version: 66.06
glider: 523
mission: 4
dive: 190
start: 5 15 113 1 44 40
data:
$ID,523
$MISSION,4
$DIVE,190
$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,-39649.609
$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,28
$R_STBD_OVSHOOT,31
$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
$GPS1,013834,2101.574,-15746.993,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.3
$GPS2,014423,2101.578,-15747.006,17,0.8,17,9.8
$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,206.3,8385,-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,-75.97,0.000,2,0.000,0.000,45,1991,3360,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.1,12,113,9.38,2.33,-0.77,0.000,4,0.229,0.061,2389,553,3396,0,0,0,0,0,0
$GC,354,-0.74,-146.0,57.8,-17.4,59,359,0.00,2.15,0.00,0.000,6,0.000,0.037,2381,1965,3398,0,0,0,0,0,0
$GC,683,-0.74,-146.0,106.0,-12.0,102,687,0.00,2.28,0.00,0.000,4,0.000,0.054,2381,547,3399,0,0,0,0,0,0
$GC,813,-0.74,-146.0,124.3,-14.7,113,818,0.12,2.15,0.00,0.000,6,0.169,0.033,2404,1969,3399,0,0,0,0,0,0
$GC,1146,-0.74,-146.0,159.4,-8.9,144,1151,0.00,2.17,0.00,0.000,4,0.000,0.055,2395,3365,3401,0,0,0,0,0,0
$GC,1226,-0.74,-146.0,167.3,-9.9,151,1234,0.00,2.25,0.00,0.000,6,0.000,0.046,2395,1956,3401,0,0,0,0,0,0
$GC,1561,-0.74,-146.0,203.0,-10.4,182,1565,0.00,2.22,0.00,0.000,4,0.000,0.053,2395,541,3402,0,0,0,0,0,0
$GC,1757,-0.74,-146.0,221.7,-9.5,190,1762,0.00,2.15,0.00,0.000,6,0.000,0.034,2386,1972,3402,0,0,0,0,0,0
$GC,2076,-0.74,-146.0,253.1,-10.8,206,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1973,3402,0,0,0,0,0,0
$GC,2384,-0.74,-146.0,283.1,-8.5,221,2388,0.00,2.20,0.00,0.000,4,0.000,0.053,2376,3366,3401,0,0,0,0,0,0
$GC,2580,-0.74,-146.0,300.7,-9.0,230,2584,0.00,2.20,0.00,0.000,6,0.000,0.042,2376,1958,3402,0,0,0,0,0,0
$GC,2927,-0.74,-146.0,332.1,-9.1,239,2931,0.00,2.25,0.00,0.000,4,0.000,0.059,2376,549,3401,0,0,0,0,0,0
$GC,3101,-0.74,-146.0,347.9,-8.3,243,3106,0.12,2.15,0.00,0.000,6,0.168,0.039,2399,1963,3400,0,0,0,0,0,0
$GC,3433,-0.74,-146.0,369.5,-6.7,251,3437,0.00,2.17,0.00,0.000,4,0.000,0.056,2390,3372,3399,0,0,0,0,0,0
$GC,3647,-0.74,-146.0,385.5,-6.6,255,3651,0.00,2.20,0.00,0.000,6,0.000,0.044,2390,1955,3398,0,0,0,0,0,0
$GC,3978,-0.74,-146.0,409.5,-7.4,263,3985,0.00,2.22,0.00,0.000,4,0.000,0.055,2380,3370,3396,0,0,0,0,0,0
$GC,4036,-0.74,-146.0,414.6,-9.1,264,4040,0.00,2.17,0.00,0.000,6,0.000,0.044,2380,1962,3396,0,0,0,0,0,0
$GC,4352,-0.74,-146.0,437.3,-6.9,272,4356,0.00,2.25,0.00,0.000,4,0.000,0.064,2380,543,3394,0,0,0,0,0,0
$GC,4454,-0.74,-146.0,445.9,-8.8,274,4458,0.12,2.20,0.00,0.000,6,0.171,0.043,2404,1970,3392,0,0,0,0,0,0
$STATE,4524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4524,begin apogee
$GC,4530,-0.17,0.0,450.6,6.6,276,4652,0.55,0.00,118.20,0.775,6,0.120,0.000,2585,1970,2800,0,0,0,0,0,0
$STATE,4653,end apogee,CONTROL_FINISHED_OK
$STATE,4653,begin climb
