version: 66.06
glider: 523
mission: 4
dive: 216
start: 5 17 113 19 12 16
data:
$ID,523
$MISSION,4
$DIVE,216
$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,-40141.434
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,190617,2108.234,-15754.279,16,0.9,16,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.3
$GPS2,191159,2108.269,-15754.359,17,0.9,17,9.8
$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,93.2,20285,-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,-75.97,0.000,2,0.000,0.000,37,1971,3382,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.3,12,113,9.48,2.25,-0.25,0.000,4,0.230,0.064,2392,551,3395,0,0,0,0,0,0
$GC,182,-0.74,-146.0,24.7,-20.0,27,190,0.00,2.20,0.00,0.000,6,0.000,0.038,2384,1961,3396,0,0,0,0,0,0
$GC,354,-0.74,-146.0,57.8,-17.7,58,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1961,3397,0,0,0,0,0,0
$GC,689,-0.74,-146.0,108.6,-12.9,102,693,0.00,2.28,0.00,0.000,4,0.000,0.052,2384,544,3398,0,0,0,0,0,0
$GC,744,-0.74,-146.0,116.6,-15.1,106,751,0.00,2.20,0.00,0.000,6,0.000,0.036,2375,1977,3398,0,0,0,0,0,0
$GC,1071,-0.74,-146.0,160.0,-13.5,137,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1977,3398,0,0,0,0,0,0
$GC,1387,-0.74,-146.0,203.2,-12.7,166,1390,0.00,2.28,0.00,0.000,4,0.000,0.051,2374,546,3400,0,0,0,0,0,0
$GC,1448,-0.74,-146.0,211.3,-12.7,168,1454,0.12,2.15,0.00,0.000,6,0.166,0.035,2397,1965,3400,0,0,0,0,0,0
$GC,1763,-0.74,-146.0,238.6,-9.3,184,1767,0.00,2.17,0.00,0.000,4,0.000,0.054,2389,3359,3400,0,0,0,0,0,0
$GC,1848,-0.74,-146.0,246.4,-8.9,188,1852,0.00,2.17,0.00,0.000,6,0.000,0.042,2389,1956,3400,0,0,0,0,0,0
$GC,2174,-0.74,-146.0,273.3,-7.9,204,2178,0.00,2.20,0.00,0.000,4,0.000,0.054,2389,546,3401,0,0,0,0,0,0
$GC,2327,-0.74,-146.0,286.1,-9.5,211,2331,0.00,2.12,0.00,0.000,6,0.000,0.037,2379,1959,3400,0,0,0,0,0,0
$GC,2654,-0.74,-146.0,314.9,-8.6,223,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1959,3400,0,0,0,0,0,0
$GC,2977,-0.74,-146.0,345.7,-9.9,231,2981,0.00,2.20,0.00,0.000,4,0.000,0.058,2369,3364,3400,0,0,0,0,0,0
$GC,3043,-0.74,-146.0,352.6,-9.2,232,3048,0.12,2.20,0.00,0.000,6,0.156,0.043,2401,1954,3399,0,0,0,0,0,0
$GC,3388,-0.74,-146.0,377.1,-6.6,241,3392,0.00,2.22,0.00,0.000,4,0.000,0.061,2402,550,3397,0,0,0,0,0,0
$GC,3451,-0.74,-146.0,382.1,-7.6,242,3455,0.00,2.17,0.00,0.000,6,0.000,0.041,2394,1960,3397,0,0,0,0,0,0
$GC,3794,-0.74,-146.0,409.0,-7.7,251,3798,0.00,2.28,0.00,0.000,4,0.000,0.059,2394,553,3394,0,0,0,0,0,0
$GC,3834,-0.74,-146.0,412.3,-8.3,252,3838,0.00,2.17,0.00,0.000,6,0.000,0.044,2384,1965,3394,0,0,0,0,0,0
$GC,4160,-0.74,-146.0,438.3,-7.9,260,4164,0.00,2.22,0.00,0.000,4,0.000,0.063,2374,3374,3392,0,0,0,0,0,0
$GC,4187,-0.74,-146.0,440.6,-8.0,260,4191,0.00,2.22,0.00,0.000,6,0.000,0.046,2374,1959,3392,0,0,0,0,0,0
$STATE,4313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4313,begin apogee
