version: 66.06
glider: 523
mission: 4
dive: 161
start: 5 12 113 0 31 10
data:
$ID,523
$MISSION,4
$DIVE,161
$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,-39082.227
$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,29
$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
$GPS1,002504,2107.702,-15759.563,25,0.8,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-75.6
$GPS2,003053,2107.728,-15759.682,17,0.9,17,9.8
$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,87.2,29181,-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,-77.55,0.000,6,0.000,0.000,37,1961,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.9,13,118,9.23,2.25,0.00,0.000,4,0.222,0.044,2391,3367,3397,0,0,0,0,0,0
$GC,204,-0.74,-146.0,28.5,-17.8,31,211,0.00,2.25,0.00,0.000,6,0.000,0.044,2391,1967,3399,0,0,0,0,0,0
$GC,375,-0.74,-146.0,57.2,-16.6,62,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1968,3400,0,0,0,0,0,0
$GC,706,-0.74,-146.0,100.7,-13.4,108,710,0.00,2.25,0.00,0.000,4,0.000,0.057,2391,547,3401,0,0,0,0,0,0
$GC,747,-0.74,-146.0,106.0,-12.8,111,751,0.00,2.15,0.00,0.000,6,0.000,0.035,2381,1973,3401,0,0,0,0,0,0
$GC,1079,-0.74,-146.0,148.9,-12.4,142,1083,0.00,2.28,0.00,0.000,4,0.000,0.052,2381,538,3402,0,0,0,0,0,0
$GC,1252,-0.74,-146.0,169.7,-11.7,157,1257,0.12,2.15,0.00,0.000,6,0.170,0.034,2404,1963,3402,0,0,0,0,0,0
$GC,1581,-0.74,-146.0,204.1,-8.7,186,1585,0.00,2.20,0.00,0.000,4,0.000,0.055,2395,3362,3403,0,0,0,0,0,0
$GC,1626,-0.74,-146.0,208.0,-8.9,188,1630,0.00,2.20,0.00,0.000,6,0.000,0.044,2395,1952,3403,0,0,0,0,0,0
$GC,1949,-0.74,-146.0,233.1,-8.1,204,1953,0.00,2.20,0.00,0.000,4,0.000,0.054,2395,548,3404,0,0,0,0,0,0
$GC,2073,-0.74,-146.0,244.8,-9.9,209,2080,0.00,2.15,0.00,0.000,6,0.000,0.037,2385,1965,3403,0,0,0,0,0,0
$GC,2391,-0.74,-146.0,272.6,-8.1,225,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1965,3403,0,0,0,0,0,0
$GC,2698,-0.74,-146.0,297.0,-7.5,240,2702,0.00,2.28,0.00,0.000,4,0.000,0.057,2385,553,3403,0,0,0,0,0,0
$GC,2795,-0.74,-146.0,305.2,-8.6,243,2799,0.00,2.15,0.00,0.000,6,0.000,0.040,2375,1968,3403,0,0,0,0,0,0
$GC,3107,-0.74,-146.0,334.3,-9.8,251,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1967,3402,0,0,0,0,0,0
$GC,3433,-0.74,-146.0,367.9,-10.6,259,3437,0.00,2.33,0.00,0.000,4,0.000,0.061,2375,554,3400,0,0,0,0,0,0
$GC,3489,-0.74,-146.0,374.8,-12.3,260,3497,0.12,2.17,0.00,0.000,6,0.164,0.044,2399,1959,3399,0,0,0,0,0,0
$GC,3807,-0.74,-146.0,403.5,-8.3,268,3811,0.00,2.17,0.00,0.000,4,0.000,0.055,2390,3368,3397,0,0,0,0,0,0
$GC,3938,-0.74,-146.0,414.2,-7.9,270,3943,0.00,2.20,0.00,0.000,6,0.000,0.043,2391,1959,3397,0,0,0,0,0,0
$GC,4269,-0.74,-146.0,439.7,-7.4,279,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1959,3395,0,0,0,0,0,0
$STATE,4429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4429,begin apogee
$GC,4436,-0.17,0.0,451.5,7.3,283,4558,0.60,0.00,118.97,0.779,6,0.119,0.000,2587,1959,2799,0,0,0,0,0,0
