version: 66.06
glider: 523
mission: 4
dive: 163
start: 5 12 113 5 25 23
data:
$ID,523
$MISSION,4
$DIVE,163
$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,-39113.949
$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,28
$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
$GPS1,051937,2107.814,-15758.414,19,1.3,19,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.9
$GPS2,052506,2107.865,-15758.486,13,1.4,13,9.8
$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,88.2,27167,-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,-75.82,0.000,2,0.000,0.000,47,1950,3370,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.8,12,113,9.23,2.22,-0.55,0.000,4,0.225,0.064,2391,552,3396,0,0,0,0,0,0
$GC,180,-0.74,-146.0,24.4,-19.2,26,187,0.00,2.22,0.00,0.000,6,0.000,0.041,2383,1962,3399,0,0,0,0,0,0
$GC,354,-0.74,-146.0,56.5,-18.4,57,359,0.00,2.22,0.00,0.000,4,0.000,0.056,2373,3376,3399,0,0,0,0,0,0
$GC,400,-0.74,-146.0,65.5,-18.9,65,405,0.00,2.22,0.00,0.000,6,0.000,0.048,2373,1967,3399,0,0,0,0,0,0
$GC,728,-0.74,-146.0,114.7,-13.3,103,735,0.10,2.28,0.00,0.000,4,0.181,0.058,2397,541,3400,0,0,0,0,0,0
$GC,755,-0.74,-146.0,118.2,-13.3,105,759,0.00,2.17,0.00,0.000,6,0.000,0.035,2389,1973,3400,0,0,0,0,0,0
$GC,1082,-0.74,-146.0,157.1,-12.4,135,1086,0.00,2.17,0.00,0.000,4,0.000,0.057,2378,3369,3401,0,0,0,0,0,0
$GC,1122,-0.74,-146.0,162.2,-11.8,138,1127,0.00,2.22,0.00,0.000,6,0.000,0.044,2378,1947,3401,0,0,0,0,0,0
$GC,1450,-0.74,-146.0,197.4,-9.3,168,1454,0.00,2.20,0.00,0.000,4,0.000,0.053,2378,546,3402,0,0,0,0,0,0
$GC,1534,-0.74,-146.0,206.1,-10.7,173,1539,0.12,2.12,0.00,0.000,6,0.174,0.033,2401,1976,3402,0,0,0,0,0,0
$GC,1860,-0.74,-146.0,232.0,-9.1,189,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1977,3403,0,0,0,0,0,0
$GC,2170,-0.74,-146.0,263.5,-9.7,204,2174,0.00,2.28,0.00,0.000,4,0.000,0.054,2402,547,3402,0,0,0,0,0,0
$GC,2237,-0.74,-146.0,270.1,-10.5,207,2241,0.00,2.12,0.00,0.000,6,0.000,0.035,2394,1956,3402,0,0,0,0,0,0
$GC,2566,-0.74,-146.0,296.1,-8.4,223,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1956,3402,0,0,0,0,0,0
$GC,2870,-0.74,-146.0,320.8,-8.1,232,2874,0.00,2.25,0.00,0.000,4,0.000,0.056,2394,544,3402,0,0,0,0,0,0
$GC,2989,-0.74,-146.0,331.1,-9.0,234,2993,0.00,2.12,0.00,0.000,6,0.000,0.037,2383,1960,3402,0,0,0,0,0,0
$GC,3327,-0.74,-146.0,356.9,-7.2,243,3331,0.00,2.20,0.00,0.000,4,0.000,0.056,2374,3364,3400,0,0,0,0,0,0
$GC,3433,-0.74,-146.0,365.5,-8.2,245,3437,0.00,2.17,0.00,0.000,6,0.000,0.042,2373,1949,3400,0,0,0,0,0,0
$GC,3782,-0.74,-146.0,393.0,-7.8,254,3786,0.00,2.20,0.00,0.000,4,0.000,0.061,2373,549,3398,0,0,0,0,0,0
$GC,3995,-0.74,-146.0,411.3,-9.0,258,4001,0.15,2.12,0.00,0.000,6,0.163,0.039,2405,1959,3396,0,0,0,0,0,0
$GC,4327,-0.74,-146.0,435.3,-7.1,267,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1960,3394,0,0,0,0,0,0
$STATE,4567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4568,begin apogee
$GC,4574,-0.17,0.0,450.8,6.2,273,4696,0.55,0.00,118.60,0.782,6,0.117,0.000,2587,1960,2799,0,0,0,0,0,0
$STATE,4696,end apogee,CONTROL_FINISHED_OK
