version: 66.06
glider: 523
mission: 4
dive: 141
start: 5 9 113 22 26 46
data:
$ID,523
$MISSION,4
$DIVE,141
$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,-38685.762
$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,24
$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
$GPS1,222029,2101.091,-15746.345,16,0.8,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-75.5
$GPS2,222629,2101.059,-15746.373,18,0.9,18,9.8
$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,216.2,8379,-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,-77.62,0.000,6,0.000,0.000,29,1979,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.8,13,117,9.18,2.22,0.00,0.000,4,0.222,0.044,2383,3376,3396,0,0,0,0,0,0
$GC,358,-0.74,-146.0,53.3,-12.4,60,366,0.00,2.28,0.00,0.000,6,0.000,0.044,2383,1965,3397,0,0,0,0,0,0
$GC,693,-0.74,-146.0,97.6,-15.2,110,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1965,3399,0,0,0,0,0,0
$GC,1012,-0.74,-146.0,140.5,-13.3,140,1016,0.00,2.22,0.00,0.000,4,0.000,0.054,2383,543,3400,0,0,0,0,0,0
$GC,1064,-0.74,-146.0,147.9,-14.3,144,1068,0.00,2.15,0.00,0.000,6,0.000,0.032,2374,1974,3400,0,0,0,0,0,0
$GC,1391,-0.74,-146.0,187.3,-11.0,174,1395,0.00,2.17,0.00,0.000,4,0.000,0.054,2364,3365,3401,0,0,0,0,0,0
$GC,1454,-0.74,-146.0,194.8,-13.1,179,1459,0.15,2.22,0.00,0.000,6,0.145,0.047,2405,1956,3401,0,0,0,0,0,0
$GC,1787,-0.74,-146.0,231.5,-10.3,197,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1957,3401,0,0,0,0,0,0
$GC,2096,-0.74,-146.0,257.3,-7.8,212,2100,0.00,2.17,0.00,0.000,4,0.000,0.051,2406,546,3401,0,0,0,0,0,0
$GC,2209,-0.74,-146.0,265.7,-7.2,217,2213,0.00,2.12,0.00,0.000,6,0.000,0.035,2398,1964,3401,0,0,0,0,0,0
$GC,2532,-0.74,-146.0,283.7,-4.8,233,2536,0.00,2.20,0.00,0.000,4,0.000,0.056,2387,3369,3401,0,0,0,0,0,0
$GC,2565,-0.74,-146.0,285.7,-6.0,234,2571,0.00,2.22,0.00,0.000,6,0.000,0.044,2387,1947,3401,0,0,0,0,0,0
$GC,2904,-0.74,-146.0,311.6,-9.0,248,2908,0.00,2.22,0.00,0.000,4,0.000,0.054,2378,3361,3401,0,0,0,0,0,0
$GC,3060,-0.74,-146.0,330.9,-11.8,251,3064,0.00,2.17,0.00,0.000,6,0.000,0.044,2377,1956,3400,0,0,0,0,0,0
$GC,3399,-0.74,-146.0,365.1,-9.9,260,3403,0.00,2.20,0.00,0.000,4,0.000,0.060,2377,555,3397,0,0,0,0,0,0
$GC,3530,-0.74,-146.0,379.3,-10.3,262,3536,0.12,2.15,0.00,0.000,6,0.166,0.038,2401,1966,3396,0,0,0,0,0,0
$GC,3863,-0.74,-146.0,402.0,-5.7,271,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1966,3394,0,0,0,0,0,0
$GC,4187,-0.74,-146.0,420.0,-5.4,279,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1966,3392,0,0,0,0,0,0
$GC,4511,-0.74,-146.0,439.0,-6.3,287,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1966,3390,0,0,0,0,0,0
$STATE,4712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4712,begin apogee
$GC,4718,-0.17,0.0,451.2,6.1,292,4840,0.55,0.00,118.03,0.780,6,0.115,0.000,2586,1966,2800,0,0,0,0,0,0