$STATE,4558,end apogee,CONTROL_FINISHED_OK
$STATE,4559,begin climb
$GC,4561,0.74,146.0,452.7,0.0,286,4691,0.85,0.00,125.90,0.750,6,0.074,0.000,2878,1959,2203,0,0,0,0,0,0
$GC,4999,0.74,146.0,395.5,14.0,297,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1959,2195,0,0,0,0,0,0
$GC,5321,0.74,146.0,345.5,16.5,305,5326,0.00,2.25,0.00,0.000,4,0.000,0.060,2887,568,2192,0,0,0,0,0,0
$GC,5400,0.74,146.0,333.1,15.1,306,5405,0.00,2.20,0.00,0.000,6,0.000,0.044,2887,1974,2191,0,0,0,0,0,0
$GC,5712,0.74,146.0,286.5,15.6,316,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1975,2190,0,0,0,0,0,0
$GC,6021,0.74,146.0,242.4,13.3,331,6025,0.00,2.20,0.00,0.000,4,0.000,0.053,2887,3385,2189,0,0,0,0,0,0
$GC,6054,0.74,146.0,238.1,12.4,332,6060,0.00,2.25,0.00,0.000,6,0.000,0.050,2896,1972,2189,0,0,0,0,0,0
$GC,6372,0.74,146.0,197.0,12.5,349,6376,0.00,2.28,0.00,0.000,4,0.000,0.060,2907,556,2188,0,0,0,0,0,0
$GC,6512,0.74,146.0,181.2,10.7,361,6516,0.00,2.22,0.00,0.000,6,0.000,0.044,2907,1988,2187,0,0,0,0,0,0
$GC,6839,0.74,146.0,140.3,12.5,391,6843,0.00,2.17,0.00,0.000,4,0.000,0.052,2906,3389,2185,0,0,0,0,0,0
$GC,6903,0.74,146.0,131.6,13.6,396,6911,0.10,2.22,0.00,0.000,6,0.127,0.039,2881,1974,2185,0,0,0,0,0,0
$GC,7230,0.74,146.0,95.4,11.4,427,7234,0.00,2.22,0.00,0.000,4,0.000,0.056,2889,561,2185,0,0,0,0,0,0
$GC,7292,0.74,146.0,88.9,10.3,432,7296,0.00,2.15,0.00,0.000,6,0.000,0.037,2889,1989,2185,0,0,0,0,0,0
$GC,7621,0.80,195.5,61.1,7.0,484,7667,0.00,2.20,39.30,0.513,4,0.000,0.051,2889,3371,2001,0,0,0,0,0,0
$GC,7697,0.80,195.5,54.4,9.6,497,7703,0.00,2.20,0.00,0.000,6,0.000,0.039,2898,1971,1999,0,0,0,0,0,0
$GC,8024,0.80,195.5,22.0,10.8,558,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1971,1998,0,0,0,0,0,0
$GC,8191,0.80,195.5,4.0,10.8,589,8199,0.00,2.25,0.00,0.000,4,0.000,0.051,2898,3374,1998,0,0,0,0,0,0
$STATE,8205,end climb,SURFACE_DEPTH_REACHED
$STATE,8205,begin surface coast
$FINISH,1.5,1.023272
$STATE,8213,end surface coast,CONTROL_FINISHED_OK
$STATE,8213,begin surface
$SM_CCo,8233,47.40,0.448,0,0,1575,300.24
$SM_GC,1.13,0.00,0.00,47.40,0.000,0.000,0.448,37,1946,1575,-8.14,-0.37,300.24
$IRIDIUM_FIX,2057.14,-15759.05,050802,222223
$TT8_MAMPS,0.028379
$HUMID,62.71
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.7,13.377
$10V_AH,10.5,14.681
$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,18.250,66.450,284.175,47.400,0.000,34.183,37.298,151.212,19.250,0.000,17.747,1056.758,4880.783,405.838,1849.467,436.903,0.000,1038.862,0.000,1803.059,0.000,117.253,0.000
$DEVICE_MAMPS,221.663,61.360,779.272,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,401.950,330.159,1146.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31790,592
$CAP_FILE_SIZE,86653,0
$CFSIZE,260165632,247533568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120513,025027,2107.706,-15759.002,36,1.1,38,9.8