version: 66.06
glider: 523
mission: 4
dive: 86
start: 5 4 113 3 53 46
data:
$ID,523
$MISSION,4
$DIVE,86
$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,-37575.352
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,034736,2105.368,-15743.771,21,1.2,21,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-75.2
$GPS2,035330,2105.426,-15743.763,18,0.9,18,9.8
$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,207.4,17450,-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,-76.15,0.000,2,0.000,0.000,29,1988,3370,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.8,12,113,9.38,2.30,-0.55,0.000,4,0.229,0.061,2395,542,3397,0,0,0,0,0,0
$GC,217,-0.74,-146.0,30.5,-18.8,33,223,0.00,2.20,0.00,0.000,6,0.000,0.038,2386,1969,3399,0,0,0,0,0,0
$GC,555,-0.74,-146.0,83.2,-14.6,93,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1970,3399,0,0,0,0,0,0
$GC,873,-0.74,-146.0,126.6,-11.7,123,877,0.00,2.17,0.00,0.000,4,0.000,0.055,2376,3366,3400,0,0,0,0,0,0
$GC,905,-0.74,-146.0,131.3,-13.0,125,912,0.00,2.22,0.00,0.000,6,0.000,0.043,2376,1958,3400,0,0,0,0,0,0
$GC,1233,-0.74,-146.0,170.2,-12.0,156,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1958,3402,0,0,0,0,0,0
$GC,1556,-0.74,-146.0,207.6,-11.9,184,1560,0.00,2.20,0.00,0.000,4,0.000,0.051,2376,550,3403,0,0,0,0,0,0
$GC,1815,-0.74,-146.0,235.2,-10.9,195,1822,0.12,2.12,0.00,0.000,6,0.164,0.036,2400,1969,3403,0,0,0,0,0,0
$GC,2134,-0.74,-146.0,260.8,-8.3,211,2138,0.00,2.28,0.00,0.000,4,0.000,0.054,2401,550,3402,0,0,0,0,0,0
$GC,2391,-0.74,-146.0,286.0,-10.5,222,2396,0.00,2.12,0.00,0.000,6,0.000,0.039,2392,1960,3402,0,0,0,0,0,0
$GC,2705,-0.74,-146.0,316.1,-9.8,234,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1961,3402,0,0,0,0,0,0
$GC,3031,-0.74,-146.0,345.6,-8.5,242,3036,0.00,2.25,0.00,0.000,4,0.000,0.058,2393,554,3402,0,0,0,0,0,0
$GC,3168,-0.74,-146.0,357.1,-8.2,245,3172,0.00,2.15,0.00,0.000,6,0.000,0.042,2382,1967,3401,0,0,0,0,0,0
$GC,3496,-0.74,-146.0,382.0,-7.7,253,3500,0.00,2.20,0.00,0.000,4,0.000,0.059,2373,3365,3398,0,0,0,0,0,0
$GC,3621,-0.74,-146.0,393.6,-9.3,255,3626,0.00,2.15,0.00,0.000,6,0.000,0.042,2373,1956,3398,0,0,0,0,0,0
$GC,3953,-0.74,-146.0,423.8,-8.9,264,3958,0.10,2.22,0.00,0.000,4,0.166,0.065,2399,554,3395,0,0,0,0,0,0
$GC,4061,-0.74,-146.0,433.7,-8.8,266,4065,0.00,2.17,0.00,0.000,6,0.000,0.046,2391,1954,3394,0,0,0,0,0,0
$STATE,4279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4279,begin apogee
$GC,4285,-0.17,0.0,450.7,7.6,272,4407,0.60,0.00,118.65,0.783,6,0.122,0.000,2587,1954,2800,0,0,0,0,0,0
$STATE,4408,end apogee,CONTROL_FINISHED_OK
$STATE,4408,begin climb
$GC,4411,0.74,146.0,452.6,0.0,275,4543,0.82,0.00,125.32,0.754,6,0.076,0.000,2874,1954,2203,0,0,0,0,0,0
$GC,4862,0.74,146.0,400.4,13.7,286,4866,0.00,2.25,0.00,0.000,4,0.000,0.056,2875,3386,2195,0,0,0,0,0,0
