version: 66.06
glider: 523
mission: 4
dive: 160
start: 5 11 113 21 59 16
data:
$ID,523
$MISSION,4
$DIVE,160
$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,-39063.852
$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,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
$GPS1,215329,2107.653,-15800.580,17,0.8,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.5
$GPS2,215859,2107.647,-15800.676,15,0.8,15,9.8
$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,86.5,30870,-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,-75.90,0.000,2,0.000,0.000,35,1975,3368,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.6,12,112,9.15,0.00,-0.65,0.000,6,0.221,0.000,2391,1975,3398,0,0,0,0,0,0
$GC,270,-0.74,-146.0,38.6,-17.3,44,277,0.00,2.35,0.00,0.000,4,0.000,0.061,2392,551,3400,0,0,0,0,0,0
$GC,312,-0.74,-146.0,45.9,-17.8,51,318,0.00,2.15,0.00,0.000,6,0.000,0.037,2383,1956,3399,0,0,0,0,0,0
$GC,642,-0.74,-146.0,98.0,-13.3,100,646,0.00,2.25,0.00,0.000,4,0.000,0.054,2383,549,3401,0,0,0,0,0,0
$GC,726,-0.74,-146.0,109.8,-13.5,107,733,0.00,2.12,0.00,0.000,6,0.000,0.035,2374,1965,3401,0,0,0,0,0,0
$GC,1060,-0.74,-146.0,154.7,-12.5,138,1065,0.00,2.25,0.00,0.000,4,0.000,0.053,2374,548,3402,0,0,0,0,0,0
$GC,1213,-0.74,-146.0,173.7,-11.3,152,1218,0.12,2.12,0.00,0.000,6,0.170,0.033,2397,1975,3402,0,0,0,0,0,0
$GC,1547,-0.74,-146.0,209.3,-10.2,179,1551,0.00,2.15,0.00,0.000,4,0.000,0.054,2388,3365,3403,0,0,0,0,0,0
$GC,1625,-0.74,-146.0,216.6,-9.9,182,1630,0.00,2.17,0.00,0.000,6,0.000,0.045,2388,1962,3403,0,0,0,0,0,0
$GC,1943,-0.74,-146.0,245.9,-7.9,198,1947,0.00,2.20,0.00,0.000,4,0.000,0.052,2388,547,3404,0,0,0,0,0,0
$GC,2111,-0.74,-146.0,262.5,-9.2,205,2117,0.00,2.10,0.00,0.000,6,0.000,0.033,2378,1962,3404,0,0,0,0,0,0
$GC,2429,-0.74,-146.0,289.2,-8.3,221,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1962,3404,0,0,0,0,0,0
$GC,2756,-0.74,-146.0,318.7,-9.1,232,2760,0.00,2.17,0.00,0.000,4,0.000,0.054,2368,3360,3403,0,0,0,0,0,0
$GC,2806,-0.74,-146.0,323.8,-9.7,233,2810,0.12,2.17,0.00,0.000,6,0.149,0.041,2402,1958,3403,0,0,0,0,0,0
$GC,3123,-0.74,-146.0,345.4,-6.1,241,3127,0.00,2.22,0.00,0.000,4,0.000,0.060,2403,548,3402,0,0,0,0,0,0
$GC,3185,-0.74,-146.0,350.2,-8.3,242,3189,0.00,2.10,0.00,0.000,6,0.000,0.038,2395,1954,3402,0,0,0,0,0,0
$GC,3527,-0.74,-146.0,378.3,-7.9,251,3531,0.00,2.17,0.00,0.000,4,0.000,0.058,2384,3369,3399,0,0,0,0,0,0
$GC,3724,-0.74,-146.0,392.6,-6.2,255,3728,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,1954,3398,0,0,0,0,0,0
$GC,4069,-0.74,-146.0,415.0,-6.0,264,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1953,3396,0,0,0,0,0,0
$GC,4394,-0.74,-146.0,430.3,-4.5,272,4398,0.00,2.22,0.00,0.000,4,0.000,0.064,2384,544,3393,0,0,0,0,0,0
$GC,4461,-0.74,-146.0,433.9,-5.1,273,4465,0.00,2.15,0.00,0.000,6,0.000,0.044,2375,1955,3392,0,0,0,0,0,0
$STATE,4797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4797,begin apogee