$GC,4655,0.74,146.0,452.4,0.0,279,4788,0.85,2.33,126.00,0.749,4,0.077,0.051,2874,3385,2203,0,0,0,0,0,0
$GC,4810,0.74,146.0,436.2,13.7,283,4815,0.00,2.33,0.00,0.000,6,0.000,0.044,2882,1980,2200,0,0,0,0,0,0
$GC,5123,0.74,146.0,390.9,14.1,291,5128,0.00,2.28,0.00,0.000,4,0.000,0.059,2893,561,2194,0,0,0,0,0,0
$GC,5230,0.74,146.0,376.5,12.3,293,5234,0.00,2.22,0.00,0.000,6,0.000,0.043,2893,1979,2193,0,0,0,0,0,0
$GC,5572,0.74,146.0,328.9,15.2,302,5576,0.00,2.17,0.00,0.000,4,0.000,0.053,2893,3384,2191,0,0,0,0,0,0
$GC,5605,0.74,146.0,323.5,15.4,302,5611,0.00,2.25,0.00,0.000,6,0.000,0.049,2900,1972,2191,0,0,0,0,0,0
$GC,5918,0.74,146.0,277.8,14.0,314,5922,0.00,2.22,0.00,0.000,4,0.000,0.059,2911,559,2189,0,0,0,0,0,0
$GC,6019,0.74,146.0,263.8,13.0,318,6025,0.12,2.17,0.00,0.000,6,0.153,0.040,2878,1982,2188,0,0,0,0,0,0
$GC,6335,0.74,146.0,223.1,14.4,334,6339,0.00,2.17,0.00,0.000,4,0.000,0.054,2878,3380,2188,0,0,0,0,0,0
$GC,6402,0.74,146.0,212.4,15.7,337,6406,0.00,2.25,0.00,0.000,6,0.000,0.050,2886,1965,2187,0,0,0,0,0,0
$GC,6733,0.74,146.0,171.5,12.3,364,6737,0.00,2.22,0.00,0.000,4,0.000,0.059,2897,557,2187,0,0,0,0,0,0
$GC,6860,0.74,146.0,155.5,13.2,375,6864,0.00,2.17,0.00,0.000,6,0.000,0.041,2897,1981,2186,0,0,0,0,0,0
$GC,7187,0.74,146.0,118.7,10.5,405,7191,0.00,2.17,0.00,0.000,4,0.000,0.053,2897,3382,2187,0,0,0,0,0,0
$GC,7306,0.74,146.0,104.1,12.6,415,7314,0.00,2.25,0.00,0.000,6,0.000,0.047,2906,1976,2186,0,0,0,0,0,0
$GC,7636,0.74,146.0,68.5,11.2,455,7642,0.00,2.22,0.00,0.000,4,0.000,0.057,2916,564,2186,0,0,0,0,0,0
$GC,7672,0.74,146.0,64.8,10.3,461,7678,0.12,2.15,0.00,0.000,6,0.141,0.038,2881,1982,2186,0,0,0,0,0,0
$GC,8003,0.74,146.0,33.7,9.3,522,8011,0.00,2.30,0.00,0.000,4,0.000,0.054,2889,566,2186,0,0,0,0,0,0
$GC,8028,0.74,148.2,31.6,8.9,526,8036,0.00,2.17,0.00,0.000,6,0.000,0.037,2888,1971,2186,0,0,0,0,0,0
$GC,8353,0.78,177.5,6.7,7.8,587,8387,0.00,2.33,24.62,0.456,4,0.000,0.056,2896,566,2074,0,0,0,0,0,0
$STATE,8393,end climb,SURFACE_DEPTH_REACHED
$STATE,8393,begin surface coast
$FINISH,1.0,1.023264
$STATE,8421,end surface coast,CONTROL_FINISHED_OK
$STATE,8421,begin surface
$SM_CCo,8441,56.35,0.446,0,0,1575,300.24
$SM_GC,1.32,0.00,0.00,56.35,0.000,0.000,0.446,49,1978,1575,-8.10,0.51,300.24
$IRIDIUM_FIX,2050.21,-15745.35,080802,232316
$TT8_MAMPS,0.028379
$HUMID,62.04
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,450.6,51.3
$24V_AH,24.7,15.737
$10V_AH,10.5,17.238
$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,18.675,84.300,268.825,56.350,0.000,31.007,33.969,155.233,19.250,0.000,18.309,1120.629,4807.265,410.734,2062.393,445.587,0.000,1114.349,0.000,2008.386,0.000,122.194,0.000
$DEVICE_MAMPS,229.333,64.428,775.437,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.389,338.507,1202.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31788,598
$CAP_FILE_SIZE,95793,0
$CFSIZE,260165632,246165504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150513,040714,2100.857,-15747.622,17,0.9,17,9.8