version: 66.06
glider: 523
mission: 4
dive: 194
start: 5 15 113 11 38 52
data:
$ID,523
$MISSION,4
$DIVE,194
$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,-39736.273
$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
$GPS1,113229,2059.043,-15748.570,35,1.0,35,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.6
$GPS2,113835,2059.078,-15748.604,15,1.3,15,9.8
$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,215.5,3057,-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,-76.18,0.000,2,0.000,0.000,39,1988,3381,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.3,-5.2,12,114,9.38,2.33,-0.22,0.000,4,0.227,0.061,2393,553,3392,0,0,0,0,0,0
$GC,357,-0.74,-146.0,53.1,-16.8,59,362,0.00,2.15,0.00,0.000,6,0.000,0.038,2385,1968,3394,0,0,0,0,0,0
$GC,694,-0.74,-146.0,101.4,-14.3,107,698,0.00,2.30,0.00,0.000,4,0.000,0.053,2385,551,3395,0,0,0,0,0,0
$GC,945,-0.74,-146.0,141.3,-13.8,129,953,0.00,2.17,0.00,0.000,6,0.000,0.033,2376,1973,3396,0,0,0,0,0,0
$GC,1273,-0.74,-146.0,179.3,-11.0,160,1277,0.00,2.28,0.00,0.000,4,0.000,0.051,2376,547,3396,0,0,0,0,0,0
$GC,1439,-0.74,-146.0,199.8,-14.4,175,1448,0.10,2.15,0.00,0.000,6,0.140,0.034,2398,1959,3397,0,0,0,0,0,0
$GC,1757,-0.74,-146.0,231.5,-8.8,191,1761,0.00,2.15,0.00,0.000,4,0.000,0.054,2390,3362,3397,0,0,0,0,0,0
$GC,1903,-0.74,-146.0,242.6,-6.7,197,1909,0.00,2.20,0.00,0.000,6,0.000,0.044,2390,1952,3397,0,0,0,0,0,0
$GC,2223,-0.74,-146.0,266.5,-8.4,213,2227,0.00,2.20,0.00,0.000,4,0.000,0.054,2390,544,3398,0,0,0,0,0,0
$GC,2274,-0.74,-146.0,271.5,-8.9,215,2278,0.00,2.15,0.00,0.000,6,0.000,0.037,2380,1967,3398,0,0,0,0,0,0
$GC,2609,-0.74,-146.0,304.2,-9.6,230,2613,0.00,2.20,0.00,0.000,4,0.000,0.054,2369,3369,3397,0,0,0,0,0,0
$GC,2743,-0.74,-146.0,317.6,-8.4,233,2747,0.12,2.22,0.00,0.000,6,0.153,0.044,2402,1949,3397,0,0,0,0,0,0
$GC,3063,-0.74,-146.0,343.9,-8.2,241,3067,0.00,2.20,0.00,0.000,4,0.000,0.058,2403,553,3397,0,0,0,0,0,0
$GC,3248,-0.74,-146.0,359.4,-8.5,245,3253,0.00,2.15,0.00,0.000,6,0.000,0.038,2395,1972,3396,0,0,0,0,0,0
$GC,3570,-0.74,-146.0,381.9,-6.6,253,3574,0.00,2.25,0.00,0.000,4,0.000,0.058,2394,554,3393,0,0,0,0,0,0
$GC,3691,-0.74,-146.0,391.5,-8.2,255,3695,0.00,2.15,0.00,0.000,6,0.000,0.040,2385,1958,3393,0,0,0,0,0,0
$GC,4024,-0.74,-146.0,416.1,-6.8,263,4028,0.00,2.22,0.00,0.000,4,0.000,0.059,2375,3362,3390,0,0,0,0,0,0
$GC,4130,-0.74,-146.0,424.0,-7.2,265,4134,0.00,2.17,0.00,0.000,6,0.000,0.044,2375,1958,3390,0,0,0,0,0,0
$GC,4443,-0.74,-146.0,447.4,-7.7,273,4447,0.00,2.22,0.00,0.000,4,0.000,0.065,2375,551,3388,0,0,0,0,0,0
$STATE,4473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4473,begin apogee
$GC,4481,-0.17,0.0,450.4,9.0,273,4602,0.65,0.00,117.55,0.780,6,0.129,0.000,2577,1980,2800,0,0,0,0,0,0
$STATE,4603,end apogee,CONTROL_FINISHED_OK
$STATE,4603,begin climb
$GC,4606,0.74,146.0,453.3,0.0,276,4740,0.85,2.30,124.90,0.752,4,0.080,0.052,2869,3385,2203,0,0,0,0,0,0
