version: 66.06
glider: 523
mission: 4
dive: 179
start: 5 13 113 22 2 46
data:
$ID,523
$MISSION,4
$DIVE,179
$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,-39441.223
$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,31
$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
$GPS1,215253,2107.103,-15748.109,13,0.8,13,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.4
$GPS2,220228,2107.061,-15748.188,28,0.9,28,9.8
$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,94.4,9395,-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,-75.95,0.000,2,0.000,0.000,29,1965,3372,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.7,12,112,9.38,0.00,-0.50,0.000,6,0.227,0.000,2390,1962,3396,0,0,0,0,0,0
$GC,267,-0.74,-146.0,40.0,-18.6,44,275,0.00,2.30,0.00,0.000,4,0.000,0.057,2391,558,3397,0,0,0,0,0,0
$GC,354,-0.74,-146.0,55.1,-18.1,59,359,0.00,2.15,0.00,0.000,6,0.000,0.036,2382,1967,3397,0,0,0,0,0,0
$GC,688,-0.74,-146.0,110.3,-15.5,104,692,0.00,2.17,0.00,0.000,4,0.000,0.054,2372,3365,3399,0,0,0,0,0,0
$GC,751,-0.74,-146.0,119.6,-15.3,109,756,0.10,2.20,0.00,0.000,6,0.164,0.043,2397,1965,3398,0,0,0,0,0,0
$GC,1084,-0.74,-146.0,158.9,-11.1,140,1088,0.00,2.22,0.00,0.000,4,0.000,0.052,2398,543,3399,0,0,0,0,0,0
$GC,1332,-0.74,-146.0,184.6,-10.4,162,1339,0.00,2.15,0.00,0.000,6,0.000,0.033,2389,1974,3400,0,0,0,0,0,0
$GC,1659,-0.74,-146.0,217.4,-10.3,185,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1974,3400,0,0,0,0,0,0
$GC,1971,-0.74,-146.0,250.5,-10.1,200,1975,0.00,2.25,0.00,0.000,4,0.000,0.051,2390,550,3400,0,0,0,0,0,0
$GC,2228,-0.74,-146.0,277.0,-9.2,211,2234,0.00,2.12,0.00,0.000,6,0.000,0.035,2380,1958,3400,0,0,0,0,0,0
$GC,2566,-0.74,-146.0,303.9,-7.7,227,2570,0.00,2.28,0.00,0.000,4,0.000,0.055,2379,551,3400,0,0,0,0,0,0
$GC,2643,-0.74,-146.0,311.8,-10.6,228,2648,0.12,2.12,0.00,0.000,6,0.170,0.038,2403,1959,3400,0,0,0,0,0,0
$GC,2977,-0.74,-146.0,339.6,-8.2,236,2982,0.00,2.20,0.00,0.000,4,0.000,0.057,2394,3371,3399,0,0,0,0,0,0
$GC,3089,-0.74,-146.0,348.6,-7.2,238,3093,0.00,2.20,0.00,0.000,6,0.000,0.041,2394,1957,3399,0,0,0,0,0,0
$GC,3432,-0.74,-146.0,366.6,-4.9,247,3436,0.00,2.25,0.00,0.000,4,0.000,0.062,2394,547,3396,0,0,0,0,0,0
$GC,3526,-0.74,-146.0,372.8,-6.4,249,3531,0.00,2.15,0.00,0.000,6,0.000,0.040,2385,1967,3395,0,0,0,0,0,0
$GC,3844,-0.74,-146.0,397.6,-8.4,257,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1967,3393,0,0,0,0,0,0
$GC,4165,-0.74,-146.0,427.8,-9.2,265,4169,0.00,2.28,0.00,0.000,4,0.000,0.062,2385,557,3391,0,0,0,0,0,0
$GC,4193,-0.74,-146.0,430.6,-10.3,265,4197,0.00,2.17,0.00,0.000,6,0.000,0.043,2375,1960,3391,0,0,0,0,0,0
$STATE,4447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4448,begin apogee
$GC,4454,-0.17,0.0,453.1,8.6,272,4575,0.65,0.00,118.18,0.781,6,0.123,0.000,2585,1961,2800,0,0,0,0,0,0
$STATE,4576,end apogee,CONTROL_FINISHED_OK
$STATE,4576,begin climb
