version: 66.06
glider: 523
mission: 4
dive: 166
start: 5 12 113 13 9 5
data:
$ID,523
$MISSION,4
$DIVE,166
$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,-39172.098
$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
$GPS1,130306,2107.371,-15755.988,26,0.8,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.2
$GPS2,130848,2107.384,-15756.057,17,0.9,17,9.8
$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,87.5,22887,-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,-77.65,0.000,6,0.000,0.000,40,1965,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-5.8,13,118,9.32,2.25,0.00,0.000,4,0.227,0.052,2394,556,3396,0,0,0,0,0,0
$GC,238,-0.74,-146.0,36.5,-19.0,37,244,0.00,2.17,0.00,0.000,6,0.000,0.035,2386,1970,3397,0,0,0,0,0,0
$GC,569,-0.74,-146.0,91.1,-11.8,90,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1971,3399,0,0,0,0,0,0
$GC,896,-0.74,-146.0,128.5,-13.0,121,900,0.00,2.20,0.00,0.000,4,0.000,0.057,2375,3370,3400,0,0,0,0,0,0
$GC,994,-0.74,-146.0,142.9,-13.9,129,1002,0.00,2.25,0.00,0.000,6,0.000,0.046,2375,1961,3400,0,0,0,0,0,0
$GC,1322,-0.74,-146.0,189.3,-13.8,160,1326,0.00,2.22,0.00,0.000,4,0.000,0.053,2375,541,3401,0,0,0,0,0,0
$GC,1579,-0.74,-146.0,225.7,-13.0,174,1584,0.12,2.15,0.00,0.000,6,0.166,0.035,2398,1973,3401,0,0,0,0,0,0
$GC,1895,-0.74,-146.0,247.1,-5.9,189,1899,0.00,2.28,0.00,0.000,4,0.000,0.053,2399,539,3402,0,0,0,0,0,0
$GC,2037,-0.74,-146.0,255.8,-6.2,195,2041,0.00,2.12,0.00,0.000,6,0.000,0.035,2391,1955,3402,0,0,0,0,0,0
$GC,2354,-0.74,-146.0,282.4,-9.1,210,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1955,3402,0,0,0,0,0,0
$GC,2663,-0.74,-146.0,307.4,-7.9,223,2668,0.00,2.28,0.00,0.000,4,0.000,0.057,2390,548,3401,0,0,0,0,0,0
$GC,2697,-0.74,-146.0,310.7,-9.1,223,2702,0.00,2.15,0.00,0.000,6,0.000,0.038,2381,1965,3401,0,0,0,0,0,0
$GC,3028,-0.74,-146.0,339.5,-8.7,232,3032,0.00,2.28,0.00,0.000,4,0.000,0.060,2381,549,3400,0,0,0,0,0,0
$GC,3148,-0.74,-146.0,350.5,-9.1,234,3153,0.12,2.17,0.00,0.000,6,0.168,0.041,2404,1962,3399,0,0,0,0,0,0
$GC,3489,-0.74,-146.0,374.0,-6.9,243,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1963,3397,0,0,0,0,0,0
$GC,3811,-0.74,-146.0,396.0,-7.3,251,3815,0.00,2.22,0.00,0.000,4,0.000,0.061,2396,3376,3394,0,0,0,0,0,0
$GC,3866,-0.74,-146.0,400.7,-8.0,252,3870,0.00,2.22,0.00,0.000,6,0.000,0.044,2396,1949,3394,0,0,0,0,0,0
$GC,4218,-0.74,-146.0,430.1,-8.8,261,4222,0.00,2.25,0.00,0.000,4,0.000,0.067,2395,547,3391,0,0,0,0,0,0
$GC,4257,-0.74,-146.0,434.2,-9.4,262,4261,0.00,2.20,0.00,0.000,6,0.000,0.044,2386,1963,3391,0,0,0,0,0,0
$STATE,4458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4458,begin apogee
$GC,4464,-0.17,0.0,450.7,8.0,267,4585,0.60,0.00,118.10,0.788,6,0.123,0.000,2580,1963,2799,0,0,0,0,0,0
$STATE,4586,end apogee,CONTROL_FINISHED_OK
$STATE,4586,begin climb
$GC,4589,0.74,146.0,451.6,0.0,270,4724,0.85,2.35,124.75,0.755,4,0.079,0.052,2872,3392,2204,0,0,0,0,0,0
