version: 66.06
glider: 523
mission: 4
dive: 262
start: 5 22 113 15 6 10
data:
$ID,523
$MISSION,4
$DIVE,262
$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,-41013.227
$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,25
$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
$GPS1,150033,2107.969,-15748.963,27,1.1,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.0
$GPS2,150553,2107.980,-15748.906,16,1.1,16,9.8
$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,101.4,11098,-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,-77.82,0.000,6,0.000,0.000,38,1973,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.9,13,118,9.48,2.25,0.00,0.000,4,0.229,0.048,2392,543,3396,0,0,0,0,0,0
$GC,356,-0.74,-146.0,63.3,-19.1,60,363,0.00,2.17,0.00,0.000,6,0.000,0.033,2383,1960,3397,0,0,0,0,0,0
$GC,691,-0.74,-146.0,118.1,-13.9,99,695,0.00,2.22,0.00,0.000,4,0.000,0.050,2383,550,3399,0,0,0,0,0,0
$GC,845,-0.74,-146.0,139.1,-13.6,112,850,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1966,3399,0,0,0,0,0,0
$GC,1177,-0.74,-146.0,176.8,-10.0,143,1181,0.00,2.28,0.00,0.000,4,0.000,0.051,2374,548,3400,0,0,0,0,0,0
$GC,1229,-0.74,-146.0,182.6,-12.1,147,1234,0.15,2.15,0.00,0.000,6,0.160,0.035,2404,1965,3400,0,0,0,0,0,0
$GC,1550,-0.74,-146.0,214.6,-9.5,170,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1966,3401,0,0,0,0,0,0
$GC,1860,-0.74,-146.0,239.7,-7.6,185,1864,0.00,2.28,0.00,0.000,4,0.000,0.052,2405,550,3402,0,0,0,0,0,0
$GC,2116,-0.74,-146.0,262.1,-9.3,196,2121,0.00,2.12,0.00,0.000,6,0.000,0.034,2397,1959,3402,0,0,0,0,0,0
$GC,2440,-0.74,-146.0,289.9,-7.6,212,2447,0.00,2.25,0.00,0.000,4,0.000,0.053,2397,546,3402,0,0,0,0,0,0
$GC,2488,-0.74,-146.0,293.4,-7.1,214,2492,0.00,2.15,0.00,0.000,6,0.000,0.036,2388,1969,3401,0,0,0,0,0,0
$GC,2839,-0.74,-146.0,318.8,-8.0,225,2843,0.00,2.25,0.00,0.000,4,0.000,0.054,2387,552,3401,0,0,0,0,0,0
$GC,3018,-0.74,-146.0,332.2,-6.0,229,3022,0.00,2.15,0.00,0.000,6,0.000,0.038,2378,1966,3401,0,0,0,0,0,0
$GC,3344,-0.74,-146.0,351.0,-5.8,237,3348,0.00,2.28,0.00,0.000,4,0.000,0.056,2378,553,3399,0,0,0,0,0,0
$GC,3400,-0.74,-146.0,354.7,-6.4,238,3405,0.12,2.15,0.00,0.000,6,0.166,0.038,2402,1959,3399,0,0,0,0,0,0
$GC,3750,-0.74,-146.0,376.9,-6.9,247,3754,0.00,2.20,0.00,0.000,4,0.000,0.059,2393,3363,3398,0,0,0,0,0,0
$GC,3872,-0.74,-146.0,386.3,-8.7,249,3876,0.00,2.17,0.00,0.000,6,0.000,0.043,2393,1958,3397,0,0,0,0,0,0
$GC,4206,-0.74,-146.0,411.9,-7.8,257,4210,0.00,2.28,0.00,0.000,4,0.000,0.064,2393,544,3394,0,0,0,0,0,0
$GC,4344,-0.74,-146.0,423.3,-8.5,260,4348,0.00,2.17,0.00,0.000,6,0.000,0.040,2383,1965,3393,0,0,0,0,0,0
$GC,4667,-0.74,-146.0,445.1,-6.4,268,4671,0.00,2.22,0.00,0.000,4,0.000,0.061,2373,3362,3391,0,0,0,0,0,0
$GC,4707,-0.74,-146.0,448.1,-6.6,269,4711,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,1958,3390,0,0,0,0,0,0
$STATE,4739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4739,begin apogee
$GC,4746,-0.17,0.0,450.3,6.6,269,4871,0.62,0.00,118.95,0.778,6,0.128,0.000,2576,1957,2799,0,0,0,0,0,0
