version: 66.06
glider: 523
mission: 4
dive: 159
start: 5 11 113 19 23 12
data:
$ID,523
$MISSION,4
$DIVE,159
$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,-39047.336
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,191734,2107.591,-15801.626,36,0.7,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.2
$GPS2,192255,2107.612,-15801.671,14,0.8,14,9.8
$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,86.1,32573,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-76.93,0.000,6,0.000,0.000,25,1951,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.3,-7.0,13,117,9.25,2.20,0.00,0.000,4,0.221,0.048,2396,553,3397,0,0,0,0,0,0
$GC,240,-0.74,-146.0,38.1,-19.1,38,248,0.00,2.22,0.00,0.000,6,0.000,0.043,2388,1961,3397,0,0,0,0,0,0
$GC,575,-0.74,-146.0,86.9,-12.1,94,579,0.00,2.25,0.00,0.000,4,0.000,0.055,2388,554,3398,0,0,0,0,0,0
$GC,725,-0.74,-146.0,104.2,-10.4,107,730,0.00,2.17,0.00,0.000,6,0.000,0.036,2378,1979,3399,0,0,0,0,0,0
$GC,1053,-0.74,-146.0,143.8,-13.5,137,1057,0.00,2.20,0.00,0.000,4,0.000,0.059,2368,3367,3401,0,0,0,0,0,0
$GC,1094,-0.74,-146.0,149.0,-12.6,140,1099,0.12,2.20,0.00,0.000,6,0.152,0.045,2401,1962,3401,0,0,0,0,0,0
$GC,1421,-0.74,-146.0,186.5,-11.4,170,1425,0.00,2.22,0.00,0.000,4,0.000,0.052,2402,546,3401,0,0,0,0,0,0
$GC,1550,-0.74,-146.0,200.3,-10.3,181,1554,0.00,2.10,0.00,0.000,6,0.000,0.033,2393,1969,3401,0,0,0,0,0,0
$GC,1884,-0.74,-146.0,230.0,-8.5,197,1889,0.00,2.28,0.00,0.000,4,0.000,0.052,2393,541,3402,0,0,0,0,0,0
$GC,1967,-0.74,-146.0,237.7,-9.3,200,1973,0.00,2.12,0.00,0.000,6,0.000,0.035,2383,1963,3402,0,0,0,0,0,0
$GC,2286,-0.74,-146.0,265.2,-7.4,216,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1963,3402,0,0,0,0,0,0
$GC,2594,-0.74,-146.0,290.5,-8.1,231,2598,0.00,2.25,0.00,0.000,4,0.000,0.054,2383,549,3401,0,0,0,0,0,0
$GC,2713,-0.74,-146.0,300.6,-7.8,236,2717,0.00,2.12,0.00,0.000,6,0.000,0.037,2374,1963,3402,0,0,0,0,0,0
$GC,3051,-0.74,-146.0,327.5,-7.4,245,3055,0.00,2.20,0.00,0.000,4,0.000,0.056,2365,3363,3401,0,0,0,0,0,0
$GC,3086,-0.74,-146.0,330.4,-8.2,245,3092,0.12,2.17,0.00,0.000,6,0.148,0.042,2399,1948,3401,0,0,0,0,0,0
$GC,3419,-0.74,-146.0,352.0,-6.6,254,3423,0.00,2.22,0.00,0.000,4,0.000,0.060,2399,544,3400,0,0,0,0,0,0
$GC,3561,-0.74,-146.0,364.7,-9.1,257,3566,0.00,2.15,0.00,0.000,6,0.000,0.039,2391,1961,3398,0,0,0,0,0,0
$GC,3880,-0.74,-146.0,388.2,-7.1,265,3884,0.00,2.20,0.00,0.000,4,0.000,0.058,2380,3373,3396,0,0,0,0,0,0
$GC,4088,-0.74,-146.0,405.2,-7.6,269,4092,0.00,2.20,0.00,0.000,6,0.000,0.043,2380,1959,3396,0,0,0,0,0,0
$GC,4425,-0.74,-146.0,428.9,-6.8,278,4429,0.00,2.25,0.00,0.000,4,0.000,0.064,2380,547,3393,0,0,0,0,0,0
$GC,4539,-0.74,-146.0,436.7,-6.6,280,4543,0.12,2.15,0.00,0.000,6,0.171,0.041,2404,1962,3392,0,0,0,0,0,0
$STATE,4839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4839,begin apogee
$GC,4846,-0.17,0.0,452.3,5.2,288,4967,0.55,0.00,118.40,0.785,6,0.115,0.000,2588,1962,2800,0,0,0,0,0,0
