version: 66.06
glider: 523
mission: 4
dive: 158
start: 5 11 113 16 53 38
data:
$ID,523
$MISSION,4
$DIVE,158
$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,-39031.352
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,164754,2107.470,-15802.354,13,1.5,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-73.1
$GPS2,165321,2107.496,-15802.467,18,1.6,18,9.8
$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,85.5,33920,-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,-75.62,0.000,2,0.000,0.000,24,1975,3363,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-5.0,12,113,9.18,2.25,-0.73,0.000,4,0.219,0.062,2390,544,3396,0,0,0,0,0,0
$GC,228,-0.74,-146.0,32.7,-19.0,35,234,0.00,2.17,0.00,0.000,6,0.000,0.038,2382,1962,3398,0,0,0,0,0,0
$GC,557,-0.74,-146.0,90.0,-17.9,91,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1962,3399,0,0,0,0,0,0
$GC,876,-0.74,-146.0,132.1,-13.2,121,880,0.00,2.28,0.00,0.000,4,0.000,0.054,2382,539,3400,0,0,0,0,0,0
$GC,927,-0.74,-146.0,139.2,-13.6,125,933,0.10,2.15,0.00,0.000,6,0.177,0.035,2397,1966,3400,0,0,0,0,0,0
$GC,1260,-0.74,-146.0,181.2,-12.5,156,1264,0.00,2.20,0.00,0.000,4,0.000,0.054,2389,3373,3401,0,0,0,0,0,0
$GC,1301,-0.74,-146.0,186.2,-13.0,159,1305,0.00,2.20,0.00,0.000,6,0.000,0.044,2389,1955,3401,0,0,0,0,0,0
$GC,1620,-0.74,-146.0,224.3,-10.8,179,1624,0.00,2.22,0.00,0.000,4,0.000,0.050,2379,3363,3402,0,0,0,0,0,0
$GC,1647,-0.74,-146.0,227.0,-9.8,180,1651,0.00,2.17,0.00,0.000,6,0.000,0.044,2378,1947,3402,0,0,0,0,0,0
$GC,1965,-0.74,-146.0,255.5,-7.9,195,1969,0.00,2.17,0.00,0.000,4,0.000,0.053,2379,544,3402,0,0,0,0,0,0
$GC,2038,-0.74,-146.0,262.5,-9.5,198,2043,0.12,2.12,0.00,0.000,6,0.169,0.034,2402,1978,3402,0,0,0,0,0,0
$GC,2359,-0.74,-146.0,287.1,-7.8,214,2363,0.00,2.25,0.00,0.000,4,0.000,0.054,2402,550,3402,0,0,0,0,0,0
$GC,2454,-0.74,-146.0,295.7,-9.0,218,2458,0.00,2.10,0.00,0.000,6,0.000,0.036,2394,1953,3402,0,0,0,0,0,0
$GC,2766,-0.74,-146.0,324.1,-8.9,227,2770,0.00,2.22,0.00,0.000,4,0.000,0.054,2384,3364,3401,0,0,0,0,0,0
$GC,2810,-0.74,-146.0,327.8,-8.4,228,2814,0.00,2.17,0.00,0.000,6,0.000,0.041,2384,1949,3401,0,0,0,0,0,0
$GC,3131,-0.74,-146.0,346.6,-5.0,236,3135,0.00,2.22,0.00,0.000,4,0.000,0.062,2384,547,3401,0,0,0,0,0,0
$GC,3267,-0.74,-146.0,355.7,-7.6,239,3272,0.00,2.17,0.00,0.000,6,0.000,0.041,2374,1964,3400,0,0,0,0,0,0
$GC,3594,-0.74,-146.0,383.7,-8.9,247,3598,0.00,2.20,0.00,0.000,4,0.000,0.055,2364,3367,3398,0,0,0,0,0,0
$GC,3627,-0.74,-146.0,386.7,-8.2,247,3632,0.12,2.17,0.00,0.000,6,0.149,0.043,2398,1958,3398,0,0,0,0,0,0
$GC,3958,-0.74,-146.0,407.7,-6.6,255,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1958,3396,0,0,0,0,0,0
$GC,4284,-0.74,-146.0,424.7,-4.9,263,4288,0.00,2.22,0.00,0.000,4,0.000,0.060,2399,551,3393,0,0,0,0,0,0
$GC,4403,-0.74,-146.0,432.3,-6.6,265,4407,0.00,2.20,0.00,0.000,6,0.000,0.045,2390,1970,3393,0,0,0,0,0,0
$STATE,4698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4698,begin apogee