$GC,4740,0.74,146.0,435.3,13.7,273,4745,0.00,2.33,0.00,0.000,6,0.000,0.044,2882,1965,2202,0,0,0,0,0,0
$GC,5072,0.74,146.0,389.2,13.5,281,5076,0.00,2.25,0.00,0.000,4,0.000,0.060,2892,567,2196,0,0,0,0,0,0
$GC,5105,0.74,146.0,384.2,15.3,281,5110,0.00,2.22,0.00,0.000,6,0.000,0.044,2892,1979,2196,0,0,0,0,0,0
$GC,5436,0.74,146.0,330.5,16.4,290,5440,0.00,2.28,0.00,0.000,4,0.000,0.058,2902,567,2194,0,0,0,0,0,0
$GC,5468,0.74,146.0,324.5,17.1,290,5474,0.00,2.17,0.00,0.000,6,0.000,0.042,2902,1977,2193,0,0,0,0,0,0
$GC,5781,0.74,146.0,271.9,15.9,302,5785,0.00,2.17,0.00,0.000,4,0.000,0.054,2902,3384,2192,0,0,0,0,0,0
$GC,5866,0.74,146.0,258.7,15.3,306,5871,0.12,2.20,0.00,0.000,6,0.166,0.045,2879,1973,2191,0,0,0,0,0,0
$GC,6193,0.74,146.0,220.4,10.1,322,6197,0.00,2.22,0.00,0.000,4,0.000,0.058,2887,564,2189,0,0,0,0,0,0
$GC,6305,0.74,146.0,209.3,9.3,327,6309,0.00,2.17,0.00,0.000,6,0.000,0.041,2887,1981,2188,0,0,0,0,0,0
$GC,6637,0.74,146.0,178.1,9.8,353,6641,0.00,2.28,0.00,0.000,4,0.000,0.061,2896,561,2188,0,0,0,0,0,0
$GC,6711,0.74,150.0,170.9,8.9,359,6715,0.00,2.17,0.00,0.000,6,0.000,0.040,2896,1974,2188,0,0,0,0,0,0
$GC,7039,0.74,150.0,136.0,12.6,389,7043,0.00,2.15,0.00,0.000,4,0.000,0.052,2896,3380,2188,0,0,0,0,0,0
$GC,7071,0.74,150.0,131.3,13.0,391,7078,0.00,2.22,0.00,0.000,6,0.000,0.045,2905,1981,2187,0,0,0,0,0,0
$GC,7398,0.74,150.0,90.1,11.4,422,7402,0.00,2.22,0.00,0.000,4,0.000,0.054,2905,3384,2187,0,0,0,0,0,0
$GC,7511,0.74,150.0,76.9,11.7,434,7519,0.08,2.22,0.00,0.000,6,0.133,0.044,2886,1978,2187,0,0,0,0,0,0
$GC,7847,0.77,175.7,52.4,8.0,495,7876,0.00,2.25,23.67,0.490,4,0.000,0.053,2895,557,2082,0,0,0,0,0,0
$GC,7920,0.78,182.2,45.9,8.8,508,7933,0.00,2.20,6.72,0.414,6,0.000,0.036,2895,1971,2056,0,0,0,0,0,0
$GC,8254,0.80,197.9,13.2,8.4,570,8275,0.00,2.25,14.62,0.441,4,0.000,0.048,2895,3395,1992,0,0,0,0,0,0
$STATE,8349,end climb,SURFACE_DEPTH_REACHED
$STATE,8349,begin surface coast
$FINISH,2.1,1.023383
$STATE,8358,end surface coast,CONTROL_FINISHED_OK
$STATE,8358,begin surface
$SM_CCo,8378,49.15,0.443,0,0,1575,300.24
$SM_GC,1.30,0.00,0.00,49.15,0.000,0.000,0.443,43,1953,1575,-8.12,-0.20,300.24
$IRIDIUM_FIX,2106.38,-15817.07,060802,101034
$TT8_MAMPS,0.028379
$HUMID,61.65
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.7,13.781
$10V_AH,10.5,15.120
$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,18.475,80.075,287.875,49.150,0.000,29.427,34.072,150.905,19.000,0.000,18.146,1072.554,4971.747,385.924,1901.748,437.897,0.000,1070.273,0.000,1852.781,0.000,119.120,0.000
$DEVICE_MAMPS,227.032,67.496,787.709,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.500,330.747,1123.846,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31742,588
$CAP_FILE_SIZE,92365,0
$CFSIZE,260165632,247296000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120513,153032,2107.152,-15755.747,19,0.9,20,9.8