version: 66.06
glider: 523
mission: 4
dive: 170
start: 5 12 113 23 15 58
data:
$ID,523
$MISSION,4
$DIVE,170
$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,-39245.57
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,230922,2107.009,-15753.444,85,1.0,85,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.7
$GPS2,231542,2107.017,-15753.534,19,1.2,19,9.8
$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,87.1,18479,-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,-76.18,0.000,2,0.000,0.000,50,1989,3372,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.1,-4.1,12,113,9.30,2.35,-0.47,0.000,4,0.230,0.064,2394,538,3396,0,0,0,0,0,0
$GC,162,-0.74,-146.0,20.5,-19.4,23,170,0.00,2.25,0.00,0.000,6,0.000,0.038,2385,1969,3398,0,0,0,0,0,0
$GC,331,-0.74,-146.0,51.0,-18.0,54,339,0.00,2.25,0.00,0.000,4,0.000,0.060,2375,3362,3398,0,0,0,0,0,0
$GC,367,-0.74,-146.0,57.6,-17.8,60,374,0.00,2.28,0.00,0.000,6,0.000,0.047,2375,1953,3398,0,0,0,0,0,0
$GC,698,-0.74,-146.0,113.1,-15.3,102,703,0.00,2.22,0.00,0.000,4,0.000,0.056,2365,3369,3399,0,0,0,0,0,0
$GC,751,-0.74,-146.0,121.8,-16.0,106,756,0.12,2.22,0.00,0.000,6,0.157,0.046,2397,1949,3399,0,0,0,0,0,0
$GC,1078,-0.74,-146.0,159.7,-10.6,136,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1949,3401,0,0,0,0,0,0
$GC,1397,-0.74,-146.0,190.8,-11.0,166,1401,0.00,2.15,0.00,0.000,4,0.000,0.050,2398,544,3401,0,0,0,0,0,0
$GC,1652,-0.74,-146.0,217.8,-9.0,180,1657,0.00,2.12,0.00,0.000,6,0.000,0.032,2389,1977,3401,0,0,0,0,0,0
$GC,1971,-0.74,-146.0,246.3,-9.0,196,1975,0.00,2.28,0.00,0.000,4,0.000,0.051,2389,537,3402,0,0,0,0,0,0
$GC,2088,-0.74,-146.0,258.3,-9.8,201,2092,0.00,2.12,0.00,0.000,6,0.000,0.035,2379,1954,3402,0,0,0,0,0,0
$GC,2406,-0.74,-146.0,284.7,-7.7,216,2413,0.00,2.25,0.00,0.000,4,0.000,0.054,2380,540,3402,0,0,0,0,0,0
$GC,2638,-0.74,-146.0,304.2,-7.7,225,2642,0.12,2.15,0.00,0.000,6,0.170,0.037,2404,1974,3401,0,0,0,0,0,0
$GC,2959,-0.74,-146.0,325.3,-6.6,233,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1974,3401,0,0,0,0,0,0
$GC,3281,-0.74,-146.0,348.7,-7.4,241,3285,0.00,2.17,0.00,0.000,4,0.000,0.058,2395,3365,3399,0,0,0,0,0,0
$GC,3423,-0.74,-146.0,358.5,-6.9,244,3428,0.00,2.20,0.00,0.000,6,0.000,0.043,2395,1948,3398,0,0,0,0,0,0
$GC,3740,-0.74,-146.0,380.9,-7.3,252,3744,0.00,2.20,0.00,0.000,4,0.000,0.061,2395,551,3396,0,0,0,0,0,0
$GC,3791,-0.74,-146.0,385.5,-8.6,253,3795,0.00,2.12,0.00,0.000,6,0.000,0.041,2385,1954,3396,0,0,0,0,0,0
$GC,4107,-0.74,-146.0,412.4,-8.6,261,4111,0.00,2.22,0.00,0.000,4,0.000,0.060,2375,3366,3393,0,0,0,0,0,0
$GC,4135,-0.74,-146.0,415.1,-9.2,261,4139,0.00,2.17,0.00,0.000,6,0.000,0.043,2375,1952,3393,0,0,0,0,0,0
$GC,4466,-0.74,-146.0,438.9,-6.6,269,4470,0.00,2.20,0.00,0.000,4,0.000,0.064,2376,555,3391,0,0,0,0,0,0
$STATE,4609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4609,begin apogee