$GC,4883,0.74,146.0,397.4,13.1,286,4888,0.00,2.28,0.00,0.000,6,0.000,0.050,2883,1986,2194,0,0,0,0,0,0
$GC,5226,0.74,146.0,353.2,12.6,295,5230,0.00,2.28,0.00,0.000,4,0.000,0.061,2894,557,2192,0,0,0,0,0,0
$GC,5253,0.74,146.0,349.7,12.8,295,5257,0.00,2.22,0.00,0.000,6,0.000,0.044,2894,1982,2192,0,0,0,0,0,0
$GC,5584,0.74,146.0,307.6,13.3,303,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1982,2190,0,0,0,0,0,0
$GC,5892,0.74,146.0,268.4,12.1,316,5896,0.00,2.17,0.00,0.000,4,0.000,0.053,2893,3385,2188,0,0,0,0,0,0
$GC,5954,0.74,146.0,260.3,13.7,319,5958,0.00,2.22,0.00,0.000,6,0.000,0.042,2904,1961,2188,0,0,0,0,0,0
$GC,6281,0.74,146.0,218.4,12.7,335,6284,0.00,2.17,0.00,0.000,4,0.000,0.058,2914,568,2187,0,0,0,0,0,0
$GC,6353,0.74,146.0,209.1,12.9,338,6358,0.12,2.15,0.00,0.000,6,0.148,0.038,2879,1985,2186,0,0,0,0,0,0
$GC,6678,0.74,146.0,170.2,11.7,364,6682,0.00,2.22,0.00,0.000,4,0.000,0.057,2888,568,2186,0,0,0,0,0,0
$GC,6751,0.74,146.0,162.0,11.4,370,6755,0.00,2.15,0.00,0.000,6,0.000,0.038,2888,1988,2186,0,0,0,0,0,0
$GC,7079,0.74,146.0,128.9,10.5,400,7083,0.00,2.12,0.00,0.000,4,0.000,0.052,2888,3382,2186,0,0,0,0,0,0
$GC,7130,0.74,146.0,123.3,10.7,404,7134,0.00,2.17,0.00,0.000,6,0.000,0.040,2897,1974,2185,0,0,0,0,0,0
$GC,7457,0.74,146.0,91.8,9.8,434,7461,0.00,2.20,0.00,0.000,4,0.000,0.050,2897,3381,2185,0,0,0,0,0,0
$GC,7508,0.74,146.0,86.6,10.0,438,7512,0.00,2.17,0.00,0.000,6,0.000,0.040,2906,1971,2185,0,0,0,0,0,0
$GC,7837,0.74,146.0,52.3,9.5,492,7845,0.00,2.20,0.00,0.000,4,0.000,0.049,2906,3377,2186,0,0,0,0,0,0
$GC,7946,0.74,146.0,41.7,9.9,511,7952,0.12,2.12,0.00,0.000,6,0.149,0.038,2879,1974,2186,0,0,0,0,0,0
$GC,8274,0.79,191.0,17.5,7.2,572,8314,0.00,2.20,35.28,0.471,4,0.000,0.052,2888,570,2020,0,0,0,0,0,0
$GC,8379,0.79,191.0,8.2,9.4,590,8387,0.00,2.17,0.00,0.000,6,0.000,0.035,2888,1975,2019,0,0,0,0,0,0
$STATE,8434,end climb,SURFACE_DEPTH_REACHED
$STATE,8434,begin surface coast
$FINISH,0.5,1.000918
$STATE,8472,end surface coast,CONTROL_FINISHED_OK
$STATE,8472,begin surface
$SM_CCo,8490,50.53,0.448,0,0,1576,300.24
$SM_GC,1.23,0.00,0.00,50.53,0.000,0.000,0.448,31,1979,1576,-8.16,0.54,300.24
$IRIDIUM_FIX,2057.14,-15741.46,290702,010145
$TT8_MAMPS,0.028379
$HUMID,60.63
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.6,7.421
$10V_AH,10.5,8.115
$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,18.475,70.275,279.250,50.525,0.000,45.737,39.021,142.761,19.000,0.000,19.192,1115.007,4945.138,371.263,2019.371,443.218,0.000,1069.758,0.000,1966.581,0.000,117.240,0.000
$DEVICE_MAMPS,228.566,65.195,783.107,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.601,346.156,1222.699,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,35003,607
$CAP_FILE_SIZE,92458,0
$CFSIZE,260165632,251039744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,061722,2104.438,-15744.326,37,0.8,37,9.8