version: 66.06
glider: 523
mission: 4
dive: 162
start: 5 12 113 2 56 17
data:
$ID,523
$MISSION,4
$DIVE,162
$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,-39098.914
$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,27
$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
$GPS1,025027,2107.706,-15759.002,36,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.7
$GPS2,025600,2107.751,-15759.131,15,1.2,15,9.8
$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,87.5,28243,-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,-77.43,0.000,6,0.000,0.000,37,1943,3393,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.1,13,118,9.25,2.22,0.00,0.000,4,0.224,0.050,2393,541,3394,0,0,0,0,0,0
$GC,133,-0.74,-146.0,15.5,-34.5,17,140,0.00,2.22,0.00,0.000,6,0.000,0.038,2384,1960,3395,0,0,0,0,0,0
$GC,302,-0.74,-146.0,47.1,-18.0,48,309,0.00,2.25,0.00,0.000,4,0.000,0.058,2374,3365,3396,0,0,0,0,0,0
$GC,356,-0.74,-146.0,56.5,-17.3,57,362,0.00,2.20,0.00,0.000,6,0.000,0.045,2374,1958,3395,0,0,0,0,0,0
$GC,687,-0.74,-146.0,106.1,-12.3,100,691,0.00,2.22,0.00,0.000,4,0.000,0.059,2374,548,3398,0,0,0,0,0,0
$GC,728,-0.74,-146.0,111.7,-13.6,103,733,0.15,2.17,0.00,0.000,6,0.166,0.036,2404,1978,3397,0,0,0,0,0,0
$GC,1055,-0.74,-146.0,146.9,-10.7,133,1059,0.00,2.28,0.00,0.000,4,0.000,0.052,2404,547,3399,0,0,0,0,0,0
$GC,1107,-0.74,-146.0,153.0,-11.9,137,1111,0.00,2.12,0.00,0.000,6,0.000,0.035,2396,1968,3399,0,0,0,0,0,0
$GC,1434,-0.74,-146.0,186.4,-11.0,167,1438,0.00,2.20,0.00,0.000,4,0.000,0.057,2386,3362,3400,0,0,0,0,0,0
$GC,1510,-0.74,-146.0,195.1,-9.8,173,1517,0.00,2.25,0.00,0.000,6,0.000,0.048,2385,1963,3400,0,0,0,0,0,0
$GC,1831,-0.74,-146.0,227.2,-11.4,191,1835,0.00,2.20,0.00,0.000,4,0.000,0.052,2385,544,3401,0,0,0,0,0,0
$GC,2032,-0.74,-146.0,251.6,-11.5,200,2035,0.00,2.12,0.00,0.000,6,0.000,0.033,2376,1961,3400,0,0,0,0,0,0
$GC,2355,-0.74,-146.0,278.4,-7.7,216,2359,0.00,2.20,0.00,0.000,4,0.000,0.054,2366,3366,3401,0,0,0,0,0,0
$GC,2423,-0.74,-146.0,285.1,-10.0,219,2428,0.12,2.17,0.00,0.000,6,0.150,0.043,2399,1950,3400,0,0,0,0,0,0
$GC,2744,-0.74,-146.0,315.4,-9.4,231,2748,0.00,2.20,0.00,0.000,4,0.000,0.059,2399,546,3400,0,0,0,0,0,0
$GC,3002,-0.74,-146.0,336.9,-7.5,236,3008,0.00,2.15,0.00,0.000,6,0.000,0.038,2392,1961,3400,0,0,0,0,0,0
$GC,3336,-0.74,-146.0,360.1,-7.4,245,3340,0.00,2.20,0.00,0.000,4,0.000,0.057,2381,3373,3398,0,0,0,0,0,0
$GC,3472,-0.74,-146.0,371.1,-7.6,248,3476,0.00,2.17,0.00,0.000,6,0.000,0.041,2381,1959,3397,0,0,0,0,0,0
$GC,3800,-0.74,-146.0,395.2,-7.5,256,3804,0.00,2.22,0.00,0.000,4,0.000,0.064,2381,553,3395,0,0,0,0,0,0
$GC,4058,-0.74,-146.0,419.0,-9.9,261,4064,0.12,2.17,0.00,0.000,6,0.163,0.043,2406,1969,3393,0,0,0,0,0,0
$GC,4393,-0.74,-146.0,446.3,-8.0,270,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1969,3391,0,0,0,0,0,0
$STATE,4469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4469,begin apogee
$GC,4475,-0.17,0.0,452.5,7.8,272,4596,0.55,0.00,118.30,0.780,6,0.119,0.000,2587,1969,2800,0,0,0,0,0,0
