version: 66.06
glider: 523
mission: 4
dive: 193
start: 5 15 113 9 12 53
data:
$ID,523
$MISSION,4
$DIVE,193
$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,-39719.84
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,090659,2059.466,-15748.346,15,1.1,15,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.6
$GPS2,091237,2059.461,-15748.374,19,0.8,19,9.8
$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,212.2,3845,-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,-76.07,0.000,2,0.000,0.000,38,1999,3365,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.1,12,113,9.38,2.30,-0.65,0.000,4,0.228,0.061,2389,554,3396,0,0,0,0,0,0
$GC,357,-0.74,-146.0,54.7,-16.3,59,362,0.00,2.17,0.00,0.000,6,0.000,0.038,2381,1969,3398,0,0,0,0,0,0
$GC,692,-0.74,-146.0,107.1,-16.9,105,696,0.00,2.28,0.00,0.000,4,0.000,0.054,2381,551,3399,0,0,0,0,0,0
$GC,945,-0.74,-146.0,146.8,-14.1,127,952,0.00,2.15,0.00,0.000,6,0.000,0.034,2372,1958,3400,0,0,0,0,0,0
$GC,1272,-0.74,-146.0,187.4,-12.5,158,1276,0.10,2.28,0.00,0.000,4,0.175,0.053,2398,543,3401,0,0,0,0,0,0
$GC,1437,-0.74,-146.0,206.3,-10.6,170,1443,0.00,2.15,0.00,0.000,6,0.000,0.034,2390,1970,3402,0,0,0,0,0,0
$GC,1757,-0.74,-146.0,236.0,-9.7,186,1761,0.00,2.17,0.00,0.000,4,0.000,0.055,2379,3359,3402,0,0,0,0,0,0
$GC,1848,-0.74,-146.0,245.1,-9.8,190,1852,0.00,2.20,0.00,0.000,6,0.000,0.044,2379,1958,3402,0,0,0,0,0,0
$GC,2174,-0.74,-146.0,270.9,-7.5,206,2178,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,547,3402,0,0,0,0,0,0
$GC,2285,-0.74,-146.0,281.4,-9.3,211,2290,0.12,2.15,0.00,0.000,6,0.166,0.037,2403,1965,3402,0,0,0,0,0,0
$GC,2625,-0.74,-146.0,308.3,-6.9,225,2629,0.00,2.20,0.00,0.000,4,0.000,0.055,2394,3362,3402,0,0,0,0,0,0
$GC,2740,-0.74,-146.0,315.6,-6.3,227,2744,0.00,2.22,0.00,0.000,6,0.000,0.045,2394,1951,3402,0,0,0,0,0,0
$GC,3077,-0.74,-146.0,339.4,-7.0,236,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1951,3401,0,0,0,0,0,0
$GC,3402,-0.74,-146.0,363.5,-7.5,244,3406,0.00,2.25,0.00,0.000,4,0.000,0.061,2394,543,3399,0,0,0,0,0,0
$GC,3659,-0.74,-146.0,390.3,-10.5,249,3665,0.00,2.17,0.00,0.000,6,0.000,0.041,2385,1959,3397,0,0,0,0,0,0
$GC,3991,-0.74,-146.0,420.0,-8.5,258,3998,0.00,2.33,0.00,0.000,4,0.000,0.061,2385,546,3395,0,0,0,0,0,0
$GC,4088,-0.74,-146.0,428.7,-8.3,260,4092,0.00,2.17,0.00,0.000,6,0.000,0.045,2375,1959,3394,0,0,0,0,0,0
$STATE,4368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4368,begin apogee
$GC,4374,-0.17,0.0,451.3,7.8,267,4496,0.65,0.00,118.28,0.781,6,0.122,0.000,2585,1959,2800,0,0,0,0,0,0
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4497,begin climb
$GC,4499,0.74,146.0,452.6,0.0,270,4634,0.82,2.35,124.68,0.751,4,0.079,0.052,2869,3387,2204,0,0,0,0,0,0
