version: 66.06
glider: 523
mission: 4
dive: 165
start: 5 12 113 10 32 6
data:
$ID,523
$MISSION,4
$DIVE,165
$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,-39153.324
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,101754,2107.571,-15756.552,21,1.2,21,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.3
$GPS2,103148,2107.560,-15756.719,18,1.3,18,9.8
$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,87.9,24064,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-76.12,0.000,6,0.000,0.000,35,1962,3396,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.9,12,112,9.30,2.28,0.00,0.000,4,0.227,0.051,2390,549,3398,0,0,0,0,0,0
$GC,225,-0.74,-146.0,33.8,-20.0,35,231,0.00,2.15,0.00,0.000,6,0.000,0.037,2382,1962,3399,0,0,0,0,0,0
$GC,561,-0.74,-146.0,84.4,-12.0,94,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1962,3400,0,0,0,0,0,0
$GC,880,-0.74,-146.0,126.0,-13.0,124,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1963,3401,0,0,0,0,0,0
$GC,1198,-0.74,-146.0,169.0,-13.2,154,1202,0.00,2.22,0.00,0.000,4,0.000,0.051,2382,548,3401,0,0,0,0,0,0
$GC,1308,-0.74,-146.0,182.3,-10.7,163,1315,0.00,2.15,0.00,0.000,6,0.000,0.033,2373,1962,3401,0,0,0,0,0,0
$GC,1638,-0.74,-146.0,217.9,-9.6,187,1642,0.00,2.17,0.00,0.000,4,0.000,0.056,2363,3363,3402,0,0,0,0,0,0
$GC,1802,-0.74,-146.0,233.9,-10.5,194,1806,0.15,2.17,0.00,0.000,6,0.139,0.044,2405,1961,3402,0,0,0,0,0,0
$GC,2119,-0.74,-146.0,253.2,-4.9,209,2123,0.00,2.20,0.00,0.000,4,0.000,0.054,2406,548,3402,0,0,0,0,0,0
$GC,2240,-0.74,-146.0,260.4,-6.0,214,2244,0.00,2.12,0.00,0.000,6,0.000,0.035,2397,1969,3402,0,0,0,0,0,0
$GC,2563,-0.74,-146.0,282.3,-7.7,230,2567,0.00,2.25,0.00,0.000,4,0.000,0.056,2398,546,3402,0,0,0,0,0,0
$GC,2597,-0.74,-146.0,285.4,-9.0,231,2602,0.00,2.12,0.00,0.000,6,0.000,0.037,2388,1966,3402,0,0,0,0,0,0
$GC,2934,-0.74,-146.0,310.6,-7.5,245,2938,0.00,2.30,0.00,0.000,4,0.000,0.057,2388,554,3400,0,0,0,0,0,0
$GC,3000,-0.74,-146.0,317.4,-10.5,246,3004,0.00,2.12,0.00,0.000,6,0.000,0.038,2378,1963,3399,0,0,0,0,0,0
$GC,3345,-0.74,-146.0,347.4,-8.2,255,3349,0.00,2.25,0.00,0.000,4,0.000,0.058,2378,551,3398,0,0,0,0,0,0
$GC,3546,-0.74,-146.0,364.4,-7.9,259,3551,0.12,2.12,0.00,0.000,6,0.172,0.038,2402,1962,3396,0,0,0,0,0,0
$GC,3885,-0.74,-146.0,384.0,-5.7,268,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1962,3394,0,0,0,0,0,0
$GC,4209,-0.74,-146.0,405.7,-6.9,276,4213,0.00,2.15,0.00,0.000,4,0.000,0.055,2393,3362,3391,0,0,0,0,0,0
$GC,4231,-0.74,-146.0,407.6,-7.8,276,4235,0.00,2.17,0.00,0.000,6,0.000,0.044,2393,1965,3391,0,0,0,0,0,0
$GC,4568,-0.74,-146.0,433.8,-7.6,285,4572,0.00,2.25,0.00,0.000,4,0.000,0.060,2393,544,3389,0,0,0,0,0,0
$GC,4724,-0.74,-146.0,447.0,-8.6,288,4728,0.00,2.15,0.00,0.000,6,0.000,0.042,2383,1958,3388,0,0,0,0,0,0
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4787,-0.17,0.0,451.3,7.6,290,4908,0.62,0.00,117.93,0.788,6,0.123,0.000,2586,1959,2799,0,0,0,0,0,0
$STATE,4909,end apogee,CONTROL_FINISHED_OK
$STATE,4909,begin climb
