version: 66.06
glider: 523
mission: 4
dive: 41
start: 4 29 113 10 37 3
data:
$ID,523
$MISSION,4
$DIVE,41
$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,-36702.461
$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,36
$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
$GPS1,103104,2059.901,-15747.429,24,1.3,24,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.3
$GPS2,103647,2059.964,-15747.396,19,1.1,19,9.8
$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,218.6,5702,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-78.20,0.000,6,0.000,0.000,46,1990,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.5,-5.3,13,118,9.43,2.30,0.00,0.000,4,0.235,0.048,2394,544,3395,0,0,0,0,0,0
$GC,298,-0.74,-146.0,48.1,-18.8,49,304,0.00,2.17,0.00,0.000,6,0.000,0.038,2386,1956,3397,0,0,0,0,0,0
$GC,627,-0.74,-146.0,98.8,-13.2,98,631,0.00,2.22,0.00,0.000,4,0.000,0.054,2386,550,3398,0,0,0,0,0,0
$GC,659,-0.74,-146.0,104.1,-15.6,100,667,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1964,3398,0,0,0,0,0,0
$GC,987,-0.74,-146.0,153.2,-14.4,131,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1965,3400,0,0,0,0,0,0
$GC,1305,-0.74,-146.0,188.3,-9.4,161,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1964,3401,0,0,0,0,0,0
$GC,1615,-0.74,-146.0,218.2,-10.0,182,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1964,3402,0,0,0,0,0,0
$GC,1927,-0.74,-146.0,247.0,-8.3,197,1931,0.00,2.20,0.00,0.000,4,0.000,0.051,2366,3363,3402,0,0,0,0,0,0
$GC,1988,-0.74,-146.0,251.3,-6.6,199,1994,0.12,2.20,0.00,0.000,6,0.150,0.042,2400,1953,3402,0,0,0,0,0,0
$GC,2306,-0.74,-146.0,274.6,-7.6,215,2311,0.00,2.22,0.00,0.000,4,0.000,0.058,2400,547,3402,0,0,0,0,0,0
$GC,2456,-0.74,-146.0,287.2,-9.0,221,2462,0.00,2.17,0.00,0.000,6,0.000,0.041,2392,1967,3402,0,0,0,0,0,0
$GC,2793,-0.74,-146.0,315.4,-8.6,234,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1967,3400,0,0,0,0,0,0
$GC,3115,-0.74,-146.0,338.8,-7.3,242,3119,0.00,2.20,0.00,0.000,4,0.000,0.060,2381,3375,3400,0,0,0,0,0,0
$GC,3301,-0.74,-146.0,353.3,-7.7,246,3305,0.00,2.20,0.00,0.000,6,0.000,0.044,2381,1966,3398,0,0,0,0,0,0
$GC,3614,-0.74,-146.0,374.9,-7.1,254,3621,0.00,2.22,0.00,0.000,4,0.000,0.059,2381,551,3396,0,0,0,0,0,0
$GC,3873,-0.74,-146.0,398.9,-9.3,259,3877,0.12,2.17,0.00,0.000,6,0.164,0.046,2405,1967,3394,0,0,0,0,0,0
$GC,4213,-0.74,-146.0,425.7,-8.0,268,4217,0.00,2.28,0.00,0.000,4,0.000,0.064,2406,542,3392,0,0,0,0,0,0
$GC,4297,-0.74,-146.0,433.2,-8.5,270,4301,0.00,2.20,0.00,0.000,6,0.000,0.048,2398,1960,3392,0,0,0,0,0,0
$STATE,4538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4538,begin apogee
$GC,4544,-0.17,0.0,450.6,7.0,276,4665,0.57,0.00,117.65,0.798,6,0.121,0.000,2586,1961,2800,0,0,0,0,0,0
$STATE,4666,end apogee,CONTROL_FINISHED_OK
$STATE,4666,begin climb
