version: 66.06
glider: 523
mission: 4
dive: 191
start: 5 15 113 4 13 22
data:
$ID,523
$MISSION,4
$DIVE,191
$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,-39674.867
$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,24
$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
$GPS1,040714,2100.857,-15747.622,17,0.9,17,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.1
$GPS2,041306,2100.861,-15747.668,24,0.8,24,9.8
$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,205.0,6640,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.20,0.000,2,0.000,0.000,49,1978,3369,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.4,-5.6,12,114,9.40,2.30,-0.55,0.000,4,0.230,0.063,2394,547,3395,0,0,0,0,0,0
$GC,358,-0.74,-146.0,55.1,-15.4,59,364,0.00,2.15,0.00,0.000,6,0.000,0.035,2386,1962,3397,0,0,0,0,0,0
$GC,688,-0.74,-146.0,105.4,-16.3,105,692,0.00,2.25,0.00,0.000,4,0.000,0.052,2385,546,3398,0,0,0,0,0,0
$GC,942,-0.74,-146.0,142.7,-13.3,127,950,0.00,2.15,0.00,0.000,6,0.000,0.031,2376,1958,3399,0,0,0,0,0,0
$GC,1269,-0.74,-146.0,182.8,-10.7,158,1273,0.00,2.20,0.00,0.000,4,0.000,0.057,2366,3359,3400,0,0,0,0,0,0
$GC,1298,-0.74,-146.0,186.1,-10.8,160,1303,0.12,2.22,0.00,0.000,6,0.152,0.046,2399,1949,3400,0,0,0,0,0,0
$GC,1628,-0.74,-146.0,218.3,-9.6,182,1632,0.00,2.20,0.00,0.000,4,0.000,0.050,2399,543,3401,0,0,0,0,0,0
$GC,1674,-0.74,-146.0,223.0,-10.9,184,1678,0.00,2.15,0.00,0.000,6,0.000,0.032,2391,1974,3401,0,0,0,0,0,0
$GC,2000,-0.74,-146.0,254.2,-8.9,200,2004,0.00,2.17,0.00,0.000,4,0.000,0.053,2380,3363,3401,0,0,0,0,0,0
$GC,2208,-0.74,-146.0,270.9,-8.0,209,2212,0.00,2.20,0.00,0.000,6,0.000,0.043,2380,1952,3401,0,0,0,0,0,0
$GC,2531,-0.74,-146.0,298.1,-8.6,225,2535,0.00,2.22,0.00,0.000,4,0.000,0.054,2380,550,3401,0,0,0,0,0,0
$GC,2575,-0.74,-146.0,302.2,-8.7,227,2580,0.12,2.12,0.00,0.000,6,0.171,0.035,2404,1955,3401,0,0,0,0,0,0
$GC,2897,-0.74,-146.0,325.7,-8.0,235,2901,0.00,2.28,0.00,0.000,4,0.000,0.056,2404,541,3400,0,0,0,0,0,0
$GC,3126,-0.74,-146.0,347.4,-8.9,240,3130,0.00,2.17,0.00,0.000,6,0.000,0.038,2396,1963,3399,0,0,0,0,0,0
$GC,3443,-0.74,-146.0,370.2,-7.8,248,3447,0.00,2.20,0.00,0.000,4,0.000,0.057,2386,3374,3398,0,0,0,0,0,0
$GC,3667,-0.74,-146.0,389.7,-9.2,253,3674,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1956,3396,0,0,0,0,0,0
$GC,3998,-0.74,-146.0,415.6,-7.7,261,4002,0.00,2.20,0.00,0.000,4,0.000,0.061,2385,556,3394,0,0,0,0,0,0
$GC,4099,-0.74,-146.0,424.1,-7.9,263,4103,0.00,2.17,0.00,0.000,6,0.000,0.041,2376,1967,3394,0,0,0,0,0,0
$STATE,4446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4446,begin apogee
$GC,4454,-0.17,0.0,451.8,8.4,272,4575,0.65,0.00,118.10,0.783,6,0.126,0.000,2585,1967,2800,0,0,0,0,0,0
$STATE,4576,end apogee,CONTROL_FINISHED_OK
$STATE,4576,begin climb
$GC,4579,0.74,146.0,454.4,0.0,275,4713,0.82,2.33,124.70,0.752,4,0.079,0.054,2870,3380,2204,0,0,0,0,0,0