$STATE,4968,end apogee,CONTROL_FINISHED_OK
$STATE,4968,begin climb
$GC,4971,0.74,146.0,453.3,0.0,291,5104,0.85,2.42,125.88,0.755,4,0.074,0.061,2888,574,2204,0,0,0,0,0,0
$GC,5122,0.74,146.0,437.9,13.7,295,5126,0.00,2.25,0.00,0.000,6,0.000,0.041,2889,1971,2201,0,0,0,0,0,0
$GC,5445,0.74,146.0,393.6,12.9,303,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1971,2196,0,0,0,0,0,0
$GC,5770,0.74,146.0,348.7,14.6,311,5774,0.00,2.22,0.00,0.000,4,0.000,0.054,2889,3386,2193,0,0,0,0,0,0
$GC,5812,0.74,146.0,343.0,14.8,312,5816,0.00,2.28,0.00,0.000,6,0.000,0.051,2897,1971,2192,0,0,0,0,0,0
$GC,6136,0.74,146.0,295.0,14.8,320,6140,0.00,2.25,0.00,0.000,4,0.000,0.061,2908,564,2191,0,0,0,0,0,0
$GC,6225,0.74,146.0,281.4,15.4,324,6230,0.12,2.20,0.00,0.000,6,0.156,0.042,2875,1980,2190,0,0,0,0,0,0
$GC,6546,0.74,146.0,241.1,12.4,340,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1980,2189,0,0,0,0,0,0
$GC,6855,0.74,146.0,207.2,10.7,355,6859,0.00,2.28,0.00,0.000,4,0.000,0.064,2883,564,2188,0,0,0,0,0,0
$GC,6895,0.74,146.0,203.2,9.9,357,6899,0.00,2.17,0.00,0.000,6,0.000,0.044,2883,1976,2188,0,0,0,0,0,0
$GC,7221,0.74,146.0,168.9,11.7,386,7225,0.00,2.20,0.00,0.000,4,0.000,0.054,2883,3388,2187,0,0,0,0,0,0
$GC,7273,0.74,146.0,162.3,13.1,390,7278,0.00,2.25,0.00,0.000,6,0.000,0.048,2893,1966,2186,0,0,0,0,0,0
$GC,7600,0.74,146.0,121.0,11.4,420,7604,0.00,2.20,0.00,0.000,4,0.000,0.058,2903,561,2186,0,0,0,0,0,0
$GC,7717,0.74,146.0,105.3,14.5,430,7721,0.00,2.17,0.00,0.000,6,0.000,0.040,2902,1991,2186,0,0,0,0,0,0
$GC,8044,0.74,146.0,68.5,9.7,470,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1991,2186,0,0,0,0,0,0
$GC,8376,0.74,146.0,39.7,9.3,531,8381,0.00,2.12,0.00,0.000,4,0.000,0.052,2902,3387,2187,0,0,0,0,0,0
$GC,8466,0.74,146.0,31.5,9.6,547,8472,0.12,2.20,0.00,0.000,6,0.150,0.041,2876,1968,2187,0,0,0,0,0,0
$GC,8793,0.78,184.6,7.6,7.4,608,8833,0.00,2.25,30.58,0.456,4,0.000,0.056,2885,572,2045,0,0,0,0,0,0
$STATE,8849,end climb,SURFACE_DEPTH_REACHED
$STATE,8849,begin surface coast
$FINISH,0.5,1.023561
$STATE,8889,end surface coast,CONTROL_FINISHED_OK
$STATE,8889,begin surface
$SM_CCo,8909,51.65,0.441,0,0,1575,300.24
$SM_GC,1.45,0.00,0.00,51.65,0.000,0.000,0.441,35,1975,1575,-8.14,0.42,300.24
$IRIDIUM_FIX,2054.83,-15802.06,050802,161638
$TT8_MAMPS,0.028379
$HUMID,61.38
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.7,13.218
$10V_AH,10.5,14.510
$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,18.500,79.525,274.850,51.650,0.000,27.697,33.154,137.005,19.000,0.000,15.354,1147.100,5288.125,402.626,2020.821,424.092,0.000,1094.214,0.000,1976.658,0.000,117.262,0.000
$DEVICE_MAMPS,220.896,64.428,785.408,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,424.446,349.917,1209.064,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34986,624
$CAP_FILE_SIZE,94696,0
$CFSIZE,260165632,247615488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,110513,215329,2107.653,-15800.580,17,0.8,17,9.8