$GC,4668,0.74,146.0,452.0,0.0,279,4803,0.82,2.35,125.00,0.763,4,0.076,0.052,2873,3380,2203,0,0,0,0,0,0
$GC,4848,0.74,146.0,432.0,14.5,283,4852,0.00,2.30,0.00,0.000,6,0.000,0.044,2882,1977,2199,0,0,0,0,0,0
$GC,5195,0.74,146.0,379.6,15.1,292,5199,0.00,2.30,0.00,0.000,4,0.000,0.062,2893,560,2195,0,0,0,0,0,0
$GC,5262,0.74,146.0,369.0,14.7,293,5266,0.00,2.22,0.00,0.000,6,0.000,0.041,2893,1982,2193,0,0,0,0,0,0
$GC,5605,0.74,146.0,321.0,13.6,302,5609,0.00,2.20,0.00,0.000,4,0.000,0.054,2893,3385,2192,0,0,0,0,0,0
$GC,5655,0.74,146.0,313.2,16.0,303,5659,0.00,2.22,0.00,0.000,6,0.000,0.044,2901,1973,2191,0,0,0,0,0,0
$GC,5982,0.74,146.0,266.8,13.0,316,5986,0.00,2.25,0.00,0.000,4,0.000,0.061,2911,564,2191,0,0,0,0,0,0
$GC,6044,0.74,146.0,259.0,13.5,319,6048,0.12,2.17,0.00,0.000,6,0.156,0.041,2879,1977,2189,0,0,0,0,0,0
$GC,6376,0.74,146.0,223.7,10.3,335,6380,0.00,2.17,0.00,0.000,4,0.000,0.054,2879,3380,2188,0,0,0,0,0,0
$GC,6529,0.74,146.0,205.5,12.1,341,6534,0.00,2.20,0.00,0.000,6,0.000,0.043,2887,1962,2188,0,0,0,0,0,0
$GC,6856,0.74,146.0,168.5,11.8,369,6860,0.00,2.20,0.00,0.000,4,0.000,0.060,2897,569,2187,0,0,0,0,0,0
$GC,7008,0.74,146.0,151.0,11.8,382,7015,0.00,2.17,0.00,0.000,6,0.000,0.041,2897,1971,2186,0,0,0,0,0,0
$GC,7335,0.74,146.0,114.0,9.6,413,7339,0.00,2.22,0.00,0.000,4,0.000,0.060,2907,571,2186,0,0,0,0,0,0
$GC,7397,0.74,146.0,107.6,9.9,418,7401,0.00,2.15,0.00,0.000,6,0.000,0.039,2907,1977,2186,0,0,0,0,0,0
$GC,7724,0.74,146.0,69.0,10.8,456,7731,0.00,2.17,0.00,0.000,4,0.000,0.053,2906,3373,2186,0,0,0,0,0,0
$GC,7878,0.74,146.0,51.7,11.9,483,7884,0.12,2.17,0.00,0.000,6,0.153,0.047,2879,1978,2187,0,0,0,0,0,0
$GC,8208,0.79,187.5,25.1,7.3,544,8249,0.00,2.28,32.42,0.488,4,0.000,0.054,2886,568,2035,0,0,0,0,0,0
$GC,8352,0.79,187.5,12.6,9.5,569,8360,0.00,2.20,0.00,0.000,6,0.000,0.041,2887,1966,2032,0,0,0,0,0,0
$STATE,8458,end climb,SURFACE_DEPTH_REACHED
$STATE,8458,begin surface coast
$FINISH,0.4,1.001307
$STATE,8498,end surface coast,CONTROL_FINISHED_OK
$STATE,8498,begin surface
$SM_CCo,8516,49.45,0.453,0,0,1576,300.24
$SM_GC,1.11,0.00,0.00,49.45,0.000,0.000,0.453,30,1973,1576,-8.16,0.37,300.24
$IRIDIUM_FIX,2054.83,-15744.48,240702,080844
$TT8_MAMPS,0.028379
$HUMID,60.98
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,422.5,54.9
$24V_AH,24.6,3.843
$10V_AH,10.5,4.165
$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,18.575,70.925,275.075,49.450,0.000,35.108,31.195,152.062,17.750,0.000,20.294,1086.740,5017.915,370.583,1992.781,441.042,0.000,1080.429,0.000,1944.456,0.000,114.786,0.000
$DEVICE_MAMPS,234.702,64.428,797.680,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.078,342.356,1156.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31761,596
$CAP_FILE_SIZE,91780,0
$CFSIZE,260165632,253149184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290413,130043,2059.035,-15748.149,14,0.9,15,9.8