$STATE,4696,begin climb
$GC,4699,0.74,146.0,450.7,0.0,276,4834,0.82,2.35,124.65,0.749,4,0.077,0.055,2876,3380,2203,0,0,0,0,0,0
$GC,4873,0.74,146.0,429.4,16.2,280,4877,0.00,2.33,0.00,0.000,6,0.000,0.047,2885,1980,2200,0,0,0,0,0,0
$GC,5185,0.74,146.0,381.9,15.1,288,5190,0.00,2.30,0.00,0.000,4,0.000,0.067,2895,562,2195,0,0,0,0,0,0
$GC,5259,0.74,146.0,371.3,14.3,289,5263,0.00,2.17,0.00,0.000,6,0.000,0.041,2895,1971,2194,0,0,0,0,0,0
$GC,5590,0.74,146.0,322.1,14.5,297,5594,0.00,2.20,0.00,0.000,4,0.000,0.054,2895,3393,2193,0,0,0,0,0,0
$GC,5640,0.74,146.0,314.0,15.6,298,5645,0.00,2.25,0.00,0.000,6,0.000,0.044,2905,1968,2191,0,0,0,0,0,0
$GC,5968,0.74,146.0,261.1,16.2,311,5972,0.00,2.20,0.00,0.000,4,0.000,0.061,2916,568,2190,0,0,0,0,0,0
$GC,6030,0.74,146.0,251.6,15.4,314,6034,0.15,2.20,0.00,0.000,6,0.155,0.044,2875,1984,2190,0,0,0,0,0,0
$GC,6356,0.74,146.0,211.3,10.7,330,6360,0.00,2.28,0.00,0.000,4,0.000,0.063,2883,561,2188,0,0,0,0,0,0
$GC,6411,0.74,146.0,205.6,9.6,332,6415,0.00,2.20,0.00,0.000,6,0.000,0.044,2883,1981,2188,0,0,0,0,0,0
$GC,6738,0.74,146.0,174.9,9.7,359,6742,0.00,2.17,0.00,0.000,4,0.000,0.053,2883,3390,2187,0,0,0,0,0,0
$GC,6802,0.74,146.0,167.4,11.4,364,6809,0.00,2.25,0.00,0.000,6,0.000,0.048,2893,1973,2187,0,0,0,0,0,0
$GC,7129,0.74,146.0,134.3,10.1,395,7133,0.00,2.20,0.00,0.000,4,0.000,0.058,2902,567,2186,0,0,0,0,0,0
$GC,7191,0.74,146.0,127.6,10.9,400,7195,0.00,2.17,0.00,0.000,6,0.000,0.041,2902,1981,2186,0,0,0,0,0,0
$GC,7517,0.74,146.0,91.6,10.5,430,7521,0.00,2.15,0.00,0.000,4,0.000,0.052,2902,3388,2186,0,0,0,0,0,0
$GC,7602,0.74,146.0,82.1,11.5,437,7607,0.12,2.20,0.00,0.000,6,0.154,0.043,2876,1976,2186,0,0,0,0,0,0
$GC,7935,0.80,199.2,56.0,6.8,495,7981,0.00,0.00,41.85,0.500,6,0.000,0.000,2876,1976,1989,0,0,0,0,0,0
$GC,8306,0.80,199.2,25.7,9.8,563,8314,0.00,2.28,0.00,0.000,4,0.000,0.056,2884,561,1986,0,0,0,0,0,0
$GC,8370,0.81,207.7,20.3,8.7,574,8385,0.00,2.20,8.90,0.416,6,0.000,0.037,2885,1977,1952,0,0,0,0,0,0
$GC,8548,0.81,207.7,3.5,11.5,606,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1977,1951,0,0,0,0,0,0
$STATE,8561,end climb,SURFACE_DEPTH_REACHED
$STATE,8561,begin surface coast
$FINISH,0.8,1.023369
$STATE,8588,end surface coast,CONTROL_FINISHED_OK
$STATE,8588,begin surface
$SM_CCo,8606,41.65,0.439,0,0,1575,300.24
$SM_GC,1.51,0.00,0.00,41.65,0.000,0.000,0.439,23,1991,1575,-8.18,0.90,300.24
$IRIDIUM_FIX,2057.14,-15753.90,060802,030303
$TT8_MAMPS,0.028379
$HUMID,61.89
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.7,13.535
$10V_AH,10.5,14.856
$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,18.475,79.650,294.000,41.650,0.000,29.457,35.687,139.837,19.250,0.000,14.402,1113.350,5061.616,378.168,1993.966,430.318,0.000,1085.934,0.000,1946.056,0.000,121.189,0.000
$DEVICE_MAMPS,224.731,67.496,781.573,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,416.093,344.349,1202.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,34971,613
$CAP_FILE_SIZE,95484,0
$CFSIZE,260165632,247431168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120513,075034,2107.759,-15757.494,24,1.1,24,9.8