version: 66.06
glider: 523
mission: 4
dive: 36
start: 4 28 113 22 8 23
data:
$ID,523
$MISSION,4
$DIVE,36
$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,-36601.578
$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,34
$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
$GPS1,220234,2105.290,-15743.959,22,0.9,22,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-74.9
$GPS2,220806,2105.324,-15743.872,16,0.9,16,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,207.3,17187,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,99,0.00,0.00,-77.12,0.000,6,0.000,0.000,30,1979,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.3,-8.3,13,118,9.60,2.33,0.00,0.000,4,0.239,0.048,2390,547,3397,0,0,0,0,0,0
$GC,175,-0.74,-146.0,26.9,-21.6,25,182,0.00,2.22,0.00,0.000,6,0.000,0.041,2382,1955,3398,0,0,0,0,0,0
$GC,347,-0.74,-146.0,55.3,-14.9,56,354,0.00,2.30,0.00,0.000,4,0.000,0.058,2382,557,3399,0,0,0,0,0,0
$GC,411,-0.74,-146.0,65.7,-16.3,67,417,0.00,2.17,0.00,0.000,6,0.000,0.039,2373,1966,3399,0,0,0,0,0,0
$GC,745,-0.74,-146.0,120.8,-15.9,106,750,0.10,2.28,0.00,0.000,4,0.177,0.054,2398,550,3401,0,0,0,0,0,0
$GC,787,-0.74,-146.0,127.1,-13.9,109,791,0.00,2.15,0.00,0.000,6,0.000,0.036,2390,1971,3401,0,0,0,0,0,0
$GC,1119,-0.74,-146.0,168.2,-11.7,140,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1971,3402,0,0,0,0,0,0
$GC,1445,-0.74,-146.0,204.3,-10.2,169,1449,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,3364,3402,0,0,0,0,0,0
$GC,1495,-0.74,-146.0,209.1,-9.2,171,1499,0.00,2.17,0.00,0.000,6,0.000,0.041,2379,1963,3402,0,0,0,0,0,0
$GC,1816,-0.74,-146.0,237.8,-7.3,187,1820,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,553,3403,0,0,0,0,0,0
$GC,1922,-0.74,-146.0,248.0,-9.9,191,1928,0.12,2.15,0.00,0.000,6,0.174,0.037,2402,1974,3403,0,0,0,0,0,0
$GC,2238,-0.74,-146.0,276.6,-8.6,207,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1974,3402,0,0,0,0,0,0
$GC,2566,-0.74,-146.0,304.3,-9.1,222,2570,0.00,2.17,0.00,0.000,4,0.000,0.056,2393,3360,3402,0,0,0,0,0,0
$GC,2639,-0.74,-146.0,311.4,-10.2,223,2643,0.00,2.17,0.00,0.000,6,0.000,0.040,2394,1944,3402,0,0,0,0,0,0
$GC,2974,-0.74,-146.0,345.6,-10.8,231,2978,0.00,2.17,0.00,0.000,4,0.000,0.061,2393,558,3401,0,0,0,0,0,0
$GC,3233,-0.74,-146.0,370.7,-7.9,236,3238,0.00,2.15,0.00,0.000,6,0.000,0.044,2384,1965,3399,0,0,0,0,0,0
$GC,3564,-0.74,-146.0,393.9,-6.8,245,3568,0.00,2.25,0.00,0.000,4,0.000,0.061,2383,550,3397,0,0,0,0,0,0
$GC,3823,-0.74,-146.0,414.9,-8.3,250,3831,0.00,2.17,0.00,0.000,6,0.000,0.047,2374,1959,3395,0,0,0,0,0,0
$GC,4155,-0.74,-146.0,442.9,-8.5,259,4159,0.00,2.25,0.00,0.000,4,0.000,0.063,2374,550,3394,0,0,0,0,0,0
$STATE,4231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4231,begin apogee
$GC,4240,-0.17,0.0,450.4,9.3,260,4365,0.62,0.00,118.22,0.795,6,0.126,0.000,2573,1974,2799,0,0,0,0,0,0
$STATE,4365,end apogee,CONTROL_FINISHED_OK
$STATE,4366,begin climb
