version: 66.06
glider: 523
mission: 4
dive: 173
start: 5 13 113 6 48 52
data:
$ID,523
$MISSION,4
$DIVE,173
$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,-39307.219
$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,32
$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
$GPS1,063618,2106.930,-15752.186,14,1.1,14,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.6
$GPS2,064835,2106.971,-15752.343,17,0.9,17,9.8
$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,87.7,16425,-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,-76.05,0.000,6,0.000,0.000,24,1977,3396,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-4.5,12,111,9.32,0.00,0.00,0.000,6,0.224,0.000,2396,1971,3398,0,0,0,0,0,0
$GC,270,-0.74,-146.0,39.5,-17.7,44,277,0.00,2.33,0.00,0.000,4,0.000,0.057,2396,553,3399,0,0,0,0,0,0
$GC,324,-0.74,-146.0,48.8,-17.1,53,329,0.00,2.15,0.00,0.000,6,0.000,0.035,2388,1968,3399,0,0,0,0,0,0
$GC,660,-0.74,-146.0,102.3,-13.5,101,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1968,3400,0,0,0,0,0,0
$GC,978,-0.74,-146.0,143.6,-13.6,131,982,0.00,2.30,0.00,0.000,4,0.000,0.051,2388,544,3401,0,0,0,0,0,0
$GC,1119,-0.74,-146.0,161.0,-12.2,143,1123,0.00,2.15,0.00,0.000,6,0.000,0.031,2378,1977,3401,0,0,0,0,0,0
$GC,1460,-0.74,-146.0,205.7,-13.8,173,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1977,3402,0,0,0,0,0,0
$GC,1769,-0.74,-146.0,234.4,-8.3,188,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1978,3402,0,0,0,0,0,0
$GC,2078,-0.74,-146.0,263.2,-9.5,203,2082,0.00,2.12,0.00,0.000,4,0.000,0.052,2368,3360,3402,0,0,0,0,0,0
$GC,2223,-0.74,-146.0,277.8,-9.0,209,2229,0.12,2.22,0.00,0.000,6,0.150,0.044,2402,1953,3402,0,0,0,0,0,0
$GC,2561,-0.74,-146.0,304.6,-7.9,225,2568,0.00,2.22,0.00,0.000,4,0.000,0.054,2403,549,3401,0,0,0,0,0,0
$GC,2708,-0.74,-146.0,317.3,-8.3,228,2712,0.00,2.12,0.00,0.000,6,0.000,0.035,2395,1961,3402,0,0,0,0,0,0
$GC,3028,-0.74,-146.0,341.9,-7.8,236,3032,0.00,2.17,0.00,0.000,4,0.000,0.054,2384,3368,3400,0,0,0,0,0,0
$GC,3068,-0.74,-146.0,344.9,-7.2,237,3072,0.00,2.17,0.00,0.000,6,0.000,0.038,2384,1954,3400,0,0,0,0,0,0
$GC,3400,-0.74,-146.0,365.7,-6.3,245,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1954,3397,0,0,0,0,0,0
$GC,3722,-0.74,-146.0,389.9,-8.0,253,3727,0.00,2.22,0.00,0.000,4,0.000,0.060,2384,550,3395,0,0,0,0,0,0
$GC,3834,-0.74,-146.0,401.0,-10.1,255,3838,0.00,2.15,0.00,0.000,6,0.000,0.040,2374,1961,3394,0,0,0,0,0,0
$GC,4176,-0.74,-146.0,429.7,-7.8,264,4180,0.00,2.25,0.00,0.000,4,0.000,0.058,2374,555,3391,0,0,0,0,0,0
$GC,4318,-0.74,-146.0,440.0,-7.5,267,4323,0.12,2.17,0.00,0.000,6,0.170,0.043,2398,1960,3390,0,0,0,0,0,0
$STATE,4507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4507,begin apogee
$GC,4514,-0.17,0.0,450.0,5.0,272,4635,0.57,0.00,118.22,0.783,6,0.121,0.000,2586,1961,2799,0,0,0,0,0,0
$STATE,4636,end apogee,CONTROL_FINISHED_OK
$STATE,4636,begin climb
