version: 66.06
glider: 523
mission: 4
dive: 136
start: 5 9 113 10 7 46
data:
$ID,523
$MISSION,4
$DIVE,136
$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,-38593.066
$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,23
$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
$GPS1,100200,2105.229,-15743.468,27,1.4,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-76.7
$GPS2,100729,2105.236,-15743.479,17,1.5,17,9.8
$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,209.4,17478,-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,-76.05,0.000,2,0.000,0.000,28,1972,3370,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.7,12,113,9.38,2.28,-0.55,0.000,4,0.229,0.064,2392,549,3395,0,0,0,0,0,0
$GC,358,-0.74,-146.0,58.2,-18.7,59,363,0.00,2.12,0.00,0.000,6,0.000,0.035,2382,1962,3398,0,0,0,0,0,0
$GC,687,-0.74,-146.0,109.5,-13.6,101,691,0.00,2.28,0.00,0.000,4,0.000,0.051,2382,539,3399,0,0,0,0,0,0
$GC,743,-0.74,-146.0,117.5,-14.8,106,747,0.00,2.15,0.00,0.000,6,0.000,0.035,2373,1964,3399,0,0,0,0,0,0
$GC,1070,-0.74,-146.0,158.6,-13.1,136,1074,0.00,2.25,0.00,0.000,4,0.000,0.052,2373,540,3400,0,0,0,0,0,0
$GC,1263,-0.74,-146.0,184.2,-13.6,153,1270,0.15,2.15,0.00,0.000,6,0.160,0.035,2404,1963,3401,0,0,0,0,0,0
$GC,1592,-0.74,-146.0,220.4,-11.0,175,1596,0.00,2.17,0.00,0.000,4,0.000,0.056,2395,3367,3401,0,0,0,0,0,0
$GC,1681,-0.74,-146.0,230.0,-9.9,179,1685,0.00,2.20,0.00,0.000,6,0.000,0.044,2395,1946,3401,0,0,0,0,0,0
$GC,2007,-0.74,-146.0,258.2,-8.3,195,2011,0.00,2.17,0.00,0.000,4,0.000,0.055,2395,550,3401,0,0,0,0,0,0
$GC,2097,-0.74,-146.0,266.1,-8.7,199,2101,0.00,2.12,0.00,0.000,6,0.000,0.036,2386,1962,3401,0,0,0,0,0,0
$GC,2422,-0.74,-146.0,290.1,-7.2,215,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1961,3401,0,0,0,0,0,0
$GC,2725,-0.74,-146.0,314.1,-8.3,226,2729,0.00,2.25,0.00,0.000,4,0.000,0.057,2385,550,3401,0,0,0,0,0,0
$GC,2788,-0.74,-146.0,319.5,-8.6,227,2792,0.00,2.15,0.00,0.000,6,0.000,0.039,2376,1965,3401,0,0,0,0,0,0
$GC,3135,-0.74,-146.0,345.7,-7.9,236,3139,0.00,2.22,0.00,0.000,4,0.000,0.058,2366,3373,3400,0,0,0,0,0,0
$GC,3180,-0.74,-146.0,350.0,-9.7,237,3184,0.12,2.20,0.00,0.000,6,0.149,0.042,2399,1949,3400,0,0,0,0,0,0
$GC,3502,-0.74,-146.0,371.9,-7.0,245,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1950,3398,0,0,0,0,0,0
$GC,3823,-0.74,-146.0,394.7,-7.0,253,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1950,3396,0,0,0,0,0,0
$GC,4148,-0.74,-146.0,418.8,-7.6,261,4152,0.00,2.25,0.00,0.000,4,0.000,0.064,2400,546,3394,0,0,0,0,0,0
$GC,4407,-0.74,-146.0,437.7,-6.0,266,4412,0.00,2.17,0.00,0.000,6,0.000,0.045,2392,1958,3392,0,0,0,0,0,0
$STATE,4695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4695,begin apogee
$GC,4702,-0.17,0.0,450.9,4.8,274,4823,0.57,0.00,118.28,0.784,6,0.120,0.000,2580,1958,2800,0,0,0,0,0,0
$STATE,4824,end apogee,CONTROL_FINISHED_OK
$STATE,4824,begin climb
$GC,4827,0.74,146.0,450.8,0.0,277,4961,0.85,2.35,124.70,0.753,4,0.079,0.052,2873,3388,2204,0,0,0,0,0,0
