version: 66.06
glider: 523
mission: 4
dive: 138
start: 5 9 113 15 8 22
data:
$ID,523
$MISSION,4
$DIVE,138
$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,-38632.449
$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,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
$GPS1,150235,2102.477,-15745.481,29,0.9,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.3
$GPS2,150805,2102.432,-15745.528,18,0.9,18,9.8
$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,212.1,11225,-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,-75.88,0.000,2,0.000,0.000,38,1973,3349,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.7,12,113,9.18,2.20,-1.05,0.000,4,0.222,0.061,2384,3378,3396,0,0,0,0,0,0
$GC,356,-0.74,-146.0,50.8,-16.4,59,361,0.00,2.20,0.00,0.000,6,0.000,0.043,2384,1956,3398,0,0,0,0,0,0
$GC,691,-0.74,-146.0,104.6,-14.2,106,698,0.00,2.20,0.00,0.000,4,0.000,0.058,2384,552,3400,0,0,0,0,0,0
$GC,818,-0.74,-146.0,123.6,-15.2,117,823,0.00,2.15,0.00,0.000,6,0.000,0.034,2374,1976,3400,0,0,0,0,0,0
$GC,1150,-0.74,-146.0,164.3,-10.8,148,1155,0.00,2.15,0.00,0.000,4,0.000,0.055,2364,3364,3401,0,0,0,0,0,0
$GC,1206,-0.74,-146.0,171.3,-12.2,153,1211,0.12,2.22,0.00,0.000,6,0.153,0.045,2397,1948,3401,0,0,0,0,0,0
$GC,1530,-0.74,-146.0,203.9,-8.3,181,1534,0.00,2.20,0.00,0.000,4,0.000,0.054,2398,552,3402,0,0,0,0,0,0
$GC,1667,-0.74,-146.0,214.8,-8.3,187,1674,0.00,2.12,0.00,0.000,6,0.000,0.035,2390,1961,3402,0,0,0,0,0,0
$GC,1999,-0.74,-146.0,241.2,-8.0,203,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1961,3402,0,0,0,0,0,0
$GC,2306,-0.74,-146.0,270.5,-9.4,218,2310,0.00,2.25,0.00,0.000,4,0.000,0.054,2390,553,3402,0,0,0,0,0,0
$GC,2458,-0.74,-146.0,285.0,-9.0,225,2465,0.00,2.15,0.00,0.000,6,0.000,0.038,2379,1968,3401,0,0,0,0,0,0
$GC,2792,-0.74,-146.0,313.7,-8.3,237,2796,0.00,2.20,0.00,0.000,4,0.000,0.057,2369,3371,3401,0,0,0,0,0,0
$GC,2968,-0.74,-146.0,329.3,-8.6,241,2973,0.12,2.22,0.00,0.000,6,0.152,0.044,2403,1956,3401,0,0,0,0,0,0
$GC,3295,-0.74,-146.0,350.2,-5.9,249,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1957,3400,0,0,0,0,0,0
$GC,3620,-0.74,-146.0,371.7,-7.1,257,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1956,3397,0,0,0,0,0,0
$GC,3943,-0.74,-146.0,394.4,-7.3,265,3947,0.00,2.22,0.00,0.000,4,0.000,0.062,2403,552,3395,0,0,0,0,0,0
$GC,4200,-0.74,-146.0,414.0,-6.8,270,4206,0.00,2.15,0.00,0.000,6,0.000,0.043,2395,1968,3393,0,0,0,0,0,0
$GC,4533,-0.74,-146.0,435.3,-6.7,279,4537,0.00,2.28,0.00,0.000,4,0.000,0.061,2395,543,3391,0,0,0,0,0,0
$GC,4605,-0.74,-146.0,440.6,-6.9,280,4609,0.00,2.17,0.00,0.000,6,0.000,0.042,2386,1965,3391,0,0,0,0,0,0
$STATE,4735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4735,begin apogee
$GC,4742,-0.17,0.0,450.8,7.6,284,4863,0.60,0.00,118.45,0.786,6,0.119,0.000,2582,1965,2799,0,0,0,0,0,0
$STATE,4864,end apogee,CONTROL_FINISHED_OK
$STATE,4864,begin climb
