version: 66.06
glider: 523
mission: 4
dive: 93
start: 5 4 113 21 49 35
data:
$ID,523
$MISSION,4
$DIVE,93
$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,-37708.434
$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,26
$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
$GPS1,214341,2059.233,-15749.273,16,0.9,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.3
$GPS2,214918,2059.268,-15749.308,15,0.9,15,9.8
$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,191.1,2676,-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,-78.03,0.000,6,0.000,0.000,43,1984,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-5.9,13,117,9.45,0.00,0.00,0.000,6,0.234,0.000,2392,1982,3396,0,0,0,0,0,0
$GC,278,-0.74,-146.0,40.4,-14.1,45,284,0.00,2.33,0.00,0.000,4,0.000,0.053,2393,541,3398,0,0,0,0,0,0
$GC,314,-0.74,-146.0,45.5,-13.7,51,320,0.00,2.17,0.00,0.000,6,0.000,0.035,2384,1974,3398,0,0,0,0,0,0
$GC,649,-0.74,-146.0,92.8,-14.1,105,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1974,3399,0,0,0,0,0,0
$GC,968,-0.74,-146.0,140.8,-14.3,135,972,0.00,2.30,0.00,0.000,4,0.000,0.052,2384,548,3400,0,0,0,0,0,0
$GC,1052,-0.74,-146.0,152.9,-15.2,142,1056,0.00,2.15,0.00,0.000,6,0.000,0.034,2375,1970,3400,0,0,0,0,0,0
$GC,1380,-0.74,-146.0,190.7,-11.0,172,1384,0.00,2.28,0.00,0.000,4,0.000,0.052,2375,545,3400,0,0,0,0,0,0
$GC,1636,-0.74,-146.0,219.1,-11.2,186,1642,0.12,2.15,0.00,0.000,6,0.170,0.035,2398,1965,3401,0,0,0,0,0,0
$GC,1952,-0.74,-146.0,247.2,-8.6,202,1956,0.00,2.20,0.00,0.000,4,0.000,0.054,2389,3367,3401,0,0,0,0,0,0
$GC,2007,-0.74,-146.0,252.7,-10.2,204,2013,0.00,2.20,0.00,0.000,6,0.000,0.042,2389,1947,3401,0,0,0,0,0,0
$GC,2326,-0.74,-146.0,281.1,-7.8,220,2330,0.00,2.17,0.00,0.000,4,0.000,0.056,2389,553,3401,0,0,0,0,0,0
$GC,2555,-0.74,-146.0,301.8,-9.1,230,2559,0.00,2.15,0.00,0.000,6,0.000,0.039,2379,1963,3401,0,0,0,0,0,0
$GC,2869,-0.74,-146.0,324.8,-7.2,238,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1963,3401,0,0,0,0,0,0
$GC,3194,-0.74,-146.0,348.0,-6.9,246,3197,0.00,2.22,0.00,0.000,4,0.000,0.058,2368,3369,3400,0,0,0,0,0,0
$GC,3238,-0.74,-146.0,351.7,-7.8,247,3243,0.12,2.17,0.00,0.000,6,0.152,0.041,2403,1960,3400,0,0,0,0,0,0
$GC,3559,-0.74,-146.0,373.9,-7.1,255,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1960,3397,0,0,0,0,0,0
$GC,3882,-0.74,-146.0,398.7,-7.6,263,3886,0.00,2.28,0.00,0.000,4,0.000,0.066,2403,550,3394,0,0,0,0,0,0
$GC,3932,-0.74,-146.0,402.7,-7.5,264,3936,0.00,2.17,0.00,0.000,6,0.000,0.047,2395,1961,3394,0,0,0,0,0,0
$GC,4253,-0.74,-146.0,427.1,-7.5,272,4257,0.00,2.20,0.00,0.000,4,0.000,0.058,2384,3377,3392,0,0,0,0,0,0
$GC,4385,-0.74,-146.0,437.0,-6.7,275,4389,0.00,2.20,0.00,0.000,6,0.000,0.047,2384,1958,3391,0,0,0,0,0,0
$STATE,4585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4585,begin apogee
$GC,4591,-0.17,0.0,450.4,6.4,280,4713,0.62,0.00,118.47,0.792,6,0.124,0.000,2587,1958,2800,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4717,0.74,146.0,451.3,0.0,283,4852,0.82,2.40,125.03,0.759,4,0.075,0.057,2874,3384,2202,0,0,0,0,0,0