$STATE,4840,end apogee,CONTROL_FINISHED_OK
$STATE,4840,begin climb
$GC,4843,0.74,146.0,451.8,0.0,295,4978,0.82,2.33,125.03,0.749,4,0.074,0.053,2874,3379,2203,0,0,0,0,0,0
$GC,5028,0.74,146.0,428.1,15.8,299,5033,0.00,2.33,0.00,0.000,6,0.000,0.048,2882,1973,2199,0,0,0,0,0,0
$GC,5371,0.74,146.0,372.4,15.8,308,5375,0.00,2.28,0.00,0.000,4,0.000,0.061,2893,564,2194,0,0,0,0,0,0
$GC,5398,0.74,146.0,368.0,15.9,308,5402,0.00,2.22,0.00,0.000,6,0.000,0.043,2893,1981,2194,0,0,0,0,0,0
$GC,5729,0.74,146.0,318.2,12.9,316,5733,0.00,2.17,0.00,0.000,4,0.000,0.054,2893,3388,2191,0,0,0,0,0,0
$GC,5761,0.74,146.0,313.3,14.8,316,5767,0.00,2.25,0.00,0.000,6,0.000,0.046,2902,1967,2191,0,0,0,0,0,0
$GC,6075,0.74,146.0,268.6,13.2,329,6079,0.00,2.22,0.00,0.000,4,0.000,0.059,2913,567,2190,0,0,0,0,0,0
$GC,6097,0.74,146.0,265.5,13.5,330,6102,0.12,2.20,0.00,0.000,6,0.155,0.044,2880,1988,2189,0,0,0,0,0,0
$GC,6423,0.74,146.0,229.2,10.8,346,6427,0.00,2.17,0.00,0.000,4,0.000,0.054,2880,3387,2188,0,0,0,0,0,0
$GC,6439,0.74,146.0,227.2,10.9,346,6445,0.00,2.22,0.00,0.000,6,0.000,0.048,2887,1976,2188,0,0,0,0,0,0
$GC,6760,0.74,146.0,186.4,13.1,367,6764,0.00,2.22,0.00,0.000,4,0.000,0.060,2898,565,2188,0,0,0,0,0,0
$GC,6823,0.74,146.0,177.6,14.4,372,6827,0.00,2.20,0.00,0.000,6,0.000,0.042,2898,1989,2187,0,0,0,0,0,0
$GC,7150,0.74,146.0,138.5,10.6,402,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1989,2186,0,0,0,0,0,0
$GC,7470,0.74,146.0,101.0,11.6,432,7474,0.00,2.15,0.00,0.000,4,0.000,0.053,2898,3390,2186,0,0,0,0,0,0
$GC,7512,0.74,146.0,96.0,12.5,435,7516,0.00,2.22,0.00,0.000,6,0.000,0.044,2907,1974,2186,0,0,0,0,0,0
$GC,7843,0.74,146.0,57.7,11.6,483,7848,0.00,2.22,0.00,0.000,4,0.000,0.057,2914,556,2186,0,0,0,0,0,0
$GC,8065,0.78,179.2,36.9,7.7,524,8095,0.00,2.20,26.20,0.488,6,0.000,0.038,2914,1980,2069,0,0,0,0,0,0
$STATE,8416,end climb,SURFACE_DEPTH_REACHED
$STATE,8416,begin surface coast
$FINISH,0.4,1.001669
$STATE,8443,end surface coast,CONTROL_FINISHED_OK
$STATE,8443,begin surface
$SM_CCo,8461,56.62,0.453,0,0,1576,300.24
$SM_GC,1.22,0.00,0.00,56.62,0.000,0.000,0.453,33,1982,1576,-8.15,0.59,300.24
$IRIDIUM_FIX,2052.52,-15744.48,030802,202025
$TT8_MAMPS,0.028379
$HUMID,63.07
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.7,11.799
$10V_AH,10.6,12.934
$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,18.225,66.375,269.250,56.625,0.000,27.200,51.900,154.312,19.000,0.000,18.770,1066.004,5161.292,371.079,1830.215,450.855,0.000,1000.526,0.000,1782.259,0.000,119.292,0.000
$DEVICE_MAMPS,222.430,60.593,780.039,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.081,335.015,1123.314,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31786,594
$CAP_FILE_SIZE,87205,0
$CFSIZE,260165632,248471552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100513,004956,2100.365,-15747.188,33,0.7,33,9.8