$GC,4368,0.74,146.0,452.2,0.0,264,4503,0.88,2.38,124.62,0.764,4,0.077,0.059,2875,3381,2203,0,0,0,0,0,0
$GC,4587,0.74,146.0,426.5,15.1,269,4591,0.00,2.30,0.00,0.000,6,0.000,0.049,2884,1978,2198,0,0,0,0,0,0
$GC,4900,0.74,146.0,380.3,14.9,277,4904,0.00,2.25,0.00,0.000,4,0.000,0.061,2894,566,2195,0,0,0,0,0,0
$GC,4978,0.74,146.0,368.7,14.1,278,4983,0.00,2.20,0.00,0.000,6,0.000,0.041,2894,1984,2194,0,0,0,0,0,0
$GC,5309,0.74,146.0,322.2,13.6,287,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1985,2192,0,0,0,0,0,0
$GC,5615,0.74,146.0,283.6,12.5,297,5619,0.00,2.28,0.00,0.000,4,0.000,0.058,2905,556,2191,0,0,0,0,0,0
$GC,5642,0.74,146.0,279.8,13.4,298,5646,0.00,2.20,0.00,0.000,6,0.000,0.041,2905,1978,2191,0,0,0,0,0,0
$GC,5957,0.74,146.0,237.9,14.5,313,5961,0.00,2.20,0.00,0.000,4,0.000,0.058,2904,3383,2189,0,0,0,0,0,0
$GC,6020,0.74,146.0,228.3,16.5,316,6025,0.12,2.25,0.00,0.000,6,0.163,0.052,2880,1969,2189,0,0,0,0,0,0
$GC,6342,0.74,146.0,190.8,10.4,335,6346,0.00,2.22,0.00,0.000,4,0.000,0.061,2889,557,2188,0,0,0,0,0,0
$GC,6406,0.74,146.0,183.9,9.9,340,6413,0.00,2.20,0.00,0.000,6,0.000,0.042,2889,1967,2187,0,0,0,0,0,0
$GC,6733,0.74,146.0,151.0,9.3,371,6737,0.00,2.20,0.00,0.000,4,0.000,0.054,2889,3388,2187,0,0,0,0,0,0
$GC,6934,0.74,146.0,131.0,9.3,389,6939,0.00,2.20,0.00,0.000,6,0.000,0.041,2899,1956,2187,0,0,0,0,0,0
$GC,7263,0.74,146.0,100.2,9.6,419,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1956,2186,0,0,0,0,0,0
$GC,7590,0.74,146.0,66.3,11.1,462,7598,0.00,2.17,0.00,0.000,4,0.000,0.058,2909,573,2187,0,0,0,0,0,0
$GC,7655,0.74,146.0,59.5,11.0,473,7661,0.12,2.15,0.00,0.000,6,0.143,0.038,2874,1985,2187,0,0,0,0,0,0
$GC,7985,0.81,201.6,32.1,6.7,534,8033,0.00,0.00,43.92,0.495,6,0.000,0.000,2874,1985,1977,0,0,0,0,0,0
$GC,8193,0.83,221.4,15.9,8.2,572,8221,0.00,2.22,17.30,0.459,4,0.000,0.054,2874,3371,1895,0,0,0,0,0,0
$GC,8240,0.85,236.1,12.0,8.4,579,8261,0.05,2.20,13.38,0.442,6,0.057,0.042,2939,1986,1837,0,0,0,0,0,0
$STATE,8314,end climb,SURFACE_DEPTH_REACHED
$STATE,8314,begin surface coast
$FINISH,0.5,1.010788
$STATE,8338,end surface coast,CONTROL_FINISHED_OK
$STATE,8338,begin surface
$SM_CCo,8356,30.25,0.448,0,0,1575,300.24
$SM_GC,1.02,0.00,0.00,30.25,0.000,0.000,0.448,25,1981,1575,-8.17,0.59,300.24
$IRIDIUM_FIX,2054.83,-15744.48,230702,191903
$TT8_MAMPS,0.028379
$HUMID,61.22
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.6,3.452
$10V_AH,10.5,3.727
$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,19.100,75.400,317.450,30.250,0.000,27.380,36.228,145.077,19.000,0.000,16.559,1085.311,4832.052,388.321,1986.922,426.561,0.000,1115.958,0.000,1939.354,0.000,119.096,0.000
$DEVICE_MAMPS,238.537,62.894,794.612,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.622,335.473,1172.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,31801,596
$CAP_FILE_SIZE,94241,0
$CFSIZE,260165632,253386752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290413,002929,2104.279,-15744.154,41,0.8,41,9.8