$GC,4705,-0.17,0.0,451.4,6.4,273,4826,0.60,0.00,118.50,0.784,6,0.117,0.000,2587,1971,2800,0,0,0,0,0,0
$STATE,4827,end apogee,CONTROL_FINISHED_OK
$STATE,4827,begin climb
$GC,4830,0.74,146.0,451.7,0.0,276,4964,0.80,2.35,124.70,0.751,4,0.077,0.051,2869,3386,2204,0,0,0,0,0,0
$GC,4998,0.74,146.0,429.6,17.9,280,5002,0.00,2.33,0.00,0.000,6,0.000,0.044,2879,1971,2201,0,0,0,0,0,0
$GC,5316,0.74,146.0,379.8,15.0,288,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1971,2196,0,0,0,0,0,0
$GC,5641,0.74,146.0,328.5,16.0,296,5645,0.00,2.25,0.00,0.000,4,0.000,0.061,2890,563,2194,0,0,0,0,0,0
$GC,5690,0.74,146.0,321.6,13.5,297,5695,0.00,2.20,0.00,0.000,6,0.000,0.041,2889,1992,2193,0,0,0,0,0,0
$GC,6006,0.74,146.0,273.7,13.6,309,6010,0.00,2.17,0.00,0.000,4,0.000,0.054,2889,3384,2191,0,0,0,0,0,0
$GC,6068,0.74,146.0,265.4,14.7,312,6072,0.00,2.20,0.00,0.000,6,0.000,0.043,2898,1970,2190,0,0,0,0,0,0
$GC,6394,0.74,146.0,219.5,13.9,328,6398,0.00,2.20,0.00,0.000,4,0.000,0.060,2908,568,2190,0,0,0,0,0,0
$GC,6482,0.74,146.0,207.3,13.4,332,6487,0.12,2.17,0.00,0.000,6,0.150,0.042,2875,1987,2189,0,0,0,0,0,0
$GC,6813,0.74,146.0,168.4,12.6,360,6816,0.00,2.17,0.00,0.000,4,0.000,0.054,2874,3388,2188,0,0,0,0,0,0
$GC,6886,0.74,146.0,159.8,10.9,366,6890,0.00,2.17,0.00,0.000,6,0.000,0.042,2882,1973,2187,0,0,0,0,0,0
$GC,7213,0.74,146.0,128.5,10.1,396,7216,0.00,2.20,0.00,0.000,4,0.000,0.057,2892,564,2187,0,0,0,0,0,0
$GC,7253,0.74,146.0,124.4,11.0,399,7257,0.00,2.20,0.00,0.000,6,0.000,0.044,2892,1984,2187,0,0,0,0,0,0
$GC,7580,0.74,146.0,90.6,10.4,429,7584,0.00,2.12,0.00,0.000,4,0.000,0.051,2892,3384,2187,0,0,0,0,0,0
$GC,7601,0.74,146.0,88.2,11.7,430,7605,0.00,2.17,0.00,0.000,6,0.000,0.039,2903,1974,2187,0,0,0,0,0,0
$GC,7931,0.74,146.0,51.9,11.5,483,7937,0.00,2.20,0.00,0.000,4,0.000,0.056,2912,569,2188,0,0,0,0,0,0
$GC,8045,0.74,146.0,38.4,11.8,504,8052,0.10,2.17,0.00,0.000,6,0.112,0.037,2876,1984,2187,0,0,0,0,0,0
$GC,8372,0.76,165.9,10.7,8.2,565,8392,0.00,2.15,15.60,0.444,4,0.000,0.048,2876,3384,2123,0,0,0,0,0,0
$STATE,8461,end climb,SURFACE_DEPTH_REACHED
$STATE,8461,begin surface coast
$FINISH,0.6,1.023391
$STATE,8480,end surface coast,CONTROL_FINISHED_OK
$STATE,8480,begin surface
$SM_CCo,8499,61.10,0.443,0,0,1574,300.24
$SM_GC,1.41,0.00,0.00,61.10,0.000,0.000,0.443,24,1952,1574,-8.18,-0.23,300.24
$IRIDIUM_FIX,2101.76,-15720.85,050802,141411
$TT8_MAMPS,0.028379
$HUMID,61.02
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.7,13.141
$10V_AH,10.6,14.420
$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,18.350,83.600,258.800,61.100,0.000,30.848,35.701,134.391,19.000,0.000,18.750,1083.460,5122.663,371.187,1889.218,422.708,0.000,1029.707,0.000,1840.798,0.000,117.251,0.000
$DEVICE_MAMPS,219.362,62.127,783.874,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,397.392,336.907,1145.166,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,31824,584
$CAP_FILE_SIZE,93657,0
$CFSIZE,260165632,247668736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110513,191734,2107.591,-15801.626,36,0.7,36,9.8