version: 66.06
glider: 523
mission: 4
dive: 174
start: 5 13 113 9 19 10
data:
$ID,523
$MISSION,4
$DIVE,174
$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,-39323.422
$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,26
$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
$GPS1,091204,2107.022,-15751.409,54,0.9,54,9.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.8
$GPS2,091854,2107.019,-15751.468,15,1.4,15,9.8
$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,88.8,14941,-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,-76.15,0.000,2,0.000,0.000,38,1971,3361,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.1,-4.2,12,113,9.35,2.30,-0.80,0.000,4,0.227,0.063,2394,550,3397,0,0,0,0,0,0
$GC,203,-0.74,-146.0,27.3,-18.6,31,211,0.00,2.20,0.00,0.000,6,0.000,0.037,2386,1956,3398,0,0,0,0,0,0
$GC,377,-0.74,-146.0,59.6,-18.9,62,384,0.00,2.25,0.00,0.000,4,0.000,0.059,2375,3366,3399,0,0,0,0,0,0
$GC,420,-0.74,-146.0,67.5,-19.1,69,425,0.00,2.22,0.00,0.000,6,0.000,0.045,2375,1953,3398,0,0,0,0,0,0
$GC,747,-0.74,-146.0,120.0,-13.1,105,754,0.00,2.20,0.00,0.000,4,0.000,0.056,2375,551,3400,0,0,0,0,0,0
$GC,862,-0.74,-146.0,133.8,-12.4,115,867,0.12,2.12,0.00,0.000,6,0.174,0.035,2397,1974,3400,0,0,0,0,0,0
$GC,1189,-0.74,-146.0,169.0,-11.0,145,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1974,3401,0,0,0,0,0,0
$GC,1504,-0.74,-146.0,204.6,-10.4,173,1508,0.00,2.25,0.00,0.000,4,0.000,0.051,2397,550,3401,0,0,0,0,0,0
$GC,1661,-0.74,-146.0,220.6,-8.8,180,1665,0.00,2.10,0.00,0.000,6,0.000,0.034,2389,1957,3401,0,0,0,0,0,0
$GC,1987,-0.74,-146.0,252.0,-8.9,196,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1959,3401,0,0,0,0,0,0
$GC,2297,-0.74,-146.0,282.0,-10.8,211,2301,0.00,2.22,0.00,0.000,4,0.000,0.055,2378,3367,3401,0,0,0,0,0,0
$GC,2347,-0.74,-146.0,288.0,-11.4,213,2351,0.00,2.20,0.00,0.000,6,0.000,0.041,2378,1952,3401,0,0,0,0,0,0
$GC,2688,-0.74,-146.0,318.5,-8.5,225,2692,0.00,2.28,0.00,0.000,4,0.000,0.053,2369,3357,3401,0,0,0,0,0,0
$GC,2783,-0.74,-146.0,326.5,-8.2,227,2788,0.12,2.17,0.00,0.000,6,0.153,0.044,2402,1955,3401,0,0,0,0,0,0
$GC,3100,-0.74,-146.0,345.2,-5.8,235,3104,0.00,2.22,0.00,0.000,4,0.000,0.059,2402,553,3399,0,0,0,0,0,0
$GC,3122,-0.74,-146.0,347.1,-7.0,235,3126,0.00,2.15,0.00,0.000,6,0.000,0.041,2394,1957,3399,0,0,0,0,0,0
$GC,3460,-0.74,-146.0,371.9,-7.9,244,3464,0.00,2.20,0.00,0.000,4,0.000,0.058,2383,3369,3397,0,0,0,0,0,0
$GC,3493,-0.74,-146.0,374.9,-8.6,244,3500,0.00,2.20,0.00,0.000,6,0.000,0.041,2384,1951,3397,0,0,0,0,0,0
$GC,3826,-0.74,-146.0,399.1,-6.7,253,3830,0.00,2.22,0.00,0.000,4,0.000,0.062,2383,554,3395,0,0,0,0,0,0
$GC,4084,-0.74,-146.0,418.1,-7.1,258,4090,0.00,2.15,0.00,0.000,6,0.000,0.043,2374,1963,3393,0,0,0,0,0,0
$GC,4416,-0.74,-146.0,438.9,-6.3,267,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1963,3391,0,0,0,0,0,0
$STATE,4576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4576,begin apogee