$GC,4912,0.74,146.0,452.8,0.0,293,5046,0.85,2.40,126.05,0.757,4,0.076,0.054,2877,3377,2203,0,0,0,0,0,0
$GC,5068,0.74,146.0,437.4,12.7,297,5073,0.00,2.30,0.00,0.000,6,0.000,0.047,2884,1974,2201,0,0,0,0,0,0
$GC,5387,0.74,146.0,394.5,13.1,305,5391,0.00,2.25,0.00,0.000,4,0.000,0.061,2895,565,2195,0,0,0,0,0,0
$GC,5466,0.74,146.0,383.8,13.7,306,5471,0.00,2.20,0.00,0.000,6,0.000,0.044,2895,1970,2194,0,0,0,0,0,0
$GC,5797,0.74,146.0,336.3,14.5,315,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1971,2192,0,0,0,0,0,0
$GC,6102,0.74,146.0,293.0,14.3,323,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1971,2191,0,0,0,0,0,0
$GC,6411,0.74,146.0,249.8,13.2,338,6415,0.00,2.30,0.00,0.000,4,0.000,0.064,2905,557,2189,0,0,0,0,0,0
$GC,6460,0.74,146.0,243.3,12.8,340,6464,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,1979,2189,0,0,0,0,0,0
$GC,6776,0.74,146.0,204.9,12.5,355,6780,0.00,2.17,0.00,0.000,4,0.000,0.054,2905,3392,2189,0,0,0,0,0,0
$GC,6816,0.74,146.0,197.9,17.6,357,6821,0.12,2.22,0.00,0.000,6,0.155,0.043,2881,1962,2188,0,0,0,0,0,0
$GC,7143,0.74,146.0,163.7,9.7,387,7147,0.00,2.20,0.00,0.000,4,0.000,0.059,2888,568,2187,0,0,0,0,0,0
$GC,7218,0.74,146.0,155.7,10.2,393,7226,0.00,2.20,0.00,0.000,6,0.000,0.042,2889,1975,2186,0,0,0,0,0,0
$GC,7547,0.74,146.0,122.9,10.3,424,7551,0.00,2.17,0.00,0.000,4,0.000,0.053,2889,3384,2186,0,0,0,0,0,0
$GC,7609,0.74,146.0,116.2,10.5,429,7613,0.00,2.17,0.00,0.000,6,0.000,0.046,2897,1976,2185,0,0,0,0,0,0
$GC,7936,0.75,159.4,89.2,8.5,459,7952,0.00,2.25,9.62,0.497,4,0.000,0.054,2897,3385,2150,0,0,0,0,0,0
$GC,7983,0.75,159.4,85.1,9.4,463,7987,0.00,2.20,0.00,0.000,6,0.000,0.043,2905,1969,2149,0,0,0,0,0,0
$GC,8313,0.75,159.4,50.6,10.0,518,8320,0.00,2.22,0.00,0.000,4,0.000,0.057,2915,563,2149,0,0,0,0,0,0
$GC,8368,0.75,159.4,45.4,9.7,527,8374,0.12,2.17,0.00,0.000,6,0.133,0.039,2879,1981,2149,0,0,0,0,0,0
$GC,8696,0.77,173.5,20.0,8.4,588,8717,0.00,2.20,13.73,0.449,4,0.000,0.050,2879,3381,2092,0,0,0,0,0,0
$GC,8820,0.77,173.5,8.3,11.2,610,8828,0.00,2.20,0.00,0.000,6,0.000,0.038,2885,1968,2091,0,0,0,0,0,0
$STATE,8881,end climb,SURFACE_DEPTH_REACHED
$STATE,8881,begin surface coast
$FINISH,0.5,1.010751
$STATE,8918,end surface coast,CONTROL_FINISHED_OK
$STATE,8921,begin surface
$SM_CCo,8938,56.08,0.445,0,0,1575,300.24
$SM_GC,1.45,0.00,0.00,56.08,0.000,0.000,0.445,40,1965,1575,-8.13,0.14,300.24
$IRIDIUM_FIX,2059.45,-15648.69,060802,101044
$TT8_MAMPS,0.028379
$HUMID,61.49
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.7,13.702
$10V_AH,10.5,15.035
$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,18.475,79.450,267.325,56.075,0.000,124.415,154.586,223.375,19.250,0.000,20.695,1143.352,5506.023,406.723,2004.594,770.244,0.000,1083.953,0.000,1963.613,0.000,119.402,0.000
$DEVICE_MAMPS,227.032,63.661,788.476,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,427.825,368.652,1229.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35077,628
$CAP_FILE_SIZE,98502,0
$CFSIZE,260165632,247332864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120513,130306,2107.371,-15755.988,26,0.8,26,9.8