$GC,4618,-0.17,0.0,450.3,7.7,272,4739,0.65,0.00,118.22,0.787,6,0.129,0.000,2578,1973,2799,0,0,0,0,0,0
$STATE,4740,end apogee,CONTROL_FINISHED_OK
$STATE,4740,begin climb
$GC,4743,0.74,146.0,451.4,0.0,275,4877,0.85,2.35,124.95,0.755,4,0.081,0.058,2869,3389,2204,0,0,0,0,0,0
$GC,4900,0.74,146.0,433.2,15.1,278,4906,0.00,2.35,0.00,0.000,6,0.000,0.048,2879,1979,2202,0,0,0,0,0,0
$GC,5231,0.74,146.0,387.2,13.5,287,5235,0.00,2.30,0.00,0.000,4,0.000,0.061,2890,552,2196,0,0,0,0,0,0
$GC,5321,0.74,146.0,374.8,13.3,289,5325,0.00,2.25,0.00,0.000,6,0.000,0.044,2890,1983,2195,0,0,0,0,0,0
$GC,5639,0.74,146.0,330.9,13.7,297,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1984,2193,0,0,0,0,0,0
$GC,5945,0.74,146.0,286.6,14.6,306,5948,0.00,2.17,0.00,0.000,4,0.000,0.052,2890,3392,2192,0,0,0,0,0,0
$GC,5990,0.74,146.0,279.6,16.0,308,5994,0.00,2.22,0.00,0.000,6,0.000,0.041,2900,1962,2191,0,0,0,0,0,0
$GC,6322,0.74,146.0,227.7,16.4,324,6326,0.00,2.20,0.00,0.000,4,0.000,0.060,2910,569,2190,0,0,0,0,0,0
$GC,6451,0.74,146.0,207.5,14.8,329,6457,0.12,2.17,0.00,0.000,6,0.153,0.039,2877,1985,2189,0,0,0,0,0,0
$GC,6776,0.74,146.0,170.6,10.6,357,6780,0.00,2.15,0.00,0.000,4,0.000,0.051,2877,3378,2188,0,0,0,0,0,0
$GC,6806,0.74,146.0,167.3,11.0,359,6810,0.00,2.17,0.00,0.000,6,0.000,0.041,2885,1976,2188,0,0,0,0,0,0
$GC,7133,0.74,146.0,129.2,11.4,389,7137,0.00,2.22,0.00,0.000,4,0.000,0.059,2895,569,2187,0,0,0,0,0,0
$GC,7249,0.74,146.0,116.3,9.4,399,7253,0.00,2.15,0.00,0.000,6,0.000,0.038,2895,1977,2187,0,0,0,0,0,0
$GC,7576,0.74,146.0,86.6,10.3,429,7580,0.00,2.15,0.00,0.000,4,0.000,0.051,2895,3385,2187,0,0,0,0,0,0
$GC,7719,0.75,153.1,73.3,8.7,448,7731,0.00,2.20,4.50,0.397,6,0.000,0.039,2906,1977,2175,0,0,0,0,0,0
$GC,8060,0.76,165.9,41.7,8.5,510,8079,0.00,0.00,12.95,0.470,6,0.000,0.000,2905,1978,2122,0,0,0,0,0,0
$GC,8397,0.76,165.9,7.3,11.0,573,8404,0.00,2.22,0.00,0.000,4,0.000,0.048,2905,3377,2121,0,0,0,0,0,0
$STATE,8431,end climb,SURFACE_DEPTH_REACHED
$STATE,8431,begin surface coast
$FINISH,0.5,1.023341
$STATE,8452,end surface coast,CONTROL_FINISHED_OK
$STATE,8452,begin surface
$SM_CCo,8473,64.43,0.453,0,0,1575,300.24
$SM_GC,1.26,0.00,0.00,64.43,0.000,0.000,0.453,40,1950,1575,-8.13,-0.28,300.24
$IRIDIUM_FIX,2054.83,-15744.48,060802,202022
$TT8_MAMPS,0.028379
$HUMID,62.64
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.7,14.104
$10V_AH,10.5,15.475
$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,18.775,79.725,260.625,64.425,0.000,28.112,43.089,171.329,19.000,0.000,20.048,1085.611,4973.845,379.932,1996.534,481.128,0.000,1087.007,0.000,1942.296,0.000,117.243,0.000
$DEVICE_MAMPS,230.100,63.661,786.942,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,397.260,329.573,1146.951,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31778,583
$CAP_FILE_SIZE,94754,0
$CFSIZE,260165632,247099392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130513,013917,2106.904,-15752.795,22,0.9,22,9.8