$STATE,4872,end apogee,CONTROL_FINISHED_OK
$STATE,4872,begin climb
$GC,4875,0.74,146.0,450.5,0.0,273,5005,0.90,0.00,126.22,0.749,6,0.084,0.000,2877,1957,2204,0,0,0,0,0,0
$GC,5317,0.74,146.0,394.5,13.6,284,5321,0.00,2.28,0.00,0.000,4,0.000,0.065,2887,568,2196,0,0,0,0,0,0
$GC,5344,0.74,146.0,390.6,13.6,284,5348,0.00,2.20,0.00,0.000,6,0.000,0.041,2887,1980,2196,0,0,0,0,0,0
$GC,5675,0.74,146.0,343.8,14.8,292,5679,0.00,2.22,0.00,0.000,4,0.000,0.058,2887,3386,2194,0,0,0,0,0,0
$GC,5742,0.74,146.0,333.8,14.7,293,5746,0.00,2.22,0.00,0.000,6,0.000,0.041,2896,1978,2192,0,0,0,0,0,0
$GC,6059,0.74,146.0,287.0,15.4,303,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1977,2191,0,0,0,0,0,0
$GC,6368,0.74,146.0,242.4,14.1,318,6372,0.00,2.25,0.00,0.000,4,0.000,0.057,2907,563,2190,0,0,0,0,0,0
$GC,6413,0.74,146.0,236.1,14.3,320,6417,0.00,2.17,0.00,0.000,6,0.000,0.038,2907,1978,2189,0,0,0,0,0,0
$GC,6738,0.74,146.0,194.8,13.5,337,6742,0.00,2.15,0.00,0.000,4,0.000,0.051,2907,3379,2189,0,0,0,0,0,0
$GC,6789,0.74,146.0,188.3,11.8,341,6794,0.15,2.20,0.00,0.000,6,0.148,0.040,2874,1972,2188,0,0,0,0,0,0
$GC,7116,0.74,146.0,155.1,9.7,371,7120,0.00,2.20,0.00,0.000,4,0.000,0.054,2882,568,2187,0,0,0,0,0,0
$GC,7146,0.74,146.0,152.3,9.9,373,7150,0.00,2.15,0.00,0.000,6,0.000,0.036,2882,1976,2187,0,0,0,0,0,0
$GC,7475,0.74,146.0,118.2,10.9,403,7479,0.00,2.15,0.00,0.000,4,0.000,0.051,2882,3379,2187,0,0,0,0,0,0
$GC,7581,0.74,146.0,106.3,10.8,412,7585,0.00,2.17,0.00,0.000,6,0.000,0.040,2893,1973,2187,0,0,0,0,0,0
$GC,7906,0.74,146.0,72.9,10.0,448,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1973,2187,0,0,0,0,0,0
$GC,8239,0.74,146.0,43.4,9.5,509,8245,0.00,2.22,0.00,0.000,4,0.000,0.054,2902,558,2188,0,0,0,0,0,0
$GC,8318,0.76,168.8,36.8,8.1,523,8343,0.00,2.15,18.02,0.468,6,0.000,0.034,2902,1977,2110,0,0,0,0,0,0
$GC,8664,0.76,168.8,9.3,9.3,587,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1977,2109,0,0,0,0,0,0
$STATE,8734,end climb,SURFACE_DEPTH_REACHED
$STATE,8734,begin surface coast
$FINISH,0.4,1.023013
$STATE,8767,end surface coast,CONTROL_FINISHED_OK
$STATE,8767,begin surface
$SM_CCo,8785,59.08,0.439,0,0,1575,300.24
$SM_GC,1.44,0.00,0.00,59.08,0.000,0.000,0.439,33,1978,1575,-8.15,0.51,300.24
$IRIDIUM_FIX,2104.07,-15747.88,160802,121222
$TT8_MAMPS,0.028379
$HUMID,61.61
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,24.7,21.513
$10V_AH,10.5,23.554
$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,18.750,74.850,263.200,59.075,0.000,25.978,32.424,134.779,19.000,0.000,17.341,1129.585,5206.956,412.718,1973.700,441.121,0.000,1081.862,0.000,1935.934,0.000,117.250,0.000
$DEVICE_MAMPS,229.333,65.195,777.738,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.090,350.336,1183.141,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,34802,606
$CAP_FILE_SIZE,93048,0
$CFSIZE,260165632,242757632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220513,173429,2108.057,-15747.204,16,1.1,16,9.8