version: 66.06
glider: 523
mission: 4
dive: 172
start: 5 13 113 4 16 57
data:
$ID,523
$MISSION,4
$DIVE,172
$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,-39288.758
$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,32
$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
$GPS1,041104,2106.920,-15752.663,49,0.9,49,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.2
$GPS2,041641,2106.933,-15752.763,26,1.2,26,9.8
$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,87.1,17136,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.28,0.000,6,0.000,0.000,50,1965,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-7.1,13,117,9.27,0.00,0.00,0.000,6,0.228,0.000,2393,1965,3397,0,0,0,0,0,0
$GC,279,-0.74,-146.0,42.6,-17.2,45,284,0.00,2.25,0.00,0.000,4,0.000,0.055,2393,556,3398,0,0,0,0,0,0
$GC,325,-0.74,-146.0,50.8,-15.9,53,331,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1970,3398,0,0,0,0,0,0
$GC,659,-0.74,-146.0,103.9,-12.5,100,664,0.00,2.17,0.00,0.000,4,0.000,0.056,2375,3363,3400,0,0,0,0,0,0
$GC,823,-0.74,-146.0,124.3,-11.0,115,830,0.00,2.20,0.00,0.000,6,0.000,0.044,2375,1966,3400,0,0,0,0,0,0
$GC,1157,-0.74,-146.0,161.7,-10.3,146,1161,0.00,2.25,0.00,0.000,4,0.000,0.055,2375,543,3401,0,0,0,0,0,0
$GC,1323,-0.74,-146.0,181.1,-10.0,160,1330,0.08,2.17,0.00,0.000,6,0.153,0.035,2389,1968,3401,0,0,0,0,0,0
$GC,1656,-0.74,-146.0,211.1,-8.1,186,1660,0.00,2.28,0.00,0.000,4,0.000,0.052,2390,543,3402,0,0,0,0,0,0
$GC,1728,-0.74,-146.0,219.4,-11.4,189,1732,0.00,2.15,0.00,0.000,6,0.000,0.034,2381,1964,3402,0,0,0,0,0,0
$GC,2043,-0.74,-146.0,254.8,-10.3,204,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1965,3402,0,0,0,0,0,0
$GC,2355,-0.74,-146.0,282.5,-8.3,219,2359,0.00,2.20,0.00,0.000,4,0.000,0.055,2372,3370,3402,0,0,0,0,0,0
$GC,2394,-0.74,-146.0,286.2,-8.8,220,2401,0.08,2.22,0.00,0.000,6,0.169,0.044,2396,1958,3402,0,0,0,0,0,0
$GC,2730,-0.74,-146.0,314.5,-8.4,233,2734,0.00,2.22,0.00,0.000,4,0.000,0.057,2396,553,3401,0,0,0,0,0,0
$GC,2814,-0.74,-146.0,322.3,-8.8,234,2819,0.00,2.12,0.00,0.000,6,0.000,0.038,2388,1967,3402,0,0,0,0,0,0
$GC,3146,-0.74,-146.0,349.3,-8.4,243,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1968,3401,0,0,0,0,0,0
$GC,3470,-0.74,-146.0,374.1,-7.9,251,3474,0.00,2.28,0.00,0.000,4,0.000,0.059,2388,551,3399,0,0,0,0,0,0
$GC,3604,-0.74,-146.0,387.0,-10.1,254,3608,0.00,2.17,0.00,0.000,6,0.000,0.041,2378,1969,3398,0,0,0,0,0,0
$GC,3925,-0.74,-146.0,415.2,-8.6,262,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1969,3396,0,0,0,0,0,0
$GC,4247,-0.74,-146.0,438.8,-6.9,270,4251,0.00,2.17,0.00,0.000,4,0.000,0.057,2368,3366,3393,0,0,0,0,0,0
$GC,4264,-0.74,-146.0,439.8,-6.6,270,4269,0.12,2.17,0.00,0.000,6,0.151,0.041,2402,1949,3393,0,0,0,0,0,0
$STATE,4449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4449,begin apogee
$GC,4456,-0.17,0.0,450.8,5.9,275,4577,0.55,0.00,118.47,0.783,6,0.121,0.000,2583,1949,2799,0,0,0,0,0,0