$GC,4320,-0.17,0.0,450.8,8.0,263,4441,0.65,0.00,118.32,0.775,6,0.129,0.000,2580,1960,2800,0,0,0,0,0,0
$STATE,4442,end apogee,CONTROL_FINISHED_OK
$STATE,4442,begin climb
$GC,4445,0.74,146.0,452.4,0.0,266,4574,0.88,0.00,126.00,0.747,6,0.080,0.000,2876,1959,2204,0,0,0,0,0,0
$GC,4881,0.74,146.0,399.7,13.0,277,4885,0.00,2.28,0.00,0.000,4,0.000,0.071,2887,564,2197,0,0,0,0,0,0
$GC,4930,0.74,146.0,393.5,12.0,278,4935,0.00,2.25,0.00,0.000,6,0.000,0.044,2886,1982,2195,0,0,0,0,0,0
$GC,5244,0.74,146.0,351.2,13.7,286,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1982,2194,0,0,0,0,0,0
$GC,5569,0.74,146.0,303.5,15.0,294,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1982,2192,0,0,0,0,0,0
$GC,5877,0.74,146.0,262.5,12.1,308,5881,0.00,2.30,0.00,0.000,4,0.000,0.067,2896,561,2191,0,0,0,0,0,0
$GC,5927,0.74,146.0,256.3,12.8,310,5931,0.00,2.20,0.00,0.000,6,0.000,0.039,2896,1989,2190,0,0,0,0,0,0
$GC,6243,0.74,146.0,215.3,11.9,325,6247,0.00,2.28,0.00,0.000,4,0.000,0.058,2906,567,2188,0,0,0,0,0,0
$GC,6264,0.74,146.0,212.6,11.9,326,6268,0.00,2.17,0.00,0.000,6,0.000,0.039,2905,1979,2188,0,0,0,0,0,0
$GC,6596,0.74,146.0,173.5,11.0,352,6600,0.00,2.17,0.00,0.000,4,0.000,0.053,2905,3383,2188,0,0,0,0,0,0
$GC,6658,0.74,146.0,165.5,12.8,357,6663,0.15,2.17,0.00,0.000,6,0.146,0.042,2873,1970,2187,0,0,0,0,0,0
$GC,6985,0.74,146.0,131.3,10.2,387,6989,0.00,2.20,0.00,0.000,4,0.000,0.057,2882,565,2187,0,0,0,0,0,0
$GC,7037,0.74,146.0,125.5,11.5,391,7041,0.00,2.15,0.00,0.000,6,0.000,0.040,2882,1982,2186,0,0,0,0,0,0
$GC,7365,0.74,146.0,90.9,9.6,421,7369,0.00,2.12,0.00,0.000,4,0.000,0.050,2882,3378,2186,0,0,0,0,0,0
$GC,7548,0.74,146.0,72.6,9.9,443,7554,0.00,2.15,0.00,0.000,6,0.000,0.038,2892,1969,2187,0,0,0,0,0,0
$GC,7881,0.77,173.7,42.4,7.9,504,7912,0.00,2.25,21.65,0.477,4,0.000,0.056,2901,575,2090,0,0,0,0,0,0
$GC,8004,0.77,173.7,30.8,10.1,525,8010,0.00,2.12,0.00,0.000,6,0.000,0.039,2901,1976,2088,0,0,0,0,0,0
$STATE,8276,end climb,SURFACE_DEPTH_REACHED
$STATE,8276,begin surface coast
$FINISH,0.9,1.023336
$STATE,8303,end surface coast,CONTROL_FINISHED_OK
$STATE,8303,begin surface
$SM_CCo,8321,56.60,0.443,0,0,1575,300.24
$SM_GC,1.41,0.00,0.00,56.60,0.000,0.000,0.443,24,1978,1575,-8.18,0.51,300.24
$IRIDIUM_FIX,2057.14,-15756.91,110802,161640
$TT8_MAMPS,0.027612
$HUMID,61.85
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.7,17.848
$10V_AH,10.5,19.512
$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,18.700,70.550,265.975,56.600,0.000,31.004,34.051,151.165,19.000,0.000,17.579,1055.432,5018.250,406.416,1801.063,438.406,0.000,1008.668,0.000,1759.152,0.000,117.244,0.000
$DEVICE_MAMPS,230.100,70.564,775.437,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,395.455,330.515,1123.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31886,582
$CAP_FILE_SIZE,87474,0
$CFSIZE,260165632,244948992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170513,213304,2108.255,-15753.209,31,0.9,31,9.8