version: 66.06
glider: 523
mission: 4
dive: 189
start: 5 14 113 23 15 21
data:
$ID,523
$MISSION,4
$DIVE,189
$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,-39630.672
$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,23
$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
$GPS1,230159,2101.967,-15746.941,15,1.2,15,9.8
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.1
$GPS2,231505,2102.011,-15746.999,19,1.2,19,9.8
$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,203.3,9053,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.00,0.000,2,0.000,0.000,50,1974,3393,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.3,-5.1,12,113,9.38,2.33,0.00,0.000,4,0.230,0.048,2394,540,3394,0,0,0,0,0,0
$GC,357,-0.74,-146.0,59.1,-17.8,59,363,0.00,2.15,0.00,0.000,6,0.000,0.033,2385,1971,3396,0,0,0,0,0,0
$GC,686,-0.74,-146.0,107.5,-12.0,101,690,0.00,2.28,0.00,0.000,4,0.000,0.052,2385,542,3397,0,0,0,0,0,0
$GC,935,-0.74,-146.0,140.0,-14.2,123,943,0.00,2.15,0.00,0.000,6,0.000,0.032,2376,1961,3397,0,0,0,0,0,0
$GC,1262,-0.74,-146.0,179.4,-11.9,154,1268,0.00,2.25,0.00,0.000,4,0.000,0.051,2376,543,3398,0,0,0,0,0,0
$GC,1407,-0.74,-146.0,195.7,-11.2,167,1412,0.12,2.15,0.00,0.000,6,0.168,0.034,2398,1976,3398,0,0,0,0,0,0
$GC,1729,-0.74,-146.0,229.5,-9.8,185,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1977,3398,0,0,0,0,0,0
$GC,2038,-0.74,-146.0,254.2,-8.4,200,2042,0.00,2.12,0.00,0.000,4,0.000,0.052,2389,3355,3398,0,0,0,0,0,0
$GC,2173,-0.74,-146.0,268.4,-10.6,206,2177,0.00,2.17,0.00,0.000,6,0.000,0.044,2389,1955,3398,0,0,0,0,0,0
$GC,2497,-0.74,-146.0,295.4,-7.2,222,2501,0.00,2.20,0.00,0.000,4,0.000,0.054,2389,541,3398,0,0,0,0,0,0
$GC,2733,-0.74,-146.0,319.4,-9.7,229,2737,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1969,3397,0,0,0,0,0,0
$GC,3083,-0.74,-146.0,348.4,-8.1,238,3087,0.00,2.15,0.00,0.000,4,0.000,0.054,2369,3362,3395,0,0,0,0,0,0
$GC,3219,-0.74,-146.0,360.8,-8.9,241,3223,0.12,2.17,0.00,0.000,6,0.152,0.041,2403,1950,3395,0,0,0,0,0,0
$GC,3539,-0.74,-146.0,384.2,-6.8,249,3543,0.00,2.20,0.00,0.000,4,0.000,0.054,2395,3359,3393,0,0,0,0,0,0
$GC,3631,-0.74,-146.0,390.3,-5.9,251,3635,0.00,2.17,0.00,0.000,6,0.000,0.041,2395,1950,3393,0,0,0,0,0,0
$GC,3962,-0.74,-146.0,411.1,-6.3,259,3966,0.00,2.22,0.00,0.000,4,0.000,0.063,2395,548,3390,0,0,0,0,0,0
$GC,4220,-0.74,-146.0,432.7,-7.9,264,4226,0.00,2.17,0.00,0.000,6,0.000,0.043,2385,1953,3388,0,0,0,0,0,0
$STATE,4468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4468,begin apogee
$GC,4474,-0.17,0.0,451.6,7.5,271,4595,0.62,0.00,117.18,0.782,6,0.125,0.000,2586,1953,2800,0,0,0,0,0,0
$STATE,4595,end apogee,CONTROL_FINISHED_OK
$STATE,4595,begin climb
$GC,4598,0.74,146.0,454.0,0.0,274,4732,0.82,2.35,124.30,0.752,4,0.081,0.053,2871,3386,2204,0,0,0,0,0,0
