version: 66.06
glider: 523
mission: 4
dive: 144
start: 5 10 113 5 54 44
data:
$ID,523
$MISSION,4
$DIVE,144
$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,-38745.488
$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,26
$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
$GPS1,054905,2059.328,-15748.753,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.7
$GPS2,055428,2059.350,-15748.812,20,0.8,20,9.8
$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,204.6,3212,-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,-76.00,0.000,2,0.000,0.000,24,1963,3358,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.8,12,113,9.30,2.28,-0.85,0.000,4,0.225,0.062,2392,549,3396,0,0,0,0,0,0
$GC,356,-0.74,-146.0,51.1,-15.2,59,362,0.00,2.15,0.00,0.000,6,0.000,0.035,2383,1965,3398,0,0,0,0,0,0
$GC,686,-0.74,-146.0,101.2,-14.5,107,690,0.00,2.25,0.00,0.000,4,0.000,0.054,2383,552,3399,0,0,0,0,0,0
$GC,916,-0.74,-146.0,135.3,-14.1,127,920,0.00,2.12,0.00,0.000,6,0.000,0.034,2374,1962,3400,0,0,0,0,0,0
$GC,1249,-0.74,-146.0,176.0,-11.7,158,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1962,3401,0,0,0,0,0,0
$GC,1572,-0.74,-146.0,210.5,-9.6,184,1576,0.00,2.15,0.00,0.000,4,0.000,0.055,2364,3362,3401,0,0,0,0,0,0
$GC,1668,-0.74,-146.0,220.4,-9.4,188,1673,0.12,2.20,0.00,0.000,6,0.153,0.044,2398,1952,3401,0,0,0,0,0,0
$GC,1988,-0.74,-146.0,245.0,-8.0,203,1992,0.00,2.20,0.00,0.000,4,0.000,0.051,2398,552,3402,0,0,0,0,0,0
$GC,2096,-0.74,-146.0,255.7,-9.4,208,2100,0.00,2.12,0.00,0.000,6,0.000,0.034,2390,1965,3402,0,0,0,0,0,0
$GC,2424,-0.74,-146.0,285.3,-7.4,224,2428,0.00,2.25,0.00,0.000,4,0.000,0.055,2390,552,3402,0,0,0,0,0,0
$GC,2486,-0.74,-146.0,290.5,-7.3,227,2490,0.00,2.15,0.00,0.000,6,0.000,0.037,2380,1969,3401,0,0,0,0,0,0
$GC,2812,-0.74,-146.0,317.8,-8.7,238,2816,0.00,2.17,0.00,0.000,4,0.000,0.057,2370,3366,3401,0,0,0,0,0,0
$GC,2920,-0.74,-146.0,326.4,-6.5,240,2925,0.12,2.17,0.00,0.000,6,0.151,0.041,2404,1958,3401,0,0,0,0,0,0
$GC,3265,-0.74,-146.0,345.6,-5.6,249,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1958,3399,0,0,0,0,0,0
$GC,3588,-0.74,-146.0,363.4,-5.8,257,3592,0.00,2.22,0.00,0.000,4,0.000,0.061,2404,546,3397,0,0,0,0,0,0
$GC,3840,-0.74,-146.0,382.0,-7.0,262,3844,0.00,2.17,0.00,0.000,6,0.000,0.041,2396,1962,3395,0,0,0,0,0,0
$GC,4172,-0.74,-146.0,404.9,-6.9,270,4179,0.00,2.25,0.00,0.000,4,0.000,0.061,2396,556,3393,0,0,0,0,0,0
$GC,4242,-0.74,-146.0,410.3,-7.5,271,4246,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,1959,3392,0,0,0,0,0,0
$GC,4586,-0.74,-146.0,434.5,-6.8,280,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1959,3389,0,0,0,0,0,0
$STATE,4825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4825,begin apogee
$GC,4831,-0.17,0.0,452.3,7.3,286,4953,0.60,0.00,118.12,0.788,6,0.120,0.000,2582,1959,2800,0,0,0,0,0,0
