version: 66.06
glider: 523
mission: 4
dive: 145
start: 5 10 113 8 30 20
data:
$ID,523
$MISSION,4
$DIVE,145
$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,-38777.652
$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,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
$GPS1,082336,2059.824,-15749.706,13,1.2,13,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-73.1
$GPS2,083004,2058.882,-15749.116,31,0.9,31,9.8
$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,206.0,2201,-19.4,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.78,-109.5,0.0,0.0,0,95,0.00,0.00,-71.80,0.000,6,0.000,0.000,36,1987,3248,0,0,0,0,0,0
$GC,99,-0.83,-146.0,3.2,-4.8,12,120,9.15,2.38,-3.30,0.000,4,0.225,0.071,2357,552,3397,0,0,0,0,0,0
$GC,362,-0.83,-146.0,57.1,-18.2,60,369,0.00,2.20,0.00,0.000,6,0.000,0.037,2349,1970,3399,0,0,0,0,0,0
$GC,699,-0.83,-146.0,110.5,-13.5,103,703,0.00,2.28,0.00,0.000,4,0.000,0.053,2349,553,3400,0,0,0,0,0,0
$GC,870,-0.83,-146.0,137.5,-14.9,118,875,0.12,2.15,0.00,0.000,6,0.179,0.035,2369,1975,3400,0,0,0,0,0,0
$GC,1197,-0.83,-146.0,173.7,-9.4,148,1201,0.00,2.15,0.00,0.000,4,0.000,0.055,2361,3359,3402,0,0,0,0,0,0
$GC,1284,-0.83,-146.0,182.6,-10.7,155,1291,0.00,2.22,0.00,0.000,6,0.000,0.044,2361,1957,3402,0,0,0,0,0,0
$GC,1604,-0.83,-146.0,218.7,-10.9,178,1608,0.00,2.20,0.00,0.000,4,0.000,0.050,2352,3358,3403,0,0,0,0,0,0
$GC,1675,-0.83,-146.0,226.1,-9.8,181,1679,0.00,2.17,0.00,0.000,6,0.000,0.044,2352,1956,3403,0,0,0,0,0,0
$GC,1995,-0.83,-146.0,257.0,-10.4,196,1999,0.00,2.22,0.00,0.000,4,0.000,0.052,2352,540,3403,0,0,0,0,0,0
$GC,2124,-0.83,-146.0,271.5,-10.3,202,2129,0.12,2.12,0.00,0.000,6,0.173,0.035,2373,1966,3403,0,0,0,0,0,0
$GC,2451,-0.83,-146.0,295.6,-7.0,218,2455,0.00,2.15,0.00,0.000,4,0.000,0.054,2365,3360,3402,0,0,0,0,0,0
$GC,2473,-0.83,-146.0,297.3,-7.0,219,2477,0.00,2.17,0.00,0.000,6,0.000,0.042,2365,1956,3402,0,0,0,0,0,0
$GC,2796,-0.83,-146.0,324.0,-8.1,228,2800,0.00,2.20,0.00,0.000,4,0.000,0.054,2355,3363,3402,0,0,0,0,0,0
$GC,2868,-0.83,-146.0,330.7,-9.2,229,2872,0.00,2.17,0.00,0.000,6,0.000,0.043,2355,1958,3402,0,0,0,0,0,0
$GC,3201,-0.83,-146.0,358.5,-8.1,237,3205,0.00,2.20,0.00,0.000,4,0.000,0.061,2355,557,3400,0,0,0,0,0,0
$GC,3405,-0.83,-146.0,377.1,-8.9,241,3409,0.00,2.12,0.00,0.000,6,0.000,0.040,2345,1956,3398,0,0,0,0,0,0
$GC,3745,-0.83,-146.0,405.9,-8.8,250,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1956,3396,0,0,0,0,0,0
$GC,4067,-0.83,-146.0,433.2,-8.0,258,4071,0.00,2.25,0.00,0.000,4,0.000,0.062,2345,553,3393,0,0,0,0,0,0
$GC,4146,-0.83,-146.0,440.0,-8.9,259,4152,0.12,2.17,0.00,0.000,6,0.171,0.043,2368,1965,3393,0,0,0,0,0,0
$STATE,4312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4312,begin apogee
$GC,4318,-0.17,0.0,452.3,7.2,264,4440,0.65,0.00,118.40,0.785,6,0.126,0.000,2579,1964,2800,0,0,0,0,0,0
