version: 66.06
glider: 523
mission: 4
dive: 187
start: 5 14 113 18 4 22
data:
$ID,523
$MISSION,4
$DIVE,187
$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,-39581.305
$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,29
$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
$GPS1,175834,2103.038,-15746.510,36,0.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.2
$GPS2,180405,2103.031,-15746.570,14,1.3,14,9.8
$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,201.2,11047,-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,-77.18,0.000,6,0.000,0.000,33,1965,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.1,13,118,9.40,2.28,0.00,0.000,4,0.228,0.051,2393,543,3396,0,0,0,0,0,0
$GC,334,-0.74,-146.0,55.2,-18.4,55,340,0.00,2.17,0.00,0.000,6,0.000,0.036,2385,1970,3398,0,0,0,0,0,0
$GC,663,-0.74,-146.0,105.0,-14.2,100,670,0.00,2.30,0.00,0.000,4,0.000,0.053,2385,543,3399,0,0,0,0,0,0
$GC,918,-0.74,-146.0,137.1,-11.2,123,922,0.00,2.12,0.00,0.000,6,0.000,0.033,2375,1966,3400,0,0,0,0,0,0
$GC,1246,-0.74,-146.0,175.5,-12.0,153,1250,0.00,2.25,0.00,0.000,4,0.000,0.051,2375,549,3401,0,0,0,0,0,0
$GC,1497,-0.74,-146.0,209.3,-12.6,172,1503,0.12,2.10,0.00,0.000,6,0.166,0.032,2398,1965,3401,0,0,0,0,0,0
$GC,1815,-0.74,-146.0,236.7,-8.3,188,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1964,3402,0,0,0,0,0,0
$GC,2123,-0.74,-146.0,261.0,-7.6,203,2127,0.00,2.25,0.00,0.000,4,0.000,0.051,2398,543,3402,0,0,0,0,0,0
$GC,2207,-0.74,-146.0,268.3,-9.4,207,2211,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1968,3402,0,0,0,0,0,0
$GC,2534,-0.74,-146.0,292.3,-6.2,223,2537,0.00,2.15,0.00,0.000,4,0.000,0.054,2380,3360,3402,0,0,0,0,0,0
$GC,2629,-0.74,-146.0,299.1,-7.0,227,2633,0.00,2.17,0.00,0.000,6,0.000,0.041,2380,1960,3402,0,0,0,0,0,0
$GC,2941,-0.74,-146.0,324.6,-8.7,235,2947,0.00,2.25,0.00,0.000,4,0.000,0.058,2379,554,3401,0,0,0,0,0,0
$GC,3051,-0.74,-146.0,335.5,-10.2,237,3055,0.12,2.15,0.00,0.000,6,0.167,0.038,2404,1967,3400,0,0,0,0,0,0
$GC,3401,-0.74,-146.0,365.3,-8.4,246,3405,0.00,2.25,0.00,0.000,4,0.000,0.057,2404,549,3398,0,0,0,0,0,0
$GC,3474,-0.74,-146.0,372.1,-8.7,247,3478,0.00,2.15,0.00,0.000,6,0.000,0.040,2396,1961,3397,0,0,0,0,0,0
$GC,3811,-0.74,-146.0,398.6,-7.9,256,3815,0.00,2.17,0.00,0.000,4,0.000,0.058,2386,3369,3395,0,0,0,0,0,0
$GC,3947,-0.74,-146.0,409.2,-7.5,259,3951,0.00,2.20,0.00,0.000,6,0.000,0.042,2386,1952,3395,0,0,0,0,0,0
$GC,4266,-0.74,-146.0,428.7,-5.8,267,4270,0.00,2.20,0.00,0.000,4,0.000,0.063,2386,555,3392,0,0,0,0,0,0
$GC,4385,-0.74,-146.0,436.5,-6.7,269,4389,0.00,2.17,0.00,0.000,6,0.000,0.042,2377,1968,3391,0,0,0,0,0,0
$STATE,4598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4598,begin apogee
$GC,4605,-0.17,0.0,450.7,6.8,275,4726,0.65,0.00,117.93,0.785,6,0.123,0.000,2586,1968,2800,0,0,0,0,0,0
$STATE,4727,end apogee,CONTROL_FINISHED_OK
$STATE,4727,begin climb
$GC,4729,0.74,146.0,451.4,0.0,278,4864,0.82,2.33,124.82,0.753,4,0.077,0.053,2870,3380,2202,0,0,0,0,0,0
