version: 66.06
glider: 523
mission: 4
dive: 178
start: 5 13 113 19 30 43
data:
$ID,523
$MISSION,4
$DIVE,178
$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,-39412.176
$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
$GPS1,192410,2107.002,-15749.294,24,4.0,43,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.8
$GPS2,193027,2106.994,-15749.408,17,1.1,36,9.8
$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,91.2,11425,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-76.85,0.000,6,0.000,0.000,25,1981,3392,0,0,0,0,0,0
$GC,102,-0.74,-146.0,4.0,-6.3,13,117,9.40,2.17,0.00,0.000,4,0.229,0.048,2383,3367,3393,0,0,0,0,0,0
$GC,223,-0.74,-146.0,33.1,-18.5,35,229,0.00,2.22,0.00,0.000,6,0.000,0.044,2383,1967,3394,0,0,0,0,0,0
$GC,555,-0.74,-146.0,92.5,-18.3,90,559,0.00,2.28,0.00,0.000,4,0.000,0.057,2383,544,3395,0,0,0,0,0,0
$GC,686,-0.74,-146.0,116.7,-15.9,101,694,0.00,2.17,0.00,0.000,6,0.000,0.034,2374,1962,3395,0,0,0,0,0,0
$GC,1014,-0.74,-146.0,161.3,-13.6,132,1018,0.00,2.25,0.00,0.000,4,0.000,0.051,2374,547,3396,0,0,0,0,0,0
$GC,1156,-0.74,-146.0,182.1,-14.2,144,1164,0.10,2.15,0.00,0.000,6,0.146,0.032,2396,1961,3397,0,0,0,0,0,0
$GC,1477,-0.74,-146.0,212.5,-8.5,168,1481,0.00,2.25,0.00,0.000,4,0.000,0.050,2396,540,3398,0,0,0,0,0,0
$GC,1533,-0.74,-146.0,217.3,-8.2,170,1537,0.00,2.15,0.00,0.000,6,0.000,0.034,2388,1965,3398,0,0,0,0,0,0
$GC,1852,-0.74,-146.0,243.9,-9.8,185,1856,0.00,2.25,0.00,0.000,4,0.000,0.051,2388,538,3398,0,0,0,0,0,0
$GC,1874,-0.74,-146.0,246.5,-9.7,186,1877,0.00,2.15,0.00,0.000,6,0.000,0.034,2378,1963,3398,0,0,0,0,0,0
$GC,2203,-0.74,-146.0,274.6,-8.3,202,2209,0.00,2.15,0.00,0.000,4,0.000,0.056,2368,3366,3398,0,0,0,0,0,0
$GC,2255,-0.74,-146.0,279.5,-8.9,204,2260,0.12,2.17,0.00,0.000,6,0.153,0.042,2401,1953,3398,0,0,0,0,0,0
$GC,2597,-0.74,-146.0,304.3,-7.1,220,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1952,3398,0,0,0,0,0,0
$GC,2922,-0.74,-146.0,330.5,-8.1,228,2926,0.00,2.20,0.00,0.000,4,0.000,0.057,2401,550,3397,0,0,0,0,0,0
$GC,3047,-0.74,-146.0,341.2,-8.8,230,3052,0.00,2.12,0.00,0.000,6,0.000,0.037,2393,1966,3396,0,0,0,0,0,0
$GC,3380,-0.74,-146.0,365.7,-6.9,239,3383,0.00,2.15,0.00,0.000,4,0.000,0.055,2382,3364,3394,0,0,0,0,0,0
$GC,3425,-0.74,-146.0,369.2,-7.8,240,3429,0.00,2.15,0.00,0.000,6,0.000,0.040,2382,1955,3394,0,0,0,0,0,0
$GC,3760,-0.74,-146.0,395.4,-8.2,248,3764,0.00,2.22,0.00,0.000,4,0.000,0.060,2382,555,3392,0,0,0,0,0,0
$GC,3871,-0.74,-146.0,406.7,-9.7,250,3875,0.00,2.15,0.00,0.000,6,0.000,0.040,2373,1962,3391,0,0,0,0,0,0
$GC,4209,-0.74,-146.0,437.0,-8.8,259,4213,0.00,2.17,0.00,0.000,4,0.000,0.058,2363,3363,3388,0,0,0,0,0,0
$GC,4271,-0.74,-146.0,442.4,-8.2,260,4275,0.12,2.15,0.00,0.000,6,0.152,0.041,2397,1961,3388,0,0,0,0,0,0
$STATE,4413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4413,begin apogee
$GC,4420,-0.17,0.0,452.1,6.6,264,4540,0.57,0.00,117.65,0.783,6,0.121,0.000,2587,1961,2799,0,0,0,0,0,0