$GC,4639,0.74,146.0,449.7,0.0,275,4774,0.82,2.38,125.20,0.750,4,0.079,0.061,2882,571,2202,0,0,0,0,0,0
$GC,4818,0.74,146.0,429.2,14.9,279,4823,0.00,2.25,0.00,0.000,6,0.000,0.041,2882,1978,2199,0,0,0,0,0,0
$GC,5167,0.74,146.0,380.7,14.0,288,5171,0.00,2.30,0.00,0.000,4,0.000,0.064,2892,578,2195,0,0,0,0,0,0
$GC,5199,0.74,146.0,376.5,11.9,288,5205,0.00,2.20,0.00,0.000,6,0.000,0.041,2892,1978,2195,0,0,0,0,0,0
$GC,5530,0.74,146.0,328.2,14.9,297,5534,0.00,2.17,0.00,0.000,4,0.000,0.054,2892,3380,2192,0,0,0,0,0,0
$GC,5570,0.74,146.0,321.8,15.9,298,5575,0.00,2.20,0.00,0.000,6,0.000,0.043,2902,1981,2191,0,0,0,0,0,0
$GC,5897,0.74,146.0,274.0,13.5,310,5901,0.00,2.25,0.00,0.000,4,0.000,0.060,2913,562,2190,0,0,0,0,0,0
$GC,5969,0.74,146.0,264.2,13.5,313,5974,0.12,2.17,0.00,0.000,6,0.153,0.039,2879,1983,2190,0,0,0,0,0,0
$GC,6290,0.74,146.0,229.2,11.6,329,6294,0.00,2.17,0.00,0.000,4,0.000,0.054,2879,3381,2188,0,0,0,0,0,0
$GC,6368,0.74,146.0,218.8,13.2,332,6374,0.00,2.20,0.00,0.000,6,0.000,0.042,2887,1967,2187,0,0,0,0,0,0
$GC,6691,0.74,146.0,177.3,11.2,356,6695,0.00,2.17,0.00,0.000,4,0.000,0.057,2897,569,2187,0,0,0,0,0,0
$GC,6764,0.74,146.0,169.0,10.8,362,6768,0.00,2.15,0.00,0.000,6,0.000,0.038,2897,1985,2186,0,0,0,0,0,0
$GC,7091,0.74,146.0,132.0,9.6,392,7094,0.00,2.17,0.00,0.000,4,0.000,0.054,2897,3389,2186,0,0,0,0,0,0
$GC,7187,0.74,146.0,121.2,11.8,400,7195,0.00,2.20,0.00,0.000,6,0.000,0.041,2907,1981,2186,0,0,0,0,0,0
$GC,7515,0.74,146.0,86.2,10.3,431,7519,0.00,2.22,0.00,0.000,4,0.000,0.056,2914,563,2186,0,0,0,0,0,0
$GC,7586,0.74,146.0,78.0,10.6,438,7595,0.10,2.20,0.00,0.000,6,0.114,0.041,2879,1974,2186,0,0,0,0,0,0
$GC,7924,0.81,201.6,50.6,6.7,499,7975,0.00,2.22,44.42,0.498,4,0.000,0.050,2879,3390,1975,0,0,0,0,0,0
$GC,8069,0.81,201.6,37.2,11.4,525,8074,0.00,2.22,0.00,0.000,6,0.000,0.041,2886,1974,1973,0,0,0,0,0,0
$GC,8393,0.81,201.6,3.4,12.1,586,8400,0.00,2.25,0.00,0.000,4,0.000,0.054,2896,572,1973,0,0,0,0,0,0
$STATE,8406,end climb,SURFACE_DEPTH_REACHED
$STATE,8406,begin surface coast
$FINISH,0.6,1.023459
$STATE,8434,end surface coast,CONTROL_FINISHED_OK
$STATE,8434,begin surface
$SM_CCo,8454,43.65,0.441,0,0,1576,300.24
$SM_GC,1.28,0.00,0.00,43.65,0.000,0.000,0.441,38,1970,1576,-8.13,0.28,300.24
$IRIDIUM_FIX,2101.76,-15745.74,070802,060645
$TT8_MAMPS,0.028379
$HUMID,61.65
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.7,14.360
$10V_AH,10.5,15.740
$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,18.450,75.075,287.850,43.650,0.000,84.856,112.913,270.354,19.000,0.000,17.832,1075.960,5129.805,379.698,1942.362,708.462,0.000,1070.106,0.000,1890.799,0.000,117.254,0.000
$DEVICE_MAMPS,223.964,63.661,783.107,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.889,336.790,1143.620,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31840,593
$CAP_FILE_SIZE,98374,0
$CFSIZE,260165632,246951936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130513,091204,2107.022,-15751.409,54,0.9,54,9.8