version: 66.06
glider: 523
mission: 4
dive: 143
start: 5 10 113 3 26 35
data:
$ID,523
$MISSION,4
$DIVE,143
$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,-38723.598
$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,27
$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
$GPS1,032052,2059.753,-15748.201,35,1.0,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-75.1
$GPS2,032618,2059.731,-15748.276,13,1.0,13,9.8
$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,209.4,4334,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.50,0.000,6,0.000,0.000,40,1977,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.9,13,117,9.25,2.30,0.00,0.000,4,0.225,0.047,2390,540,3396,0,0,0,0,0,0
$GC,356,-0.74,-146.0,54.3,-14.7,60,363,0.00,2.20,0.00,0.000,6,0.000,0.034,2382,1968,3397,0,0,0,0,0,0
$GC,688,-0.74,-146.0,103.4,-14.1,106,692,0.00,2.25,0.00,0.000,4,0.000,0.052,2382,550,3399,0,0,0,0,0,0
$GC,882,-0.74,-146.0,134.6,-16.4,123,887,0.00,2.15,0.00,0.000,6,0.000,0.033,2373,1970,3399,0,0,0,0,0,0
$GC,1214,-0.74,-146.0,181.9,-14.0,154,1219,0.10,2.25,0.00,0.000,4,0.174,0.051,2398,548,3400,0,0,0,0,0,0
$GC,1255,-0.74,-146.0,187.0,-12.3,157,1259,0.00,2.12,0.00,0.000,6,0.000,0.032,2390,1962,3401,0,0,0,0,0,0
$GC,1581,-0.74,-146.0,220.0,-9.2,178,1585,0.00,2.20,0.00,0.000,4,0.000,0.057,2379,3358,3402,0,0,0,0,0,0
$GC,1603,-0.74,-146.0,222.3,-9.0,179,1607,0.00,2.17,0.00,0.000,6,0.000,0.044,2380,1956,3401,0,0,0,0,0,0
$GC,1925,-0.74,-146.0,254.2,-8.9,195,1929,0.00,2.20,0.00,0.000,4,0.000,0.051,2380,539,3401,0,0,0,0,0,0
$GC,2010,-0.74,-146.0,263.0,-11.3,199,2015,0.12,2.15,0.00,0.000,6,0.169,0.035,2403,1960,3401,0,0,0,0,0,0
$GC,2337,-0.74,-146.0,293.9,-8.5,215,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1961,3401,0,0,0,0,0,0
$GC,2663,-0.74,-146.0,316.4,-6.4,225,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1961,3401,0,0,0,0,0,0
$GC,2989,-0.74,-146.0,344.1,-9.2,233,2993,0.00,2.20,0.00,0.000,4,0.000,0.055,2395,3366,3400,0,0,0,0,0,0
$GC,3023,-0.74,-146.0,347.0,-8.3,233,3028,0.00,2.20,0.00,0.000,6,0.000,0.040,2394,1956,3400,0,0,0,0,0,0
$GC,3355,-0.74,-146.0,372.0,-7.3,242,3359,0.00,2.22,0.00,0.000,4,0.000,0.060,2394,554,3398,0,0,0,0,0,0
$GC,3499,-0.74,-146.0,384.6,-8.2,245,3504,0.00,2.15,0.00,0.000,6,0.000,0.040,2385,1957,3396,0,0,0,0,0,0
$GC,3850,-0.74,-146.0,411.0,-7.3,254,3855,0.00,2.25,0.00,0.000,4,0.000,0.061,2384,557,3394,0,0,0,0,0,0
$GC,4076,-0.74,-146.0,429.8,-8.5,259,4081,0.00,2.17,0.00,0.000,6,0.000,0.043,2375,1963,3393,0,0,0,0,0,0
$STATE,4398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4398,begin apogee
$GC,4404,-0.17,0.0,452.1,6.8,267,4526,0.65,0.00,118.25,0.786,6,0.123,0.000,2586,1964,2800,0,0,0,0,0,0
$STATE,4526,end apogee,CONTROL_FINISHED_OK
$STATE,4527,begin climb
$GC,4529,0.74,146.0,452.8,0.0,270,4664,0.82,2.35,124.68,0.755,4,0.079,0.054,2870,3383,2203,0,0,0,0,0,0