$GC,5040,0.74,146.0,425.0,13.9,282,5044,0.00,2.30,0.00,0.000,6,0.000,0.048,2882,1983,2199,0,0,0,0,0,0
$GC,5358,0.74,146.0,382.8,13.8,290,5362,0.00,2.28,0.00,0.000,4,0.000,0.061,2893,561,2197,0,0,0,0,0,0
$GC,5437,0.74,146.0,370.3,15.7,291,5442,0.00,2.22,0.00,0.000,6,0.000,0.044,2893,1972,2196,0,0,0,0,0,0
$GC,5768,0.74,146.0,317.7,15.5,300,5771,0.00,2.20,0.00,0.000,4,0.000,0.052,2893,3393,2193,0,0,0,0,0,0
$GC,5840,0.74,146.0,306.1,15.8,301,5844,0.00,2.25,0.00,0.000,6,0.000,0.042,2903,1958,2192,0,0,0,0,0,0
$GC,6160,0.74,146.0,261.1,12.7,316,6164,0.00,2.20,0.00,0.000,4,0.000,0.059,2913,569,2191,0,0,0,0,0,0
$GC,6187,0.74,146.0,257.6,13.0,317,6192,0.12,2.17,0.00,0.000,6,0.153,0.039,2880,1982,2191,0,0,0,0,0,0
$GC,6508,0.74,146.0,220.7,12.1,333,6512,0.00,2.17,0.00,0.000,4,0.000,0.052,2880,3387,2190,0,0,0,0,0,0
$GC,6540,0.74,146.0,216.6,12.9,334,6546,0.00,2.20,0.00,0.000,6,0.000,0.041,2889,1970,2189,0,0,0,0,0,0
$GC,6865,0.74,146.0,177.2,12.0,358,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1970,2189,0,0,0,0,0,0
$GC,7193,0.74,146.0,138.8,9.9,389,7197,0.00,2.20,0.00,0.000,4,0.000,0.057,2899,568,2189,0,0,0,0,0,0
$GC,7301,0.74,146.0,126.6,11.0,398,7308,0.00,2.17,0.00,0.000,6,0.000,0.037,2899,1979,2188,0,0,0,0,0,0
$GC,7628,0.74,146.0,89.8,11.2,429,7632,0.00,2.15,0.00,0.000,4,0.000,0.051,2899,3381,2188,0,0,0,0,0,0
$GC,7649,0.74,146.0,86.6,13.4,430,7656,0.08,2.20,0.00,0.000,6,0.136,0.040,2882,1976,2188,0,0,0,0,0,0
$GC,7979,0.75,157.7,58.6,8.5,485,7991,0.00,0.00,8.77,0.462,6,0.000,0.000,2882,1976,2155,0,0,0,0,0,0
$GC,8316,0.77,172.0,30.2,8.4,547,8334,0.00,2.22,13.10,0.458,4,0.000,0.054,2891,561,2100,0,0,0,0,0,0
$GC,8353,0.79,186.7,27.0,8.4,553,8374,0.00,2.17,14.12,0.453,6,0.000,0.036,2890,1971,2038,0,0,0,0,0,0
$GC,8536,0.79,188.2,10.4,9.0,586,8543,0.00,2.25,0.00,0.000,4,0.000,0.050,2891,3377,2036,0,0,0,0,0,0
$GC,8589,0.79,188.2,5.1,10.6,595,8596,0.00,2.22,0.00,0.000,6,0.000,0.043,2894,1973,2036,0,0,0,0,0,0
$STATE,8612,end climb,SURFACE_DEPTH_REACHED
$STATE,8613,begin surface coast
$FINISH,0.5,1.010013
$STATE,8646,end surface coast,CONTROL_FINISHED_OK
$STATE,8646,begin surface
$SM_CCo,8663,52.75,0.447,0,0,1576,300.24
$SM_GC,1.25,0.00,0.00,52.75,0.000,0.000,0.447,26,1970,1576,-8.17,0.28,300.24
$IRIDIUM_FIX,2101.76,-15745.74,030802,070703
$TT8_MAMPS,0.027612
$HUMID,61.14
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.7,11.409
$10V_AH,10.4,12.498
$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,18.550,75.100,278.975,52.750,0.000,28.596,31.893,141.827,19.250,0.000,17.728,1112.007,5186.474,382.154,1945.066,420.696,0.000,1077.664,0.000,1892.925,0.000,119.377,0.000
$DEVICE_MAMPS,228.566,64.428,783.874,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.253,334.973,1141.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,34916,605
$CAP_FILE_SIZE,94337,0
$CFSIZE,260165632,248696832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090513,123355,2103.807,-15744.533,14,1.8,14,9.8