version: 66.06
glider: 523
mission: 4
dive: 168
start: 5 12 113 18 9 17
data:
$ID,523
$MISSION,4
$DIVE,168
$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,-39208.523
$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,31
$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
$GPS1,180034,2107.140,-15755.401,29,0.8,29,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.1
$GPS2,180900,2107.146,-15755.563,15,1.1,15,9.8
$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,86.6,21988,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.15,0.000,2,0.000,0.000,36,1947,3366,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.0,-3.7,12,115,9.27,2.20,-0.68,0.000,4,0.226,0.064,2390,551,3397,0,0,0,0,0,0
$GC,251,-0.74,-146.0,37.9,-20.1,39,257,0.00,2.15,0.00,0.000,6,0.000,0.036,2381,1970,3399,0,0,0,0,0,0
$GC,590,-0.74,-146.0,95.1,-15.2,92,594,0.00,2.28,0.00,0.000,4,0.000,0.053,2381,547,3399,0,0,0,0,0,0
$GC,620,-0.74,-146.0,100.0,-16.3,94,625,0.12,2.15,0.00,0.000,6,0.171,0.035,2404,1962,3399,0,0,0,0,0,0
$GC,948,-0.74,-146.0,140.3,-10.9,124,952,0.00,2.15,0.00,0.000,4,0.000,0.054,2395,3362,3400,0,0,0,0,0,0
$GC,1048,-0.74,-146.0,150.4,-10.0,132,1055,0.00,2.22,0.00,0.000,6,0.000,0.044,2395,1966,3400,0,0,0,0,0,0
$GC,1375,-0.74,-146.0,182.1,-10.8,163,1379,0.00,2.22,0.00,0.000,4,0.000,0.051,2395,537,3401,0,0,0,0,0,0
$GC,1624,-0.74,-146.0,211.3,-10.7,181,1628,0.00,2.15,0.00,0.000,6,0.000,0.033,2385,1970,3401,0,0,0,0,0,0
$GC,1941,-0.74,-146.0,246.2,-11.8,196,1944,0.00,2.15,0.00,0.000,4,0.000,0.054,2376,3363,3401,0,0,0,0,0,0
$GC,2085,-0.74,-146.0,261.5,-9.6,202,2091,0.00,2.20,0.00,0.000,6,0.000,0.043,2376,1947,3401,0,0,0,0,0,0
$GC,2403,-0.74,-146.0,288.1,-8.3,218,2407,0.00,2.15,0.00,0.000,4,0.000,0.053,2376,551,3401,0,0,0,0,0,0
$GC,2460,-0.74,-146.0,293.7,-9.1,220,2466,0.12,2.12,0.00,0.000,6,0.169,0.035,2398,1960,3401,0,0,0,0,0,0
$GC,2795,-0.74,-146.0,319.2,-8.0,231,2799,0.00,2.17,0.00,0.000,4,0.000,0.054,2389,3364,3401,0,0,0,0,0,0
$GC,2835,-0.74,-146.0,323.0,-9.3,232,2839,0.00,2.17,0.00,0.000,6,0.000,0.039,2389,1949,3401,0,0,0,0,0,0
$GC,3162,-0.74,-146.0,353.0,-9.6,240,3165,0.00,2.20,0.00,0.000,4,0.000,0.058,2389,555,3400,0,0,0,0,0,0
$GC,3419,-0.74,-146.0,374.9,-7.8,245,3428,0.00,2.12,0.00,0.000,6,0.000,0.038,2380,1956,3398,0,0,0,0,0,0
$GC,3752,-0.74,-146.0,396.2,-6.3,254,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1957,3396,0,0,0,0,0,0
$GC,4076,-0.74,-146.0,422.4,-8.2,262,4080,0.00,2.20,0.00,0.000,4,0.000,0.058,2370,3362,3393,0,0,0,0,0,0
$GC,4262,-0.74,-146.0,435.3,-5.6,266,4267,0.12,2.15,0.00,0.000,6,0.153,0.042,2403,1960,3392,0,0,0,0,0,0
$STATE,4532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4532,begin apogee
$GC,4539,-0.17,0.0,450.4,5.9,273,4660,0.55,0.00,118.03,0.782,6,0.122,0.000,2583,1960,2800,0,0,0,0,0,0
$STATE,4661,end apogee,CONTROL_FINISHED_OK
$STATE,4661,begin climb
$GC,4664,0.74,146.0,452.2,0.0,276,4798,0.82,2.40,124.90,0.752,4,0.079,0.055,2868,3383,2203,0,0,0,0,0,0