$GC,4583,-0.17,0.0,450.3,7.1,271,4704,0.65,0.00,118.22,0.788,6,0.127,0.000,2583,1963,2800,0,0,0,0,0,0
$STATE,4705,end apogee,CONTROL_FINISHED_OK
$STATE,4705,begin climb
$GC,4708,0.74,146.0,451.8,0.0,274,4842,0.88,2.40,125.80,0.757,4,0.080,0.054,2878,3380,2203,0,0,0,0,0,0
$GC,4872,0.74,146.0,434.5,14.4,278,4876,0.00,2.30,0.00,0.000,6,0.000,0.045,2886,1981,2200,0,0,0,0,0,0
$GC,5185,0.74,146.0,390.4,14.3,286,5189,0.00,2.28,0.00,0.000,4,0.000,0.061,2897,558,2195,0,0,0,0,0,0
$GC,5265,0.74,146.0,378.8,14.7,287,5270,0.00,2.22,0.00,0.000,6,0.000,0.041,2896,1981,2194,0,0,0,0,0,0
$GC,5597,0.74,146.0,327.9,14.9,296,5601,0.00,2.20,0.00,0.000,4,0.000,0.055,2897,3382,2192,0,0,0,0,0,0
$GC,5653,0.74,146.0,319.1,14.8,297,5657,0.00,2.25,0.00,0.000,6,0.000,0.048,2906,1967,2192,0,0,0,0,0,0
$GC,5983,0.74,146.0,272.2,13.9,310,5987,0.00,2.25,0.00,0.000,4,0.000,0.061,2916,558,2190,0,0,0,0,0,0
$GC,6028,0.74,146.0,265.8,14.8,312,6033,0.15,2.20,0.00,0.000,6,0.147,0.044,2875,1974,2189,0,0,0,0,0,0
$GC,6360,0.74,146.0,227.8,11.4,328,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1974,2189,0,0,0,0,0,0
$GC,6669,0.74,146.0,198.1,9.6,343,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1974,2187,0,0,0,0,0,0
$GC,6992,0.74,146.0,163.0,11.7,373,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1974,2187,0,0,0,0,0,0
$GC,7321,0.74,146.0,127.0,9.6,404,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1974,2187,0,0,0,0,0,0
$GC,7651,0.76,163.3,95.1,8.3,435,7675,0.00,2.25,13.05,0.519,4,0.000,0.051,2875,3378,2132,0,0,0,0,0,0
$GC,7918,0.78,178.0,69.9,8.4,469,7943,0.00,2.20,14.02,0.495,6,0.000,0.042,2881,1973,2072,0,0,0,0,0,0
$GC,8271,0.78,178.0,42.8,9.3,533,8276,0.00,2.22,0.00,0.000,4,0.000,0.055,2892,558,2071,0,0,0,0,0,0
$GC,8330,0.78,178.0,36.6,10.0,544,8338,0.00,2.20,0.00,0.000,6,0.000,0.036,2891,1979,2070,0,0,0,0,0,0
$GC,8655,0.78,178.0,6.1,9.6,605,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1979,2071,0,0,0,0,0,0
$STATE,8694,end climb,SURFACE_DEPTH_REACHED
$STATE,8694,begin surface coast
$FINISH,0.5,0.999717
$STATE,8726,end surface coast,CONTROL_FINISHED_OK
$STATE,8726,begin surface
$SM_CCo,8744,53.72,0.444,0,0,1576,300.24
$SM_GC,1.41,0.00,0.00,53.72,0.000,0.000,0.444,52,1988,1576,-8.08,0.79,300.24
$IRIDIUM_FIX,2101.76,-15750.89,070802,060603
$TT8_MAMPS,0.027612
$HUMID,61.85
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.7,14.443
$10V_AH,10.5,15.831
$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,18.475,66.650,271.100,53.725,0.000,27.282,35.237,224.035,19.000,0.000,15.574,1116.789,5204.946,404.878,1970.020,510.431,0.000,1076.707,0.000,1927.089,0.000,119.360,0.000
$DEVICE_MAMPS,227.032,62.894,788.476,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,420.046,345.386,1212.792,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34995,618
$CAP_FILE_SIZE,92167,0
$CFSIZE,260165632,246906880
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130513,114704,2107.070,-15750.467,37,1.0,37,9.8