$GC,4774,0.74,146.0,437.4,14.6,280,4778,0.00,2.30,0.00,0.000,6,0.000,0.045,2879,1975,2199,0,0,0,0,0,0
$GC,5092,0.74,146.0,392.3,14.0,288,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1974,2195,0,0,0,0,0,0
$GC,5417,0.74,146.0,348.3,13.0,296,5421,0.00,2.25,0.00,0.000,4,0.000,0.061,2890,557,2192,0,0,0,0,0,0
$GC,5601,0.74,146.0,322.9,12.6,300,5605,0.00,2.22,0.00,0.000,6,0.000,0.044,2890,1979,2191,0,0,0,0,0,0
$GC,5917,0.74,146.0,284.4,12.7,311,5920,0.00,2.17,0.00,0.000,4,0.000,0.053,2890,3391,2189,0,0,0,0,0,0
$GC,6130,0.74,146.0,255.3,12.6,320,6136,0.00,2.25,0.00,0.000,6,0.000,0.049,2900,1970,2189,0,0,0,0,0,0
$GC,6445,0.74,146.0,214.1,12.7,336,6449,0.00,2.20,0.00,0.000,4,0.000,0.058,2910,559,2187,0,0,0,0,0,0
$GC,6497,0.74,146.0,207.9,12.1,338,6502,0.12,2.20,0.00,0.000,6,0.146,0.043,2877,1976,2186,0,0,0,0,0,0
$GC,6826,0.74,146.0,174.6,10.5,365,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1977,2186,0,0,0,0,0,0
$GC,7147,0.74,146.0,141.7,11.4,395,7151,0.00,2.28,0.00,0.000,4,0.000,0.062,2885,557,2186,0,0,0,0,0,0
$GC,7168,0.74,146.0,138.7,12.0,396,7176,0.00,2.22,0.00,0.000,6,0.000,0.043,2884,1975,2186,0,0,0,0,0,0
$GC,7495,0.74,146.0,103.9,9.4,427,7499,0.00,2.28,0.00,0.000,4,0.000,0.061,2894,558,2187,0,0,0,0,0,0
$GC,7515,0.74,146.0,101.9,9.8,428,7519,0.00,2.20,0.00,0.000,6,0.000,0.044,2894,1985,2186,0,0,0,0,0,0
$GC,7840,0.74,146.0,70.3,10.7,466,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1985,2186,0,0,0,0,0,0
$GC,8172,0.74,146.0,36.5,10.3,527,8177,0.00,2.33,0.00,0.000,4,0.000,0.059,2905,557,2187,0,0,0,0,0,0
$GC,8245,0.74,146.0,28.8,10.4,540,8253,0.00,2.22,0.00,0.000,6,0.000,0.042,2904,1977,2187,0,0,0,0,0,0
$GC,8414,0.74,146.0,13.4,9.1,571,8421,0.00,2.30,0.00,0.000,4,0.000,0.061,2913,575,2188,0,0,0,0,0,0
$GC,8470,0.74,146.0,7.2,11.7,581,8478,0.10,2.20,0.00,0.000,6,0.105,0.041,2875,1984,2188,0,0,0,0,0,0
$STATE,8510,end climb,SURFACE_DEPTH_REACHED
$STATE,8510,begin surface coast
$FINISH,0.6,1.023309
$STATE,8542,end surface coast,CONTROL_FINISHED_OK
$STATE,8542,begin surface
$SM_CCo,8560,70.47,0.447,0,0,1575,300.24
$SM_GC,1.57,0.00,0.00,70.47,0.000,0.000,0.447,40,1992,1575,-8.13,0.90,300.24
$IRIDIUM_FIX,2057.14,-15746.61,090802,090943
$TT8_MAMPS,0.028379
$HUMID,62.16
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,431.9,51.9
$24V_AH,24.7,16.050
$10V_AH,10.5,17.590
$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,18.550,80.050,242.450,70.475,0.000,30.710,36.870,174.179,18.250,0.000,15.805,1118.828,4968.339,382.311,2051.321,476.948,0.000,1106.139,0.000,2002.755,0.000,122.125,0.000
$DEVICE_MAMPS,227.032,65.195,780.039,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.600,338.870,1163.268,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31837,594
$CAP_FILE_SIZE,96969,0
$CFSIZE,260165632,245972992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150513,140342,2058.319,-15749.096,20,0.9,20,9.8