version: 66.06
glider: 523
mission: 4
dive: 142
start: 5 10 113 0 55 45
data:
$ID,523
$MISSION,4
$DIVE,142
$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,-38708.672
$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
$GPS1,004956,2100.365,-15747.188,33,0.7,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-77.1
$GPS2,005529,2100.412,-15747.306,21,1.5,21,9.8
$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,213.9,6393,-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,-76.38,0.000,2,0.000,0.000,33,1982,3355,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.7,12,113,9.18,2.17,-0.90,0.000,4,0.221,0.063,2385,3377,3397,0,0,0,0,0,0
$GC,354,-0.74,-146.0,52.0,-14.1,59,359,0.00,2.25,0.00,0.000,6,0.000,0.044,2385,1952,3399,0,0,0,0,0,0
$GC,684,-0.74,-146.0,93.7,-12.6,110,688,0.00,2.22,0.00,0.000,4,0.000,0.058,2385,541,3401,0,0,0,0,0,0
$GC,749,-0.74,-146.0,103.6,-15.0,115,757,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1955,3401,0,0,0,0,0,0
$GC,1077,-0.74,-146.0,145.2,-12.1,146,1081,0.00,2.22,0.00,0.000,4,0.000,0.059,2365,3366,3401,0,0,0,0,0,0
$GC,1107,-0.74,-146.0,149.2,-13.5,148,1112,0.12,2.22,0.00,0.000,6,0.151,0.045,2398,1950,3402,0,0,0,0,0,0
$GC,1441,-0.74,-146.0,185.6,-10.4,179,1445,0.00,2.20,0.00,0.000,4,0.000,0.054,2399,544,3403,0,0,0,0,0,0
$GC,1634,-0.74,-146.0,205.9,-10.0,194,1638,0.00,2.15,0.00,0.000,6,0.000,0.033,2390,1977,3403,0,0,0,0,0,0
$GC,1960,-0.74,-146.0,233.9,-7.9,210,1964,0.00,2.15,0.00,0.000,4,0.000,0.054,2380,3356,3403,0,0,0,0,0,0
$GC,1989,-0.74,-146.0,236.1,-7.4,211,1992,0.00,2.17,0.00,0.000,6,0.000,0.042,2380,1957,3403,0,0,0,0,0,0
$GC,2306,-0.74,-146.0,263.3,-10.0,226,2310,0.00,2.22,0.00,0.000,4,0.000,0.054,2380,544,3403,0,0,0,0,0,0
$GC,2563,-0.74,-146.0,289.5,-10.1,237,2568,0.12,2.12,0.00,0.000,6,0.167,0.037,2404,1963,3403,0,0,0,0,0,0
$GC,2900,-0.74,-146.0,317.4,-7.9,248,2904,0.00,2.25,0.00,0.000,4,0.000,0.058,2404,553,3403,0,0,0,0,0,0
$GC,2933,-0.74,-146.0,320.5,-8.6,248,2939,0.00,2.15,0.00,0.000,6,0.000,0.040,2396,1956,3403,0,0,0,0,0,0
$GC,3265,-0.74,-146.0,343.6,-6.9,257,3269,0.00,2.28,0.00,0.000,4,0.000,0.059,2396,549,3402,0,0,0,0,0,0
$GC,3440,-0.74,-146.0,358.4,-8.6,261,3443,0.00,2.15,0.00,0.000,6,0.000,0.041,2387,1961,3401,0,0,0,0,0,0
$GC,3774,-0.74,-146.0,387.6,-8.9,269,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1961,3398,0,0,0,0,0,0
$GC,4096,-0.74,-146.0,416.6,-8.9,277,4099,0.00,2.17,0.00,0.000,4,0.000,0.055,2376,3368,3397,0,0,0,0,0,0
$GC,4232,-0.74,-146.0,427.0,-7.1,280,4236,0.00,2.20,0.00,0.000,6,0.000,0.042,2376,1950,3396,0,0,0,0,0,0
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4555,-0.17,0.0,452.9,8.4,288,4677,0.62,0.00,119.00,0.780,6,0.122,0.000,2579,1950,2800,0,0,0,0,0,0