$GC,4886,0.74,146.0,434.4,14.5,281,4892,0.00,2.33,0.00,0.000,6,0.000,0.046,2879,1979,2199,0,0,0,0,0,0
$GC,5218,0.74,146.0,385.1,14.7,290,5222,0.00,2.30,0.00,0.000,4,0.000,0.061,2889,554,2194,0,0,0,0,0,0
$GC,5257,0.74,146.0,379.1,14.8,291,5262,0.00,2.25,0.00,0.000,6,0.000,0.041,2890,1984,2194,0,0,0,0,0,0
$GC,5582,0.74,146.0,332.5,13.8,299,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1984,2191,0,0,0,0,0,0
$GC,5887,0.74,146.0,290.8,12.8,308,5891,0.00,2.20,0.00,0.000,4,0.000,0.054,2890,3390,2190,0,0,0,0,0,0
$GC,5914,0.74,146.0,286.9,13.3,309,5918,0.00,2.25,0.00,0.000,6,0.000,0.051,2899,1964,2189,0,0,0,0,0,0
$GC,6235,0.74,146.0,240.2,14.3,325,6239,0.00,2.22,0.00,0.000,4,0.000,0.061,2909,562,2189,0,0,0,0,0,0
$GC,6319,0.74,146.0,228.1,13.7,329,6324,0.12,2.20,0.00,0.000,6,0.150,0.044,2876,1989,2187,0,0,0,0,0,0
$GC,6641,0.74,146.0,194.1,9.2,347,6645,0.00,2.15,0.00,0.000,4,0.000,0.054,2875,3386,2187,0,0,0,0,0,0
$GC,6714,0.74,146.0,185.6,11.8,353,6718,0.00,2.22,0.00,0.000,6,0.000,0.048,2882,1974,2186,0,0,0,0,0,0
$GC,7041,0.74,146.0,150.4,10.2,383,7045,0.00,2.22,0.00,0.000,4,0.000,0.058,2893,565,2186,0,0,0,0,0,0
$GC,7103,0.74,146.0,143.8,10.6,388,7107,0.00,2.15,0.00,0.000,6,0.000,0.040,2893,1977,2186,0,0,0,0,0,0
$GC,7431,0.74,146.0,105.6,11.9,418,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1977,2186,0,0,0,0,0,0
$GC,7759,0.74,146.0,73.8,9.6,455,7765,0.00,2.15,0.00,0.000,4,0.000,0.052,2893,3382,2186,0,0,0,0,0,0
$GC,7830,0.74,146.0,65.7,11.7,468,7837,0.00,2.20,0.00,0.000,6,0.000,0.040,2894,1974,2186,0,0,0,0,0,0
$GC,8167,0.74,146.7,35.7,9.0,529,8172,0.00,2.17,0.00,0.000,4,0.000,0.054,2905,566,2186,0,0,0,0,0,0
$GC,8276,0.74,146.7,25.4,9.5,549,8284,0.00,2.17,0.00,0.000,6,0.000,0.035,2905,1982,2186,0,0,0,0,0,0
$GC,8446,0.74,146.7,9.3,9.1,580,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1982,2187,0,0,0,0,0,0
$STATE,8516,end climb,SURFACE_DEPTH_REACHED
$STATE,8516,begin surface coast
$FINISH,0.6,1.023270
$STATE,8549,end surface coast,CONTROL_FINISHED_OK
$STATE,8549,begin surface
$SM_CCo,8567,68.10,0.448,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,68.10,0.000,0.000,0.448,24,1988,1575,-8.18,0.79,300.24
$IRIDIUM_FIX,2054.83,-15836.36,080802,151544
$TT8_MAMPS,0.028379
$HUMID,61.34
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.7,15.484
$10V_AH,10.5,16.967
$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,18.550,75.025,242.750,68.100,0.000,28.725,32.459,146.673,19.000,0.000,14.395,1104.262,5078.426,381.948,1972.487,429.101,0.000,1071.967,0.000,1927.041,0.000,121.193,0.000
$DEVICE_MAMPS,227.799,62.894,784.641,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.880,341.863,1156.792,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31812,599
$CAP_FILE_SIZE,93320,0
$CFSIZE,260165632,246308864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140513,202913,2102.400,-15746.850,16,1.3,16,9.8