$STATE,4541,end apogee,CONTROL_FINISHED_OK
$STATE,4541,begin climb
$GC,4544,0.74,146.0,453.2,0.0,267,4678,0.82,2.38,124.78,0.751,4,0.076,0.054,2873,3376,2204,0,0,0,0,0,0
$GC,4690,0.74,146.0,438.4,13.9,270,4694,0.00,2.28,0.00,0.000,6,0.000,0.045,2883,1984,2202,0,0,0,0,0,0
$GC,5026,0.74,146.0,392.0,13.2,279,5030,0.00,2.30,0.00,0.000,4,0.000,0.063,2894,560,2196,0,0,0,0,0,0
$GC,5075,0.74,146.0,384.8,14.4,280,5080,0.00,2.22,0.00,0.000,6,0.000,0.044,2893,1967,2195,0,0,0,0,0,0
$GC,5389,0.74,146.0,335.0,16.4,288,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1967,2193,0,0,0,0,0,0
$GC,5694,0.74,146.0,288.1,15.3,297,5698,0.00,2.20,0.00,0.000,4,0.000,0.053,2894,3384,2192,0,0,0,0,0,0
$GC,5761,0.74,146.0,277.9,15.1,300,5766,0.00,2.20,0.00,0.000,6,0.000,0.041,2903,1973,2190,0,0,0,0,0,0
$GC,6088,0.74,146.0,228.0,14.4,316,6092,0.00,2.25,0.00,0.000,4,0.000,0.061,2914,561,2189,0,0,0,0,0,0
$GC,6144,0.74,146.0,220.8,12.8,318,6150,0.12,2.20,0.00,0.000,6,0.149,0.040,2880,1988,2188,0,0,0,0,0,0
$GC,6467,0.74,146.0,185.5,10.8,340,6471,0.00,2.17,0.00,0.000,4,0.000,0.052,2880,3381,2188,0,0,0,0,0,0
$GC,6562,0.74,146.0,174.4,11.5,348,6566,0.00,2.20,0.00,0.000,6,0.000,0.039,2889,1970,2187,0,0,0,0,0,0
$GC,6889,0.74,146.0,138.5,10.1,378,6893,0.00,2.20,0.00,0.000,4,0.000,0.058,2898,568,2187,0,0,0,0,0,0
$GC,6951,0.74,146.0,132.5,9.8,383,6955,0.00,2.15,0.00,0.000,6,0.000,0.038,2899,1976,2187,0,0,0,0,0,0
$GC,7280,0.74,146.0,99.4,11.7,413,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1977,2187,0,0,0,0,0,0
$GC,7608,0.74,146.0,67.2,9.3,456,7615,0.00,2.30,0.00,0.000,4,0.000,0.061,2908,571,2187,0,0,0,0,0,0
$GC,7640,0.74,146.0,64.4,9.0,461,7646,0.10,2.15,0.00,0.000,6,0.145,0.041,2880,1979,2187,0,0,0,0,0,0
$GC,7974,0.76,166.5,38.4,8.2,522,7997,0.00,2.22,16.10,0.467,4,0.000,0.050,2880,3385,2120,0,0,0,0,0,0
$GC,8049,0.76,166.5,31.8,10.3,535,8055,0.00,2.20,0.00,0.000,6,0.000,0.041,2886,1971,2119,0,0,0,0,0,0
$STATE,8367,end climb,SURFACE_DEPTH_REACHED
$STATE,8367,begin surface coast
$FINISH,0.6,1.021129
$STATE,8401,end surface coast,CONTROL_FINISHED_OK
$STATE,8401,begin surface
$SM_CCo,8419,58.53,0.441,0,0,1574,300.24
$SM_GC,1.34,0.00,0.00,58.53,0.000,0.000,0.441,29,1966,1574,-8.16,0.14,300.24
$IRIDIUM_FIX,2054.83,-15751.76,070802,171707
$TT8_MAMPS,0.028379
$HUMID,60.86
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.7,14.760
$10V_AH,10.5,16.182
$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,18.500,79.325,258.525,58.525,0.000,27.087,33.795,168.431,19.250,0.000,37.319,1095.882,4968.353,379.485,1948.719,461.439,0.000,1052.652,0.000,1883.289,0.000,117.244,0.000
$DEVICE_MAMPS,229.333,62.894,783.107,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.936,342.747,1170.357,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31880,602
$CAP_FILE_SIZE,93339,0
$CFSIZE,260165632,246726656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130513,215253,2107.103,-15748.109,13,0.8,13,9.8