$GC,4673,0.74,146.0,433.8,14.3,274,4677,0.00,2.33,0.00,0.000,6,0.000,0.043,2879,1977,2201,0,0,0,0,0,0
$GC,4986,0.74,146.0,388.8,14.3,282,4990,0.00,2.28,0.00,0.000,4,0.000,0.059,2890,561,2196,0,0,0,0,0,0
$GC,5120,0.74,146.0,368.8,15.4,285,5124,0.00,2.22,0.00,0.000,6,0.000,0.041,2890,1986,2194,0,0,0,0,0,0
$GC,5444,0.74,146.0,318.0,16.3,293,5448,0.00,2.30,0.00,0.000,4,0.000,0.064,2899,565,2192,0,0,0,0,0,0
$GC,5528,0.74,146.0,304.9,15.9,295,5532,0.00,2.20,0.00,0.000,6,0.000,0.043,2899,1977,2191,0,0,0,0,0,0
$GC,5857,0.74,146.0,254.0,15.1,310,5861,0.00,2.20,0.00,0.000,4,0.000,0.055,2899,3386,2191,0,0,0,0,0,0
$GC,6053,0.74,146.0,226.1,12.7,319,6058,0.00,2.25,0.00,0.000,6,0.000,0.048,2908,1965,2189,0,0,0,0,0,0
$GC,6375,0.74,146.0,187.9,11.3,339,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1965,2188,0,0,0,0,0,0
$GC,6695,0.74,146.0,146.2,12.6,369,6699,0.00,2.20,0.00,0.000,4,0.000,0.060,2917,562,2188,0,0,0,0,0,0
$GC,6779,0.74,146.0,135.2,13.3,376,6784,0.15,2.17,0.00,0.000,6,0.140,0.042,2874,1981,2187,0,0,0,0,0,0
$GC,7105,0.74,146.0,103.4,9.5,406,7109,0.00,2.15,0.00,0.000,4,0.000,0.052,2875,3385,2187,0,0,0,0,0,0
$GC,7158,0.74,146.0,97.8,10.7,410,7162,0.00,2.20,0.00,0.000,6,0.000,0.042,2882,1971,2186,0,0,0,0,0,0
$GC,7489,0.74,146.0,63.6,9.3,455,7495,0.00,2.20,0.00,0.000,4,0.000,0.057,2892,558,2187,0,0,0,0,0,0
$GC,7568,0.74,146.0,56.1,9.8,469,7573,0.00,2.17,0.00,0.000,6,0.000,0.040,2892,1981,2187,0,0,0,0,0,0
$GC,7899,0.76,160.9,29.4,8.4,530,7921,0.00,2.33,11.45,0.448,4,0.000,0.058,2900,577,2142,0,0,0,0,0,0
$GC,8011,0.81,208.1,22.4,7.1,549,8058,0.00,2.17,40.08,0.468,6,0.000,0.038,2900,1977,1949,0,0,0,0,0,0
$STATE,8211,end climb,SURFACE_DEPTH_REACHED
$STATE,8212,begin surface coast
$FINISH,0.5,1.011366
$STATE,8240,end surface coast,CONTROL_FINISHED_OK
$STATE,8240,begin surface
$SM_CCo,8258,42.92,0.439,0,0,1574,300.24
$SM_GC,1.41,0.00,0.00,42.92,0.000,0.000,0.439,38,1987,1574,-8.13,0.76,300.24
$IRIDIUM_FIX,2057.14,-15748.75,090802,060634
$TT8_MAMPS,0.028379
$HUMID,62.56
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,430.1,53.7
$24V_AH,24.7,15.972
$10V_AH,10.5,17.501
$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,18.525,71.125,294.475,42.925,0.000,28.948,32.278,148.622,18.250,0.000,20.198,1095.311,4724.336,369.898,2021.274,428.223,0.000,1091.325,0.000,1969.416,0.000,118.392,0.000
$DEVICE_MAMPS,227.799,63.661,780.806,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,400.408,337.041,1146.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31879,590
$CAP_FILE_SIZE,92420,0
$CFSIZE,260165632,246026240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150513,113229,2059.043,-15748.570,35,1.0,35,9.8