$GC,4709,0.74,146.0,431.1,16.9,274,4713,0.00,2.30,0.00,0.000,6,0.000,0.044,2879,1982,2200,0,0,0,0,0,0
$GC,5056,0.74,146.0,382.9,12.9,283,5060,0.00,2.28,0.00,0.000,4,0.000,0.061,2890,565,2195,0,0,0,0,0,0
$GC,5129,0.74,146.0,373.9,11.8,284,5134,0.00,2.22,0.00,0.000,6,0.000,0.041,2890,1988,2194,0,0,0,0,0,0
$GC,5461,0.74,146.0,324.7,16.0,292,5465,0.00,2.30,0.00,0.000,4,0.000,0.058,2899,562,2192,0,0,0,0,0,0
$GC,5499,0.74,146.0,318.6,14.6,292,5505,0.00,2.17,0.00,0.000,6,0.000,0.041,2900,1977,2191,0,0,0,0,0,0
$GC,5813,0.74,146.0,267.8,16.5,305,5817,0.00,2.17,0.00,0.000,4,0.000,0.054,2900,3379,2190,0,0,0,0,0,0
$GC,5891,0.74,146.0,256.4,14.2,308,5896,0.12,2.22,0.00,0.000,6,0.164,0.047,2876,1969,2189,0,0,0,0,0,0
$GC,6206,0.74,146.0,220.5,11.3,323,6210,0.00,2.20,0.00,0.000,4,0.000,0.060,2885,564,2189,0,0,0,0,0,0
$GC,6314,0.74,146.0,207.9,11.5,328,6318,0.00,2.17,0.00,0.000,6,0.000,0.044,2885,1980,2187,0,0,0,0,0,0
$GC,6641,0.74,146.0,171.9,10.6,355,6645,0.00,2.17,0.00,0.000,4,0.000,0.054,2884,3383,2187,0,0,0,0,0,0
$GC,6746,0.74,146.0,159.6,11.2,364,6750,0.00,2.22,0.00,0.000,6,0.000,0.047,2893,1969,2186,0,0,0,0,0,0
$GC,7073,0.74,146.0,123.7,11.6,394,7077,0.00,2.20,0.00,0.000,4,0.000,0.059,2900,561,2186,0,0,0,0,0,0
$GC,7105,0.74,146.0,119.6,11.8,396,7112,0.00,2.20,0.00,0.000,6,0.000,0.042,2901,1976,2186,0,0,0,0,0,0
$GC,7433,0.74,146.0,82.8,9.8,427,7437,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3384,2186,0,0,0,0,0,0
$GC,7539,0.74,146.0,72.1,10.3,443,7545,0.12,2.22,0.00,0.000,6,0.153,0.044,2875,1965,2186,0,0,0,0,0,0
$GC,7871,0.80,199.4,46.8,6.8,504,7924,0.00,2.30,42.33,0.495,4,0.000,0.055,2884,568,1985,0,0,0,0,0,0
$GC,8013,0.82,213.4,35.4,8.5,529,8031,0.00,2.20,12.90,0.451,6,0.000,0.038,2884,1986,1930,0,0,0,0,0,0
$GC,8356,0.82,213.4,5.3,9.1,592,8364,0.00,2.33,0.00,0.000,4,0.000,0.055,2893,569,1928,0,0,0,0,0,0
$STATE,8381,end climb,SURFACE_DEPTH_REACHED
$STATE,8381,begin surface coast
$FINISH,0.4,1.009700
$STATE,8413,end surface coast,CONTROL_FINISHED_OK
$STATE,8413,begin surface
$SM_CCo,8433,40.95,0.442,0,0,1574,300.24
$SM_GC,1.53,0.00,0.00,40.95,0.000,0.000,0.442,24,1963,1574,-8.18,0.08,300.24
$IRIDIUM_FIX,2050.21,-15742.34,040802,010132
$TT8_MAMPS,0.027612
$HUMID,61.65
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,435.7,52.8
$24V_AH,24.7,11.956
$10V_AH,10.6,13.110
$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,18.475,79.825,298.150,40.950,0.000,23.278,37.025,143.043,18.500,0.000,14.297,1100.321,4941.640,381.298,1954.330,423.921,0.000,1080.163,0.000,1908.179,0.000,117.494,0.000
$DEVICE_MAMPS,225.498,60.593,786.175,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.431,340.346,1162.930,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,34918,602
$CAP_FILE_SIZE,93124,0
$CFSIZE,260165632,248373248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100513,054905,2059.328,-15748.753,36,0.9,36,9.8