$STATE,4953,end apogee,CONTROL_FINISHED_OK
$STATE,4954,begin climb
$GC,4957,0.74,146.0,452.6,0.0,289,5086,0.85,0.00,126.00,0.757,6,0.077,0.000,2877,1959,2204,0,0,0,0,0,0
$GC,5405,0.74,146.0,397.1,13.5,300,5409,0.00,2.25,0.00,0.000,4,0.000,0.055,2877,3387,2195,0,0,0,0,0,0
$GC,5437,0.74,146.0,391.9,14.5,300,5443,0.00,2.28,0.00,0.000,6,0.000,0.046,2885,1973,2193,0,0,0,0,0,0
$GC,5769,0.74,146.0,344.1,14.4,309,5773,0.00,2.28,0.00,0.000,4,0.000,0.061,2895,559,2192,0,0,0,0,0,0
$GC,5908,0.74,146.0,322.1,15.7,312,5913,0.00,2.22,0.00,0.000,6,0.000,0.040,2895,1990,2191,0,0,0,0,0,0
$GC,6224,0.74,146.0,274.6,15.7,323,6228,0.00,2.17,0.00,0.000,4,0.000,0.056,2895,3390,2189,0,0,0,0,0,0
$GC,6286,0.74,146.0,265.4,14.6,326,6290,0.00,2.28,0.00,0.000,6,0.000,0.049,2905,1962,2189,0,0,0,0,0,0
$GC,6612,0.74,146.0,220.9,12.2,342,6616,0.00,2.22,0.00,0.000,4,0.000,0.062,2915,564,2188,0,0,0,0,0,0
$GC,6719,0.74,146.0,208.2,12.5,347,6724,0.12,2.17,0.00,0.000,6,0.148,0.043,2881,1982,2187,0,0,0,0,0,0
$GC,7045,0.74,146.0,172.8,10.0,374,7049,0.00,2.15,0.00,0.000,4,0.000,0.054,2881,3380,2186,0,0,0,0,0,0
$GC,7196,0.74,146.0,155.4,11.4,387,7200,0.00,2.22,0.00,0.000,6,0.000,0.047,2887,1965,2185,0,0,0,0,0,0
$GC,7523,0.74,146.0,122.5,9.9,417,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1965,2185,0,0,0,0,0,0
$GC,7843,0.74,146.0,87.7,10.4,447,7847,0.00,2.20,0.00,0.000,4,0.000,0.058,2898,561,2185,0,0,0,0,0,0
$GC,7905,0.74,146.0,81.3,10.7,452,7909,0.00,2.15,0.00,0.000,6,0.000,0.040,2898,1978,2185,0,0,0,0,0,0
$GC,8238,0.75,154.4,50.5,8.7,511,8250,0.00,0.00,5.47,0.406,6,0.000,0.000,2898,1978,2169,0,0,0,0,0,0
$GC,8574,0.79,190.0,21.1,7.6,573,8614,0.00,2.38,31.27,0.470,4,0.000,0.057,2907,569,2023,0,0,0,0,0,0
$GC,8717,0.79,190.0,8.4,10.6,598,8725,0.00,2.20,0.00,0.000,6,0.000,0.037,2907,1973,2021,0,0,0,0,0,0
$STATE,8777,end climb,SURFACE_DEPTH_REACHED
$STATE,8777,begin surface coast
$FINISH,0.7,1.023056
$STATE,8810,end surface coast,CONTROL_FINISHED_OK
$STATE,8810,begin surface
$SM_CCo,8828,51.47,0.446,0,0,1575,300.24
$SM_GC,1.14,0.00,0.00,51.47,0.000,0.000,0.446,36,1986,1575,-8.14,0.74,300.24
$IRIDIUM_FIX,2050.21,-15745.35,040802,030331
$TT8_MAMPS,0.028379
$HUMID,61.69
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,431.8,58.5
$24V_AH,24.7,12.034
$10V_AH,10.5,13.199
$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,18.450,66.225,280.875,51.475,0.000,27.075,33.446,134.657,18.250,0.000,21.261,1119.231,5248.215,394.782,2015.668,424.857,0.000,1079.460,0.000,1973.232,0.000,114.082,0.000
$DEVICE_MAMPS,224.731,62.127,788.476,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,418.262,344.688,1196.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34975,615
$CAP_FILE_SIZE,92059,0
$CFSIZE,260165632,248328192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100513,082336,2059.824,-15749.706,13,1.2,13,9.8