version: 66.06
glider: 523
mission: 4
dive: 265
start: 5 22 113 22 48 9
data:
$ID,523
$MISSION,4
$DIVE,265
$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,-41066.34
$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,35
$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
$GPS1,224223,2107.295,-15744.184,14,1.8,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.9
$GPS2,224753,2107.267,-15744.233,18,1.1,18,9.8
$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,130.0,3522,-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,-76.10,0.000,2,0.000,0.000,49,1994,3365,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.1,12,113,9.45,2.33,-0.70,0.000,4,0.231,0.061,2390,544,3396,0,0,0,0,0,0
$GC,282,-0.74,-146.0,43.0,-17.6,45,287,0.00,2.15,0.00,0.000,6,0.000,0.034,2381,1966,3397,0,0,0,0,0,0
$GC,617,-0.74,-146.0,94.0,-12.4,98,623,0.00,2.30,0.00,0.000,4,0.000,0.052,2381,546,3399,0,0,0,0,0,0
$GC,785,-0.74,-146.0,117.4,-13.7,113,790,0.12,2.12,0.00,0.000,6,0.165,0.034,2404,1962,3399,0,0,0,0,0,0
$GC,1112,-0.74,-146.0,153.6,-11.2,143,1116,0.00,2.25,0.00,0.000,4,0.000,0.051,2404,540,3401,0,0,0,0,0,0
$GC,1360,-0.74,-146.0,183.6,-11.9,165,1368,0.00,2.17,0.00,0.000,6,0.000,0.035,2397,1963,3402,0,0,0,0,0,0
$GC,1692,-0.74,-146.0,214.0,-8.1,189,1696,0.00,2.22,0.00,0.000,4,0.000,0.051,2397,550,3401,0,0,0,0,0,0
$GC,1781,-0.74,-146.0,222.8,-9.6,193,1785,0.00,2.15,0.00,0.000,6,0.000,0.035,2387,1970,3401,0,0,0,0,0,0
$GC,2102,-0.74,-146.0,252.9,-10.2,209,2106,0.00,2.25,0.00,0.000,4,0.000,0.051,2387,548,3402,0,0,0,0,0,0
$GC,2209,-0.74,-146.0,263.8,-9.9,214,2213,0.00,2.15,0.00,0.000,6,0.000,0.036,2377,1966,3402,0,0,0,0,0,0
$GC,2538,-0.74,-146.0,287.6,-6.2,230,2542,0.00,2.17,0.00,0.000,4,0.000,0.056,2367,3362,3401,0,0,0,0,0,0
$GC,2762,-0.74,-146.0,304.7,-9.0,239,2767,0.12,2.20,0.00,0.000,6,0.152,0.044,2400,1960,3401,0,0,0,0,0,0
$GC,3088,-0.74,-146.0,329.7,-7.6,247,3093,0.00,2.20,0.00,0.000,4,0.000,0.056,2401,550,3401,0,0,0,0,0,0
$GC,3334,-0.74,-146.0,350.7,-7.9,252,3338,0.00,2.12,0.00,0.000,6,0.000,0.038,2393,1959,3401,0,0,0,0,0,0
$GC,3676,-0.74,-146.0,373.2,-6.1,261,3680,0.00,2.28,0.00,0.000,4,0.000,0.056,2393,551,3399,0,0,0,0,0,0
$GC,3791,-0.74,-146.0,380.3,-6.9,263,3795,0.00,2.15,0.00,0.000,6,0.000,0.040,2383,1963,3398,0,0,0,0,0,0
$GC,4136,-0.74,-146.0,405.6,-7.9,272,4140,0.00,2.28,0.00,0.000,4,0.000,0.058,2383,548,3396,0,0,0,0,0,0
$GC,4164,-0.74,-146.0,408.4,-9.4,272,4168,0.00,2.20,0.00,0.000,6,0.000,0.043,2374,1968,3395,0,0,0,0,0,0
$GC,4504,-0.74,-146.0,437.2,-8.5,281,4508,0.00,2.20,0.00,0.000,4,0.000,0.061,2364,3365,3393,0,0,0,0,0,0
$GC,4640,-0.74,-146.0,449.2,-8.9,284,4645,0.15,2.22,0.00,0.000,6,0.146,0.044,2405,1949,3393,0,0,0,0,0,0
$STATE,4649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4649,begin apogee
$GC,4655,-0.17,0.0,450.4,9.0,284,4777,0.52,0.00,118.60,0.769,6,0.117,0.000,2582,1949,2800,0,0,0,0,0,0
$STATE,4778,end apogee,CONTROL_FINISHED_OK
$STATE,4778,begin climb