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4581,0.74,146.0,450.8,0.0,278,4715,0.85,2.35,125.22,0.752,4,0.080,0.061,2886,568,2203,0,0,0,0,0,0
$GC,4738,0.74,146.0,431.7,15.3,281,4743,0.00,2.28,0.00,0.000,6,0.000,0.043,2886,1975,2201,0,0,0,0,0,0
$GC,5069,0.74,146.0,377.1,16.2,290,5073,0.00,2.20,0.00,0.000,4,0.000,0.054,2886,3386,2196,0,0,0,0,0,0
$GC,5113,0.74,146.0,369.7,16.9,291,5117,0.00,2.22,0.00,0.000,6,0.000,0.044,2895,1974,2194,0,0,0,0,0,0
$GC,5431,0.74,146.0,318.7,15.5,299,5436,0.00,2.25,0.00,0.000,4,0.000,0.060,2906,557,2193,0,0,0,0,0,0
$GC,5511,0.74,146.0,306.2,15.7,300,5517,0.00,2.20,0.00,0.000,6,0.000,0.044,2906,1981,2192,0,0,0,0,0,0
$GC,5826,0.74,146.0,258.8,14.3,315,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1982,2191,0,0,0,0,0,0
$GC,6135,0.74,146.0,214.3,14.2,330,6139,0.00,2.17,0.00,0.000,4,0.000,0.054,2906,3381,2190,0,0,0,0,0,0
$GC,6190,0.74,146.0,206.6,14.1,332,6196,0.12,2.22,0.00,0.000,6,0.159,0.050,2880,1973,2188,0,0,0,0,0,0
$GC,6515,0.74,146.0,169.1,11.4,360,6519,0.00,2.22,0.00,0.000,4,0.000,0.058,2889,564,2188,0,0,0,0,0,0
$GC,6557,0.74,146.0,164.5,10.2,363,6565,0.00,2.20,0.00,0.000,6,0.000,0.041,2889,1974,2187,0,0,0,0,0,0
$GC,6884,0.74,146.0,128.3,11.2,394,6888,0.00,2.20,0.00,0.000,4,0.000,0.053,2889,3394,2187,0,0,0,0,0,0
$GC,6925,0.74,146.0,124.0,10.8,397,6930,0.00,2.22,0.00,0.000,6,0.000,0.047,2898,1964,2187,0,0,0,0,0,0
$GC,7252,0.74,146.0,90.4,10.4,427,7256,0.00,2.17,0.00,0.000,4,0.000,0.057,2908,568,2186,0,0,0,0,0,0
$GC,7359,0.74,146.0,79.7,9.7,436,7368,0.08,2.20,0.00,0.000,6,0.117,0.040,2881,1987,2186,0,0,0,0,0,0
$GC,7694,0.82,210.3,54.5,6.4,497,7752,0.00,2.25,51.08,0.505,4,0.000,0.048,2881,3380,1942,0,0,0,0,0,0
$GC,7865,0.82,210.3,38.1,10.5,527,7871,0.00,2.17,0.00,0.000,6,0.000,0.038,2886,1973,1940,0,0,0,0,0,0
$GC,8189,0.83,223.5,4.1,8.5,588,8210,0.00,2.28,12.52,0.427,4,0.000,0.058,2896,576,1886,0,0,0,0,0,0
$STATE,8216,end climb,SURFACE_DEPTH_REACHED
$STATE,8216,begin surface coast
$FINISH,0.7,1.023400
$STATE,8254,end surface coast,CONTROL_FINISHED_OK
$STATE,8254,begin surface
$SM_CCo,8274,34.08,0.439,0,0,1576,300.24
$SM_GC,1.50,0.00,0.00,34.08,0.000,0.000,0.439,24,1978,1576,-8.18,0.51,300.24
$IRIDIUM_FIX,2054.83,-15744.48,070802,010112
$TT8_MAMPS,0.028379
$HUMID,62.28
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.7,14.269
$10V_AH,10.4,15.651
$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,18.425,75.225,307.300,34.075,0.000,28.434,37.026,136.683,19.000,0.000,26.386,1069.851,4827.033,396.921,1926.446,424.489,0.000,1065.898,0.000,1872.558,0.000,121.401,0.000
$DEVICE_MAMPS,227.799,60.593,783.107,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.161,341.977,1201.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,31874,599
$CAP_FILE_SIZE,90541,0
$CFSIZE,260165632,247005184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130513,063618,2106.930,-15752.186,14,1.1,14,9.8