$GC,4764,0.74,146.0,434.8,13.5,279,4768,0.00,2.30,0.00,0.000,6,0.000,0.046,2879,1983,2199,0,0,0,0,0,0
$GC,5106,0.74,146.0,384.9,14.3,288,5110,0.00,2.33,0.00,0.000,4,0.000,0.061,2889,554,2195,0,0,0,0,0,0
$GC,5206,0.74,146.0,368.8,15.6,290,5210,0.00,2.22,0.00,0.000,6,0.000,0.042,2890,1976,2194,0,0,0,0,0,0
$GC,5553,0.74,146.0,316.8,15.1,299,5557,0.00,2.30,0.00,0.000,4,0.000,0.057,2900,558,2191,0,0,0,0,0,0
$GC,5627,0.74,146.0,304.1,17.6,300,5631,0.00,2.20,0.00,0.000,6,0.000,0.045,2900,1972,2191,0,0,0,0,0,0
$GC,5942,0.74,146.0,257.0,14.8,314,5946,0.00,2.20,0.00,0.000,4,0.000,0.053,2899,3387,2190,0,0,0,0,0,0
$GC,6032,0.74,146.0,244.9,13.2,318,6036,0.12,2.20,0.00,0.000,6,0.163,0.041,2875,1964,2189,0,0,0,0,0,0
$GC,6352,0.74,146.0,208.6,11.5,334,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1964,2188,0,0,0,0,0,0
$GC,6671,0.74,146.0,173.3,12.4,360,6675,0.00,2.22,0.00,0.000,4,0.000,0.050,2876,3396,2187,0,0,0,0,0,0
$GC,6700,0.74,146.0,169.8,11.9,362,6704,0.00,2.20,0.00,0.000,6,0.000,0.041,2883,1974,2187,0,0,0,0,0,0
$GC,7027,0.74,146.0,134.6,11.3,392,7031,0.00,2.22,0.00,0.000,4,0.000,0.058,2894,561,2187,0,0,0,0,0,0
$GC,7068,0.74,146.0,130.2,11.4,395,7072,0.00,2.15,0.00,0.000,6,0.000,0.038,2894,1982,2186,0,0,0,0,0,0
$GC,7395,0.74,146.0,96.1,9.5,425,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1982,2187,0,0,0,0,0,0
$GC,7712,0.74,149.6,67.6,8.9,468,7719,0.00,2.20,0.00,0.000,4,0.000,0.051,2894,3380,2186,0,0,0,0,0,0
$GC,7766,0.74,149.6,62.7,9.9,477,7771,0.00,2.20,0.00,0.000,6,0.000,0.043,2902,1970,2187,0,0,0,0,0,0
$GC,8097,0.75,158.1,32.2,8.7,538,8116,0.00,2.28,8.68,0.436,4,0.000,0.056,2912,558,2155,0,0,0,0,0,0
$GC,8187,0.75,158.1,24.9,9.8,554,8195,0.08,2.20,0.00,0.000,6,0.116,0.041,2885,1970,2154,0,0,0,0,0,0
$GC,8354,0.82,211.7,10.9,6.8,585,8406,0.00,0.00,45.50,0.463,6,0.000,0.000,2884,1971,1935,0,0,0,0,0,0
$STATE,8442,end climb,SURFACE_DEPTH_REACHED
$STATE,8443,begin surface coast
$FINISH,0.6,1.023322
$STATE,8473,end surface coast,CONTROL_FINISHED_OK
$STATE,8474,begin surface
$SM_CCo,8491,40.72,0.439,0,0,1575,300.24
$SM_GC,1.44,0.00,0.00,40.72,0.000,0.000,0.439,31,1981,1575,-8.16,0.59,300.24
$IRIDIUM_FIX,2052.52,-15754.77,090802,010121
$TT8_MAMPS,0.028379
$HUMID,61.73
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,435.0,57.4
$24V_AH,24.7,15.817
$10V_AH,10.5,17.327
$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,18.575,75.325,296.975,40.725,0.000,24.491,35.318,159.529,18.750,0.000,24.627,1117.953,4883.890,371.237,2059.586,450.545,0.000,1105.807,0.000,2000.174,0.000,117.814,0.000
$DEVICE_MAMPS,230.100,62.894,783.107,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.893,348.690,1189.845,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,34982,605
$CAP_FILE_SIZE,96008,0
$CFSIZE,260165632,246112256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150513,063652,2100.135,-15748.067,39,0.9,39,9.8