$GC,4781,0.74,146.0,452.4,0.0,287,4917,0.85,2.40,125.75,0.742,4,0.075,0.066,2884,572,2202,0,0,0,0,0,0
$GC,4941,0.74,146.0,435.9,13.9,291,4945,0.00,2.28,0.00,0.000,6,0.000,0.042,2884,1981,2200,0,0,0,0,0,0
$GC,5283,0.74,146.0,385.9,15.0,300,5287,0.00,2.25,0.00,0.000,4,0.000,0.060,2884,3392,2195,0,0,0,0,0,0
$GC,5355,0.74,146.0,373.2,17.6,301,5359,0.00,2.25,0.00,0.000,6,0.000,0.041,2894,1966,2194,0,0,0,0,0,0
$GC,5691,0.74,146.0,318.4,15.5,310,5695,0.00,2.22,0.00,0.000,4,0.000,0.051,2894,3385,2192,0,0,0,0,0,0
$GC,5730,0.74,146.0,312.3,15.3,310,5736,0.00,2.22,0.00,0.000,6,0.000,0.041,2904,1966,2191,0,0,0,0,0,0
$GC,6044,0.74,146.0,266.0,14.9,324,6048,0.00,2.25,0.00,0.000,4,0.000,0.051,2904,3390,2191,0,0,0,0,0,0
$GC,6122,0.74,146.0,253.6,14.8,327,6128,0.15,2.17,0.00,0.000,6,0.154,0.041,2873,1976,2191,0,0,0,0,0,0
$GC,6438,0.74,146.0,213.0,13.2,343,6442,0.00,2.20,0.00,0.000,4,0.000,0.055,2882,560,2189,0,0,0,0,0,0
$GC,6527,0.74,146.0,202.0,11.5,347,6531,0.00,2.15,0.00,0.000,6,0.000,0.035,2882,1982,2188,0,0,0,0,0,0
$GC,6858,0.74,146.0,163.8,10.3,377,6862,0.00,2.17,0.00,0.000,4,0.000,0.051,2882,3389,2188,0,0,0,0,0,0
$GC,6911,0.74,146.0,157.8,10.8,381,6918,0.00,2.20,0.00,0.000,6,0.000,0.040,2892,1977,2187,0,0,0,0,0,0
$GC,7239,0.74,146.0,119.9,11.8,412,7243,0.00,2.17,0.00,0.000,4,0.000,0.054,2902,568,2187,0,0,0,0,0,0
$GC,7282,0.74,146.0,115.1,9.6,415,7290,0.00,2.17,0.00,0.000,6,0.000,0.035,2902,1983,2187,0,0,0,0,0,0
$GC,7609,0.74,146.0,77.3,10.5,448,7616,0.00,2.17,0.00,0.000,4,0.000,0.051,2902,3379,2187,0,0,0,0,0,0
$GC,7676,0.74,146.0,70.4,10.1,460,7684,0.10,2.20,0.00,0.000,6,0.123,0.039,2877,1970,2187,0,0,0,0,0,0
$GC,8011,0.75,156.1,42.7,8.6,521,8024,0.00,2.20,6.90,0.422,4,0.000,0.051,2886,561,2163,0,0,0,0,0,0
$GC,8053,0.80,199.9,39.5,7.2,528,8099,0.00,2.17,38.17,0.482,6,0.000,0.034,2886,1979,1983,0,0,0,0,0,0
$GC,8419,0.83,219.3,10.1,8.2,596,8440,0.00,0.00,16.85,0.438,6,0.000,0.000,2886,1979,1905,0,0,0,0,0,0
$STATE,8503,end climb,SURFACE_DEPTH_REACHED
$STATE,8503,begin surface coast
$FINISH,0.5,1.011888
$STATE,8543,end surface coast,CONTROL_FINISHED_OK
$STATE,8543,begin surface
$SM_CCo,8560,39.53,0.438,0,0,1574,300.24
$SM_GC,1.47,0.00,0.00,39.53,0.000,0.000,0.438,39,1985,1574,-8.13,0.68,300.24
$IRIDIUM_FIX,2057.14,-15741.46,160802,202024
$TT8_MAMPS,0.027612
$HUMID,62.52
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.7,21.747
$10V_AH,10.5,23.824
$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,18.800,84.000,306.275,39.525,0.000,28.444,39.206,133.608,19.000,0.000,19.387,1143.365,4848.634,408.310,2090.001,439.295,0.000,1147.421,0.000,2038.568,0.000,117.264,0.000
$DEVICE_MAMPS,230.867,65.962,769.301,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,419.637,358.506,1216.121,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34932,618
$CAP_FILE_SIZE,97846,0
$CFSIZE,260165632,242614272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230513,011235,2106.644,-15743.369,26,0.9,26,9.8