$GC,4868,0.74,146.0,434.6,14.8,286,4873,0.00,2.33,0.00,0.000,6,0.000,0.050,2882,1978,2200,0,0,0,0,0,0
$GC,5199,0.74,146.0,389.3,13.6,294,5204,0.00,2.25,0.00,0.000,4,0.000,0.061,2893,563,2195,0,0,0,0,0,0
$GC,5255,0.74,146.0,381.2,14.5,295,5259,0.00,2.22,0.00,0.000,6,0.000,0.044,2893,1975,2194,0,0,0,0,0,0
$GC,5603,0.74,146.0,326.7,15.9,304,5607,0.00,2.17,0.00,0.000,4,0.000,0.054,2893,3383,2192,0,0,0,0,0,0
$GC,5636,0.74,146.0,321.1,17.0,304,5641,0.00,2.22,0.00,0.000,6,0.000,0.051,2901,1971,2191,0,0,0,0,0,0
$GC,5949,0.74,146.0,273.3,14.2,316,5953,0.00,2.22,0.00,0.000,4,0.000,0.062,2913,567,2190,0,0,0,0,0,0
$GC,6049,0.74,146.0,258.7,14.2,320,6055,0.12,2.20,0.00,0.000,6,0.155,0.045,2879,1976,2189,0,0,0,0,0,0
$GC,6365,0.74,146.0,221.4,11.5,336,6369,0.00,2.17,0.00,0.000,4,0.000,0.054,2879,3384,2188,0,0,0,0,0,0
$GC,6449,0.74,146.0,211.1,11.4,340,6453,0.00,2.22,0.00,0.000,6,0.000,0.051,2887,1976,2187,0,0,0,0,0,0
$GC,6776,0.74,146.0,174.9,10.8,365,6780,0.00,2.25,0.00,0.000,4,0.000,0.061,2898,556,2187,0,0,0,0,0,0
$GC,6873,0.74,146.0,164.0,11.9,373,6880,0.00,2.22,0.00,0.000,6,0.000,0.044,2898,1975,2186,0,0,0,0,0,0
$GC,7200,0.74,146.0,129.4,11.4,404,7204,0.00,2.17,0.00,0.000,4,0.000,0.054,2897,3386,2186,0,0,0,0,0,0
$GC,7231,0.74,146.0,125.5,11.3,406,7239,0.00,2.22,0.00,0.000,6,0.000,0.044,2906,1977,2186,0,0,0,0,0,0
$GC,7558,0.74,146.0,91.9,10.3,437,7562,0.00,2.22,0.00,0.000,4,0.000,0.058,2915,560,2186,0,0,0,0,0,0
$GC,7590,0.74,146.0,88.4,10.2,439,7598,0.10,2.20,0.00,0.000,6,0.118,0.040,2881,1980,2186,0,0,0,0,0,0
$GC,7920,0.74,146.0,55.4,9.1,492,7927,0.00,2.30,0.00,0.000,4,0.000,0.061,2889,567,2186,0,0,0,0,0,0
$GC,8007,0.74,146.0,48.4,9.2,507,8013,0.00,2.17,0.00,0.000,6,0.000,0.041,2889,1977,2186,0,0,0,0,0,0
$GC,8333,0.76,165.3,22.0,8.2,568,8353,0.00,2.20,14.57,0.462,4,0.000,0.050,2889,3388,2126,0,0,0,0,0,0
$GC,8382,0.76,168.4,17.8,8.9,576,8396,0.00,2.22,4.47,0.352,6,0.000,0.041,2897,1976,2112,0,0,0,0,0,0
$STATE,8554,end climb,SURFACE_DEPTH_REACHED
$STATE,8554,begin surface coast
$FINISH,0.5,1.023309
$STATE,8581,end surface coast,CONTROL_FINISHED_OK
$STATE,8581,begin surface
$SM_CCo,8599,59.03,0.452,0,0,1575,300.24
$SM_GC,1.30,0.00,0.00,59.03,0.000,0.000,0.452,39,1970,1575,-8.13,0.28,300.24
$IRIDIUM_FIX,2047.91,-15747.49,290702,191912
$TT8_MAMPS,0.028379
$HUMID,61.10
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.6,7.980
$10V_AH,10.4,8.741
$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,18.650,79.975,262.550,59.025,0.000,23.387,39.916,149.930,19.000,0.000,16.240,1121.436,5032.650,386.065,2017.315,438.850,0.000,1095.210,0.000,1971.158,0.000,121.179,0.000
$DEVICE_MAMPS,233.935,65.962,792.311,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,416.798,338.685,1193.550,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34944,613
$CAP_FILE_SIZE,96097,0
$CFSIZE,260165632,250695680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,001504,2058.326,-15749.727,32,0.8,32,9.8