$STATE,4597,end apogee,CONTROL_FINISHED_OK
$STATE,4597,begin climb
$GC,4600,0.74,146.0,455.3,0.0,275,4730,0.82,0.00,125.47,0.751,6,0.077,0.000,2874,1969,2203,0,0,0,0,0,0
$GC,5047,0.74,146.0,405.9,12.0,286,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1969,2196,0,0,0,0,0,0
$GC,5372,0.74,146.0,360.8,15.2,294,5376,0.00,2.33,0.00,0.000,4,0.000,0.064,2883,564,2193,0,0,0,0,0,0
$GC,5393,0.74,146.0,357.2,15.8,294,5398,0.00,2.22,0.00,0.000,6,0.000,0.044,2883,1978,2192,0,0,0,0,0,0
$GC,5731,0.74,146.0,307.0,14.3,303,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1978,2191,0,0,0,0,0,0
$GC,6038,0.74,146.0,266.1,13.0,316,6042,0.00,2.20,0.00,0.000,4,0.000,0.056,2883,3386,2190,0,0,0,0,0,0
$GC,6066,0.74,146.0,262.3,13.6,317,6070,0.00,2.22,0.00,0.000,6,0.000,0.048,2893,1979,2189,0,0,0,0,0,0
$GC,6386,0.74,146.0,226.5,10.7,333,6390,0.00,2.22,0.00,0.000,4,0.000,0.060,2901,564,2188,0,0,0,0,0,0
$GC,6494,0.74,146.0,213.3,12.4,338,6498,0.00,2.20,0.00,0.000,6,0.000,0.042,2902,1986,2187,0,0,0,0,0,0
$GC,6820,0.74,146.0,170.4,14.8,363,6824,0.00,2.17,0.00,0.000,4,0.000,0.053,2902,3387,2187,0,0,0,0,0,0
$GC,6871,0.74,146.0,162.4,15.9,367,6876,0.12,2.22,0.00,0.000,6,0.159,0.048,2877,1970,2186,0,0,0,0,0,0
$GC,7198,0.74,146.0,123.6,11.2,397,7202,0.00,2.20,0.00,0.000,4,0.000,0.058,2886,564,2186,0,0,0,0,0,0
$GC,7249,0.74,146.0,118.2,11.0,401,7253,0.00,2.17,0.00,0.000,6,0.000,0.041,2887,1979,2186,0,0,0,0,0,0
$GC,7576,0.74,146.0,85.6,10.8,431,7580,0.00,2.15,0.00,0.000,4,0.000,0.051,2886,3385,2186,0,0,0,0,0,0
$GC,7804,0.74,146.0,60.4,9.3,468,7812,0.00,2.25,0.00,0.000,6,0.000,0.044,2894,1964,2186,0,0,0,0,0,0
$GC,8141,0.77,176.7,34.8,7.8,529,8175,0.00,2.28,24.25,0.475,4,0.000,0.054,2905,568,2077,0,0,0,0,0,0
$GC,8212,0.81,209.3,29.4,7.7,541,8246,0.00,2.20,27.90,0.468,6,0.000,0.038,2905,1977,1945,0,0,0,0,0,0
$GC,8407,0.81,209.3,9.2,9.4,576,8414,0.00,2.25,0.00,0.000,4,0.000,0.051,2905,3384,1943,0,0,0,0,0,0
$STATE,8457,end climb,SURFACE_DEPTH_REACHED
$STATE,8457,begin surface coast
$FINISH,0.7,1.023320
$STATE,8479,end surface coast,CONTROL_FINISHED_OK
$STATE,8479,begin surface
$SM_CCo,8499,41.45,0.440,0,0,1575,300.24
$SM_GC,1.46,0.00,0.00,41.45,0.000,0.000,0.440,47,1949,1575,-8.11,-0.31,300.24
$IRIDIUM_FIX,2057.14,-15759.05,060802,000056
$TT8_MAMPS,0.028379
$HUMID,61.53
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.7,13.456
$10V_AH,10.6,14.768
$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,18.500,79.550,295.925,41.450,0.000,22.418,34.855,151.610,19.250,0.000,16.059,1082.562,5030.866,393.534,1932.294,436.787,0.000,1089.531,0.000,1884.791,0.000,119.144,0.000
$DEVICE_MAMPS,223.964,64.428,780.039,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.555,333.169,1133.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,31781,589
$CAP_FILE_SIZE,93264,0
$CFSIZE,260165632,247484416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120513,051937,2107.814,-15758.414,19,1.3,19,9.8