$GC,4803,-0.17,0.0,450.5,5.0,282,4925,0.65,0.00,118.82,0.792,6,0.122,0.000,2585,1955,2799,0,0,0,0,0,0
$STATE,4926,end apogee,CONTROL_FINISHED_OK
$STATE,4926,begin climb
$GC,4929,0.74,146.0,449.7,0.0,285,5063,0.82,2.35,124.68,0.758,4,0.075,0.053,2874,3386,2205,0,0,0,0,0,0
$GC,5086,0.74,146.0,431.8,13.6,288,5091,0.00,2.33,0.00,0.000,6,0.000,0.047,2882,1984,2202,0,0,0,0,0,0
$GC,5417,0.74,146.0,381.7,14.8,297,5421,0.00,2.30,0.00,0.000,4,0.000,0.061,2893,562,2197,0,0,0,0,0,0
$GC,5478,0.74,146.0,372.7,14.2,298,5482,0.00,2.22,0.00,0.000,6,0.000,0.041,2893,1982,2196,0,0,0,0,0,0
$GC,5820,0.74,146.0,323.3,15.0,307,5824,0.00,2.25,0.00,0.000,4,0.000,0.057,2903,561,2194,0,0,0,0,0,0
$GC,5859,0.74,146.0,317.2,16.2,308,5863,0.00,2.20,0.00,0.000,6,0.000,0.044,2903,1979,2194,0,0,0,0,0,0
$GC,6186,0.74,146.0,266.0,15.5,321,6190,0.00,2.20,0.00,0.000,4,0.000,0.053,2903,3393,2192,0,0,0,0,0,0
$GC,6213,0.74,146.0,261.5,16.2,322,6218,0.12,2.22,0.00,0.000,6,0.163,0.043,2880,1968,2191,0,0,0,0,0,0
$GC,6528,0.74,146.0,219.5,12.3,337,6532,0.00,2.20,0.00,0.000,4,0.000,0.061,2889,568,2190,0,0,0,0,0,0
$GC,6629,0.74,146.0,208.1,12.2,341,6633,0.00,2.17,0.00,0.000,6,0.000,0.039,2889,1985,2190,0,0,0,0,0,0
$GC,6955,0.74,146.0,172.8,12.0,367,6959,0.00,2.15,0.00,0.000,4,0.000,0.052,2889,3378,2189,0,0,0,0,0,0
$GC,7007,0.74,146.0,165.8,13.6,371,7011,0.00,2.15,0.00,0.000,6,0.000,0.041,2898,1969,2188,0,0,0,0,0,0
$GC,7334,0.74,146.0,127.0,11.5,401,7338,0.00,2.20,0.00,0.000,4,0.000,0.058,2909,565,2188,0,0,0,0,0,0
$GC,7396,0.74,146.0,119.4,12.7,406,7401,0.12,2.15,0.00,0.000,6,0.147,0.037,2875,1978,2188,0,0,0,0,0,0
$GC,7723,0.74,146.0,81.9,11.9,436,7727,0.00,2.12,0.00,0.000,4,0.000,0.051,2875,3376,2188,0,0,0,0,0,0
$GC,7927,0.74,146.0,57.7,11.6,471,7933,0.00,2.17,0.00,0.000,6,0.000,0.039,2882,1964,2188,0,0,0,0,0,0
$GC,8258,0.81,208.1,31.3,6.5,532,8314,0.00,0.00,49.62,0.488,6,0.000,0.000,2882,1964,1951,0,0,0,0,0,0
$GC,8475,0.82,213.9,14.3,8.8,571,8483,0.00,0.00,6.10,0.387,6,0.000,0.000,2882,1964,1928,0,0,0,0,0,0
$STATE,8592,end climb,SURFACE_DEPTH_REACHED
$STATE,8592,begin surface coast
$FINISH,0.4,1.010443
$STATE,8626,end surface coast,CONTROL_FINISHED_OK
$STATE,8626,begin surface
$SM_CCo,8643,40.10,0.444,0,0,1575,300.24
$SM_GC,1.39,0.00,0.00,40.10,0.000,0.000,0.444,37,1962,1575,-8.14,0.06,300.24
$IRIDIUM_FIX,2057.14,-15806.34,050802,191916
$TT8_MAMPS,0.028379
$HUMID,62.83
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.7,13.298
$10V_AH,10.5,14.597
$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,18.400,74.700,299.225,40.100,0.000,27.356,43.336,135.416,19.250,0.000,15.886,1100.209,5162.170,374.921,1945.517,431.699,0.000,1071.398,0.000,1900.004,0.000,121.196,0.000
$DEVICE_MAMPS,220.896,64.428,791.544,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.060,343.330,1160.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31752,599
$CAP_FILE_SIZE,93751,0
$CFSIZE,260165632,247574528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120513,002504,2107.702,-15759.563,25,0.8,25,9.8