$STATE,4678,end apogee,CONTROL_FINISHED_OK
$STATE,4678,begin climb
$GC,4681,0.74,146.0,455.3,0.0,291,4812,0.85,0.00,125.12,0.752,6,0.080,0.000,2871,1950,2204,0,0,0,0,0,0
$GC,5128,0.74,146.0,403.2,13.2,302,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1950,2196,0,0,0,0,0,0
$GC,5452,0.74,146.0,355.0,14.1,310,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1950,2193,0,0,0,0,0,0
$GC,5777,0.74,146.0,306.8,14.5,318,5781,0.00,2.20,0.00,0.000,4,0.000,0.058,2882,558,2191,0,0,0,0,0,0
$GC,5917,0.74,146.0,288.0,12.5,322,5922,0.00,2.20,0.00,0.000,6,0.000,0.044,2882,1973,2190,0,0,0,0,0,0
$GC,6233,0.74,146.0,245.6,14.2,337,6237,0.00,2.28,0.00,0.000,4,0.000,0.064,2891,571,2189,0,0,0,0,0,0
$GC,6300,0.74,146.0,237.3,10.8,340,6304,0.00,2.20,0.00,0.000,6,0.000,0.045,2891,1988,2189,0,0,0,0,0,0
$GC,6627,0.74,146.0,198.9,12.1,356,6631,0.00,2.15,0.00,0.000,4,0.000,0.054,2892,3377,2188,0,0,0,0,0,0
$GC,6712,0.74,146.0,187.9,12.8,363,6716,0.00,2.20,0.00,0.000,6,0.000,0.048,2900,1979,2187,0,0,0,0,0,0
$GC,7039,0.74,146.0,146.1,12.2,393,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1979,2187,0,0,0,0,0,0
$GC,7359,0.74,146.0,110.5,10.4,423,7363,0.00,2.22,0.00,0.000,4,0.000,0.056,2910,564,2187,0,0,0,0,0,0
$GC,7399,0.74,146.0,106.1,10.7,426,7404,0.12,2.15,0.00,0.000,6,0.141,0.039,2875,1978,2186,0,0,0,0,0,0
$GC,7727,0.76,162.8,75.4,8.3,461,7745,0.00,2.17,12.68,0.499,4,0.000,0.049,2875,3381,2135,0,0,0,0,0,0
$GC,7799,0.76,162.8,68.8,9.3,474,7807,0.00,2.22,0.00,0.000,6,0.000,0.043,2881,1977,2134,0,0,0,0,0,0
$GC,8135,0.77,176.3,40.6,8.5,535,8153,0.00,2.30,12.98,0.464,4,0.000,0.056,2892,560,2079,0,0,0,0,0,0
$GC,8197,0.78,180.0,35.0,8.9,546,8209,0.00,2.20,4.75,0.367,6,0.000,0.038,2892,1972,2065,0,0,0,0,0,0
$STATE,8526,end climb,SURFACE_DEPTH_REACHED
$STATE,8526,begin surface coast
$FINISH,0.5,1.009862
$STATE,8559,end surface coast,CONTROL_FINISHED_OK
$STATE,8559,begin surface
$SM_CCo,8576,55.50,0.448,0,0,1576,300.24
$SM_GC,1.27,0.00,0.00,55.50,0.000,0.000,0.448,39,1976,1576,-8.13,0.48,300.24
$IRIDIUM_FIX,2045.60,-16015.80,030802,222225
$TT8_MAMPS,0.028379
$HUMID,61.89
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,432.8,50.2
$24V_AH,24.7,11.877
$10V_AH,10.6,13.023
$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,18.275,66.000,274.525,55.500,0.000,22.277,34.584,144.260,18.250,0.000,22.278,1111.053,5058.211,373.062,2001.617,422.171,0.000,1050.960,0.000,1949.164,0.000,114.066,0.000
$DEVICE_MAMPS,220.896,64.428,780.039,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,417.443,342.701,1199.628,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35105,614
$CAP_FILE_SIZE,91005,0
$CFSIZE,260165632,248418304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100513,032052,2059.753,-15748.201,35,1.0,35,9.8