$GC,4867,0.74,146.0,453.4,0.0,287,4997,0.88,0.00,126.35,0.753,6,0.077,0.000,2880,1965,2204,0,0,0,0,0,0
$GC,5303,0.74,146.0,394.7,15.3,298,5307,0.00,2.30,0.00,0.000,4,0.000,0.064,2889,568,2196,0,0,0,0,0,0
$GC,5331,0.74,146.0,390.8,14.3,298,5335,0.00,2.22,0.00,0.000,6,0.000,0.044,2889,1977,2195,0,0,0,0,0,0
$GC,5662,0.74,146.0,339.1,16.0,306,5666,0.00,2.30,0.00,0.000,4,0.000,0.066,2899,570,2193,0,0,0,0,0,0
$GC,5706,0.74,146.0,331.7,16.9,307,5710,0.00,2.20,0.00,0.000,6,0.000,0.045,2899,1984,2193,0,0,0,0,0,0
$GC,6027,0.74,146.0,280.8,15.6,318,6030,0.00,2.17,0.00,0.000,4,0.000,0.055,2899,3381,2192,0,0,0,0,0,0
$GC,6151,0.74,146.0,261.6,15.2,323,6157,0.12,2.22,0.00,0.000,6,0.167,0.050,2876,1977,2190,0,0,0,0,0,0
$GC,6466,0.74,146.0,222.7,11.5,339,6470,0.00,2.25,0.00,0.000,4,0.000,0.061,2885,554,2189,0,0,0,0,0,0
$GC,6584,0.74,146.0,208.3,12.1,344,6588,0.00,2.20,0.00,0.000,6,0.000,0.043,2885,1975,2188,0,0,0,0,0,0
$GC,6915,0.74,146.0,170.7,10.8,372,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1976,2187,0,0,0,0,0,0
$GC,7235,0.74,146.0,136.7,10.6,402,7239,0.00,2.20,0.00,0.000,4,0.000,0.053,2885,3390,2187,0,0,0,0,0,0
$GC,7287,0.74,146.0,130.5,12.3,406,7291,0.00,2.25,0.00,0.000,6,0.000,0.048,2893,1970,2186,0,0,0,0,0,0
$GC,7615,0.74,146.0,96.6,11.3,436,7619,0.00,2.22,0.00,0.000,4,0.000,0.058,2901,567,2186,0,0,0,0,0,0
$GC,7656,0.74,146.0,92.0,11.1,439,7660,0.00,2.17,0.00,0.000,6,0.000,0.040,2901,1983,2186,0,0,0,0,0,0
$GC,7987,0.77,171.3,64.8,8.0,487,8012,0.00,2.35,19.80,0.505,4,0.000,0.056,2910,562,2100,0,0,0,0,0,0
$GC,8084,0.77,171.3,55.6,10.0,504,8091,0.00,2.20,0.00,0.000,6,0.000,0.039,2910,1972,2098,0,0,0,0,0,0
$GC,8419,0.77,171.3,23.2,10.0,565,8427,0.00,2.22,0.00,0.000,4,0.000,0.051,2910,3391,2098,0,0,0,0,0,0
$GC,8471,0.77,171.3,17.6,10.8,574,8478,0.08,2.22,0.00,0.000,6,0.130,0.041,2893,1979,2098,0,0,0,0,0,0
$STATE,8635,end climb,SURFACE_DEPTH_REACHED
$STATE,8635,begin surface coast
$FINISH,0.4,1.009906
$STATE,8668,end surface coast,CONTROL_FINISHED_OK
$STATE,8668,begin surface
$SM_CCo,8685,58.22,0.446,0,0,1575,300.24
$SM_GC,1.42,0.00,0.00,58.22,0.000,0.000,0.446,32,1975,1575,-8.15,0.42,300.24
$IRIDIUM_FIX,2057.14,-15801.19,030802,121242
$TT8_MAMPS,0.028379
$HUMID,61.38
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,447.4,54.6
$24V_AH,24.6,11.566
$10V_AH,10.6,12.673
$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,18.350,70.825,264.600,58.225,0.000,25.641,35.340,143.203,19.000,0.000,18.844,1130.943,5107.823,411.278,1995.102,429.332,0.000,1070.401,0.000,1946.100,0.000,118.741,0.000
$DEVICE_MAMPS,221.663,65.962,786.175,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.963,346.879,1198.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,35025,611
$CAP_FILE_SIZE,91978,0
$CFSIZE,260165632,248602624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090513,173500,2101.815,-15746.059,15,1.8,15,9.8