$GC,4579,0.74,146.0,455.4,0.0,275,4711,0.82,0.00,125.45,0.750,6,0.078,0.000,2871,1960,2204,0,0,0,0,0,0
$GC,5026,0.74,146.0,402.7,13.0,286,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1960,2195,0,0,0,0,0,0
$GC,5351,0.74,146.0,359.9,13.1,294,5355,0.00,2.28,0.00,0.000,4,0.000,0.064,2881,571,2193,0,0,0,0,0,0
$GC,5411,0.74,146.0,351.8,12.7,295,5415,0.00,2.20,0.00,0.000,6,0.000,0.041,2881,1977,2192,0,0,0,0,0,0
$GC,5754,0.74,146.0,302.3,14.9,304,5758,0.00,2.17,0.00,0.000,4,0.000,0.054,2881,3382,2190,0,0,0,0,0,0
$GC,5816,0.74,146.0,293.2,14.8,306,5820,0.00,2.22,0.00,0.000,6,0.000,0.048,2891,1979,2189,0,0,0,0,0,0
$GC,6143,0.74,146.0,247.3,13.2,322,6147,0.00,2.25,0.00,0.000,4,0.000,0.060,2900,564,2188,0,0,0,0,0,0
$GC,6210,0.74,146.0,238.0,13.6,325,6214,0.00,2.17,0.00,0.000,6,0.000,0.041,2900,1984,2188,0,0,0,0,0,0
$GC,6533,0.74,146.0,197.1,12.7,342,6537,0.00,2.15,0.00,0.000,4,0.000,0.053,2900,3386,2187,0,0,0,0,0,0
$GC,6564,0.74,146.0,193.4,12.7,344,6569,0.12,2.20,0.00,0.000,6,0.162,0.048,2875,1974,2187,0,0,0,0,0,0
$GC,6891,0.74,146.0,154.2,13.1,374,6894,0.00,2.20,0.00,0.000,4,0.000,0.058,2884,565,2187,0,0,0,0,0,0
$GC,6996,0.74,146.0,140.9,11.8,383,7000,0.00,2.15,0.00,0.000,6,0.000,0.041,2884,1977,2186,0,0,0,0,0,0
$GC,7323,0.74,146.0,103.9,11.9,413,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1978,2186,0,0,0,0,0,0
$GC,7642,0.75,155.5,71.7,8.6,451,7655,0.00,2.20,6.28,0.441,4,0.000,0.051,2884,3380,2165,0,0,0,0,0,0
$GC,7712,0.75,155.5,65.0,9.7,463,7718,0.00,2.17,0.00,0.000,6,0.000,0.043,2893,1971,2165,0,0,0,0,0,0
$GC,8043,0.76,164.2,35.9,8.7,524,8063,0.00,2.25,9.48,0.445,4,0.000,0.055,2901,571,2128,0,0,0,0,0,0
$GC,8131,0.76,164.2,27.2,10.2,539,8138,0.00,2.17,0.00,0.000,6,0.000,0.039,2902,1970,2128,0,0,0,0,0,0
$GC,8298,0.76,164.2,8.9,11.5,570,8305,0.00,2.28,0.00,0.000,4,0.000,0.056,2910,565,2128,0,0,0,0,0,0
$STATE,8358,end climb,SURFACE_DEPTH_REACHED
$STATE,8358,begin surface coast
$FINISH,1.0,1.023389
$STATE,8370,end surface coast,CONTROL_FINISHED_OK
$STATE,8370,begin surface
$SM_CCo,8390,60.95,0.449,0,0,1576,300.24
$SM_GC,1.50,0.00,0.00,60.95,0.000,0.000,0.449,37,1970,1576,-8.14,0.31,300.24
$IRIDIUM_FIX,2057.14,-15741.46,070802,222234
$TT8_MAMPS,0.027612
$HUMID,62.95
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,24.7,14.844
$10V_AH,10.5,16.269
$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,18.500,70.475,259.375,60.950,0.000,51.372,87.770,227.127,19.250,0.000,28.416,1063.433,5092.007,379.495,1893.348,600.040,0.000,1036.945,0.000,1838.359,0.000,119.285,0.000
$DEVICE_MAMPS,227.032,63.661,780.806,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,396.804,333.022,1133.739,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31781,583
$CAP_FILE_SIZE,92700,0
$CFSIZE,260165632,246681600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140513,002504,2107.070,-15746.903,47,1.0,47,9.8