$GC,4817,0.74,146.0,429.1,14.9,279,4821,0.00,2.28,0.00,0.000,6,0.000,0.048,2880,1980,2199,0,0,0,0,0,0
$GC,5129,0.74,146.0,386.3,14.0,287,5134,0.00,2.30,0.00,0.000,4,0.000,0.061,2890,556,2195,0,0,0,0,0,0
$GC,5208,0.74,146.0,375.9,14.1,288,5213,0.00,2.25,0.00,0.000,6,0.000,0.044,2890,1979,2194,0,0,0,0,0,0
$GC,5539,0.74,146.0,332.7,11.9,297,5543,0.00,2.17,0.00,0.000,4,0.000,0.052,2890,3385,2192,0,0,0,0,0,0
$GC,5617,0.74,146.0,322.6,13.6,298,5621,0.00,2.22,0.00,0.000,6,0.000,0.044,2900,1966,2190,0,0,0,0,0,0
$GC,5929,0.74,146.0,279.4,14.2,308,5933,0.00,2.20,0.00,0.000,4,0.000,0.061,2910,565,2190,0,0,0,0,0,0
$GC,6024,0.74,146.0,266.4,13.1,312,6029,0.12,2.17,0.00,0.000,6,0.153,0.038,2877,1994,2189,0,0,0,0,0,0
$GC,6340,0.74,146.0,229.3,11.5,327,6344,0.00,2.15,0.00,0.000,4,0.000,0.053,2877,3389,2188,0,0,0,0,0,0
$GC,6488,0.74,146.0,210.8,12.8,333,6493,0.00,2.20,0.00,0.000,6,0.000,0.039,2885,1965,2187,0,0,0,0,0,0
$GC,6814,0.74,146.0,171.3,12.5,359,6818,0.00,2.20,0.00,0.000,4,0.000,0.059,2895,569,2187,0,0,0,0,0,0
$GC,6846,0.74,146.0,166.7,11.7,361,6854,0.00,2.17,0.00,0.000,6,0.000,0.038,2896,1976,2186,0,0,0,0,0,0
$GC,7173,0.74,146.0,128.2,11.7,392,7177,0.00,2.17,0.00,0.000,4,0.000,0.051,2896,3387,2186,0,0,0,0,0,0
$GC,7278,0.74,146.0,114.1,13.9,401,7282,0.00,2.17,0.00,0.000,6,0.000,0.038,2906,1978,2186,0,0,0,0,0,0
$GC,7605,0.74,146.0,73.0,12.8,436,7612,0.00,2.25,0.00,0.000,4,0.000,0.057,2916,565,2186,0,0,0,0,0,0
$GC,7660,0.74,146.0,66.6,11.6,445,7666,0.12,2.12,0.00,0.000,6,0.140,0.036,2880,1981,2186,0,0,0,0,0,0
$GC,7991,0.75,153.2,38.5,8.7,506,8004,0.00,2.33,4.40,0.366,4,0.000,0.060,2887,564,2175,0,0,0,0,0,0
$GC,8045,0.77,169.4,34.1,8.4,515,8070,0.00,2.17,15.23,0.469,6,0.000,0.040,2888,1980,2109,0,0,0,0,0,0
$GC,8388,0.84,226.8,5.8,6.7,579,8416,0.00,0.00,25.23,0.453,2,0.000,0.000,2887,1981,1985,0,0,0,0,0,0
$STATE,8416,end climb,SURFACE_DEPTH_REACHED
$STATE,8417,begin surface coast
$FINISH,0.5,1.012731
$STATE,8450,end surface coast,CONTROL_FINISHED_OK
$STATE,8450,begin surface
$SM_CCo,8468,45.92,0.443,0,0,1575,300.24
$SM_GC,1.54,0.00,0.00,45.92,0.000,0.000,0.443,44,1991,1575,-8.11,0.88,300.24
$IRIDIUM_FIX,2050.21,-15749.62,080802,232329
$TT8_MAMPS,0.028379
$HUMID,62.28
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.7,15.659
$10V_AH,10.5,17.148
$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,18.525,74.950,286.325,45.925,0.000,81.884,106.941,324.905,19.000,0.000,19.493,1106.746,4981.880,376.703,2063.526,770.513,0.000,1115.882,0.000,2012.541,0.000,117.265,0.000
$DEVICE_MAMPS,230.100,62.894,781.573,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,400.636,333.120,1149.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,31811,589
$CAP_FILE_SIZE,102404,0
$CFSIZE,260165632,246206464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150513,013834,2101.574,-15746.993,40,0.8,40,9.8