.00,0.000,6,0.000,0.037,2893,1981,2187,0,0,0,0,0,0
$GC,7849,0.74,146.0,67.5,9.5,462,7856,0.00,2.22,0.00,0.000,4,0.000,0.051,2893,3380,2187,0,0,0,0,0,0
$GC,7903,0.74,146.0,62.0,10.9,471,7908,0.00,2.15,0.00,0.000,6,0.000,0.038,2902,1974,2187,0,0,0,0,0,0
$GC,8236,0.74,146.0,29.3,9.4,532,8244,0.00,2.28,0.00,0.000,4,0.000,0.055,2902,3376,2187,0,0,0,0,0,0
$GC,8263,0.74,146.0,26.6,9.9,536,8270,0.10,2.22,0.00,0.000,6,0.121,0.044,2875,1973,2188,0,0,0,0,0,0
$GC,8432,0.78,178.2,13.4,7.7,567,8465,0.00,2.28,25.30,0.459,4,0.000,0.057,2884,565,2072,0,0,0,0,0,0
$GC,8535,0.82,213.5,5.8,7.6,585,8576,0.00,2.20,30.35,0.449,6,0.000,0.038,2884,1977,1928,0,0,0,0,0,0
$STATE,8581,end climb,SURFACE_DEPTH_REACHED
$STATE,8581,begin surface coast
$FINISH,0.5,1.008297
$STATE,8622,end surface coast,CONTROL_FINISHED_OK
$STATE,8622,begin surface
$SM_CCo,8640,39.85,0.436,0,0,1576,300.24
$SM_GC,1.35,0.00,0.00,39.85,0.000,0.000,0.436,35,1978,1576,-8.14,0.51,300.24
$IRIDIUM_FIX,2057.14,-15753.90,160802,000014
$TT8_MAMPS,0.028379
$HUMID,62.64
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.7,21.117
$10V_AH,10.5,23.111
$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,18.800,75.600,299.575,39.850,0.000,24.083,31.446,134.927,19.250,0.000,15.711,1085.167,5174.524,372.908,1943.736,419.491,0.000,1068.130,0.000,1897.202,0.000,119.463,0.000
$DEVICE_MAMPS,234.702,62.894,779.272,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.515,344.384,1178.664,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,31817,599
$CAP_FILE_SIZE,92938,0
$CFSIZE,260165632,242999296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220513,045413,2108.171,-15753.230,20,1.0,20,9.8