$GC,4815,0.74,146.0,436.6,14.2,279,4819,0.00,2.33,0.00,0.000,6,0.000,0.050,2877,1989,2201,0,0,0,0,0,0
$GC,5146,0.74,146.0,390.9,13.5,287,5150,0.00,2.33,0.00,0.000,4,0.000,0.064,2888,555,2195,0,0,0,0,0,0
$GC,5190,0.74,146.0,384.6,14.0,288,5194,0.00,2.25,0.00,0.000,6,0.000,0.045,2888,1981,2194,0,0,0,0,0,0
$GC,5508,0.74,146.0,341.4,13.3,296,5512,0.00,2.28,0.00,0.000,4,0.000,0.059,2897,555,2192,0,0,0,0,0,0
$GC,5564,0.74,146.0,333.9,14.1,297,5568,0.00,2.17,0.00,0.000,6,0.000,0.040,2898,1974,2191,0,0,0,0,0,0
$GC,5892,0.74,146.0,287.6,13.3,307,5896,0.00,2.17,0.00,0.000,4,0.000,0.054,2898,3387,2190,0,0,0,0,0,0
$GC,5955,0.74,146.0,279.4,13.2,310,5959,0.00,2.20,0.00,0.000,6,0.000,0.041,2907,1965,2189,0,0,0,0,0,0
$GC,6287,0.74,146.0,237.2,11.7,326,6291,0.00,2.20,0.00,0.000,4,0.000,0.059,2917,569,2188,0,0,0,0,0,0
$GC,6359,0.74,146.0,227.2,14.0,329,6364,0.15,2.17,0.00,0.000,6,0.145,0.039,2875,1985,2187,0,0,0,0,0,0
$GC,6684,0.74,146.0,193.4,9.9,348,6688,0.00,2.15,0.00,0.000,4,0.000,0.052,2875,3389,2186,0,0,0,0,0,0
$GC,6845,0.74,146.0,173.9,12.6,362,6849,0.00,2.17,0.00,0.000,6,0.000,0.044,2882,1973,2186,0,0,0,0,0,0
$GC,7172,0.74,146.0,136.8,12.0,392,7176,0.00,2.17,0.00,0.000,4,0.000,0.057,2893,568,2186,0,0,0,0,0,0
$GC,7277,0.74,146.0,123.8,12.2,401,7281,0.00,2.12,0.00,0.000,6,0.000,0.037,2893,1979,2186,0,0,0,0,0,0
$GC,7604,0.74,146.0,89.6,10.8,431,7608,0.00,2.12,0.00,0.000,4,0.000,0.052,2893,3377,2186,0,0,0,0,0,0
$GC,7699,0.74,146.0,79.0,10.6,439,7704,0.00,2.17,0.00,0.000,6,0.000,0.041,2900,1968,2186,0,0,0,0,0,0
$GC,8033,0.74,146.0,50.5,9.6,500,8041,0.00,2.20,0.00,0.000,4,0.000,0.056,2910,576,2186,0,0,0,0,0,0
$GC,8069,0.74,146.0,47.0,10.1,506,8077,0.08,2.15,0.00,0.000,6,0.114,0.037,2883,1970,2186,0,0,0,0,0,0
$GC,8399,0.77,173.9,19.9,7.9,567,8425,0.00,0.00,21.77,0.460,6,0.000,0.000,2883,1970,2090,0,0,0,0,0,0
$GC,8586,0.82,213.1,4.1,7.4,601,8601,0.00,0.00,12.65,0.425,2,0.000,0.000,2883,1970,2014,0,0,0,0,0,0
$STATE,8601,end climb,SURFACE_DEPTH_REACHED
$STATE,8602,begin surface coast
$FINISH,0.8,1.023325
$STATE,8635,end surface coast,CONTROL_FINISHED_OK
$STATE,8635,begin surface
$SM_CCo,8653,48.58,0.439,0,0,1575,300.24
$SM_GC,1.54,0.00,0.00,48.58,0.000,0.000,0.439,29,1979,1575,-8.16,0.57,300.24
$IRIDIUM_FIX,2057.14,-15801.19,060802,151515
$TT8_MAMPS,0.028379
$HUMID,60.98
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.7,13.945
$10V_AH,10.5,15.300
$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,18.525,78.950,277.350,48.575,0.000,58.204,120.278,144.241,19.250,0.000,15.999,1128.784,5076.061,374.720,2071.352,558.290,0.000,1104.591,0.000,2026.217,0.000,117.256,0.000
$DEVICE_MAMPS,226.265,64.428,782.340,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,414.118,349.552,1209.533,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34921,609
$CAP_FILE_SIZE,97242,0
$CFSIZE,260165632,247193600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120513,203528,2107.033,-15754.500,29,1.3,29,9.8