$STATE,4441,end apogee,CONTROL_FINISHED_OK
$STATE,4441,begin climb
$GC,4444,0.83,146.0,452.9,0.0,267,4573,0.95,0.00,125.10,0.755,6,0.081,0.000,2903,1965,2205,0,0,0,0,0,0
$GC,4881,0.83,146.0,387.7,15.6,278,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1965,2198,0,0,0,0,0,0
$GC,5206,0.83,146.0,338.0,15.3,286,5211,0.00,2.33,0.00,0.000,4,0.000,0.064,2912,563,2195,0,0,0,0,0,0
$GC,5273,0.83,146.0,327.1,14.9,287,5278,0.00,2.22,0.00,0.000,6,0.000,0.044,2912,1978,2194,0,0,0,0,0,0
$GC,5592,0.83,146.0,276.5,16.0,299,5596,0.00,2.17,0.00,0.000,4,0.000,0.055,2912,3383,2192,0,0,0,0,0,0
$GC,5698,0.83,146.0,259.4,16.1,303,5703,0.00,2.22,0.00,0.000,6,0.000,0.049,2921,1979,2191,0,0,0,0,0,0
$GC,6013,0.83,146.0,214.8,13.2,319,6017,0.00,2.25,0.00,0.000,4,0.000,0.060,2931,564,2190,0,0,0,0,0,0
$GC,6108,0.83,146.0,201.1,14.8,323,6112,0.00,2.17,0.00,0.000,6,0.000,0.043,2931,1978,2189,0,0,0,0,0,0
$GC,6435,0.83,146.0,156.1,13.6,352,6439,0.00,2.17,0.00,0.000,4,0.000,0.054,2931,3382,2188,0,0,0,0,0,0
$GC,6486,0.83,146.0,147.7,16.6,356,6491,0.12,2.22,0.00,0.000,6,0.165,0.046,2907,1966,2188,0,0,0,0,0,0
$GC,6814,0.83,146.0,106.9,11.2,386,6818,0.00,2.20,0.00,0.000,4,0.000,0.057,2917,564,2188,0,0,0,0,0,0
$GC,6844,0.83,146.0,103.4,11.8,388,6848,0.00,2.17,0.00,0.000,6,0.000,0.041,2916,1976,2187,0,0,0,0,0,0
$GC,7169,0.83,146.0,69.1,9.2,428,7176,0.00,2.30,0.00,0.000,4,0.000,0.059,2925,567,2187,0,0,0,0,0,0
$GC,7212,0.83,146.0,64.8,10.0,435,7218,0.00,2.17,0.00,0.000,6,0.000,0.041,2925,1976,2187,0,0,0,0,0,0
$GC,7545,0.83,146.0,27.4,10.8,496,7552,0.00,2.22,0.00,0.000,4,0.000,0.052,2925,3386,2188,0,0,0,0,0,0
$GC,7587,0.83,146.0,22.5,11.7,503,7595,0.00,2.20,0.00,0.000,6,0.000,0.040,2934,1981,2188,0,0,0,0,0,0
$GC,7755,0.83,146.0,4.7,11.5,534,7762,0.00,2.25,0.00,0.000,4,0.000,0.054,2943,562,2189,0,0,0,0,0,0
$STATE,7768,end climb,SURFACE_DEPTH_REACHED
$STATE,7768,begin surface coast
$FINISH,0.7,1.023369
$STATE,7790,end surface coast,CONTROL_FINISHED_OK
$STATE,7790,begin surface
$SM_CCo,7810,67.88,0.457,0,0,1576,300.24
$SM_GC,1.21,0.00,0.00,67.88,0.000,0.000,0.457,28,1980,1576,-8.16,0.57,300.24
$IRIDIUM_FIX,2054.83,-15749.62,040802,060646
$TT8_MAMPS,0.028379
$HUMID,62.91
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,446.4,44.5
$24V_AH,24.7,12.113
$10V_AH,10.5,13.279
$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,18.575,75.025,243.500,67.875,0.000,25.511,45.949,178.234,19.250,0.000,31.537,1014.179,4624.332,394.334,1772.615,461.195,0.000,1005.604,0.000,1709.249,0.000,126.655,0.000
$DEVICE_MAMPS,224.731,71.331,785.408,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,367.877,310.194,1051.321,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,28776,540
$CAP_FILE_SIZE,87642,0
$CFSIZE,260165632,248287232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100513,104231,2058.101,-15749.467,13,1.3,13,9.8