version: 66.06
glider: 523
mission: 4
dive: 225
start: 5 18 113 18 1 54
data:
$ID,523
$MISSION,4
$DIVE,225
$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,-40314.383
$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,26
$R_STBD_OVSHOOT,34
$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
$GPS1,175603,2106.633,-15743.612,21,1.3,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.9
$GPS2,180136,2106.648,-15743.629,13,0.9,13,9.8
$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,203.9,19431,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-77.62,0.000,6,0.000,0.000,35,1974,3397,0,0,0,0,0,0
$GC,102,-0.74,-146.0,3.9,-6.1,13,117,9.50,2.15,0.00,0.000,4,0.232,0.044,2382,3365,3398,0,0,0,0,0,0
$GC,355,-0.74,-146.0,58.0,-17.3,60,363,0.00,2.22,0.00,0.000,6,0.000,0.041,2382,1961,3399,0,0,0,0,0,0
$GC,692,-0.74,-146.0,108.2,-13.7,104,696,0.00,2.22,0.00,0.000,4,0.000,0.057,2381,542,3401,0,0,0,0,0,0
$GC,948,-0.74,-146.0,145.9,-14.0,126,955,0.00,2.15,0.00,0.000,6,0.000,0.034,2372,1956,3402,0,0,0,0,0,0
$GC,1275,-0.74,-146.0,186.2,-11.6,157,1279,0.10,2.25,0.00,0.000,4,0.176,0.051,2397,543,3401,0,0,0,0,0,0
$GC,1376,-0.74,-146.0,198.4,-12.5,166,1380,0.00,2.15,0.00,0.000,6,0.000,0.035,2389,1966,3402,0,0,0,0,0,0
$GC,1702,-0.74,-146.0,232.3,-9.7,182,1706,0.00,2.25,0.00,0.000,4,0.000,0.051,2388,544,3403,0,0,0,0,0,0
$GC,1841,-0.74,-146.0,245.4,-8.3,188,1845,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1968,3403,0,0,0,0,0,0
$GC,2165,-0.74,-146.0,270.8,-9.1,204,2169,0.00,2.17,0.00,0.000,4,0.000,0.054,2369,3362,3403,0,0,0,0,0,0
$GC,2182,-0.74,-146.0,272.8,-9.7,205,2187,0.12,2.20,0.00,0.000,6,0.155,0.041,2402,1953,3403,0,0,0,0,0,0
$GC,2508,-0.74,-146.0,304.7,-9.0,220,2512,0.00,2.22,0.00,0.000,4,0.000,0.056,2402,554,3403,0,0,0,0,0,0
$GC,2743,-0.74,-146.0,323.0,-6.7,225,2747,0.00,2.12,0.00,0.000,6,0.000,0.037,2395,1959,3403,0,0,0,0,0,0
$GC,3056,-0.74,-146.0,343.5,-6.6,233,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1960,3402,0,0,0,0,0,0
$GC,3383,-0.74,-146.0,367.2,-7.6,241,3387,0.00,2.25,0.00,0.000,4,0.000,0.059,2395,553,3400,0,0,0,0,0,0
$GC,3474,-0.74,-146.0,374.4,-8.5,243,3478,0.00,2.15,0.00,0.000,6,0.000,0.038,2385,1957,3399,0,0,0,0,0,0
$GC,3796,-0.74,-146.0,396.5,-6.5,251,3800,0.00,2.22,0.00,0.000,4,0.000,0.058,2375,3367,3398,0,0,0,0,0,0
$GC,3869,-0.74,-146.0,401.8,-6.8,252,3873,0.00,2.20,0.00,0.000,6,0.000,0.041,2375,1952,3398,0,0,0,0,0,0
$GC,4208,-0.74,-146.0,425.1,-7.0,261,4212,0.00,2.22,0.00,0.000,4,0.000,0.064,2375,547,3395,0,0,0,0,0,0
$GC,4340,-0.74,-146.0,435.8,-8.6,264,4345,0.12,2.17,0.00,0.000,6,0.168,0.041,2398,1962,3394,0,0,0,0,0,0
$STATE,4540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4540,begin apogee
$GC,4546,-0.17,0.0,450.9,7.3,269,4668,0.57,0.00,118.53,0.779,6,0.123,0.000,2585,1962,2800,0,0,0,0,0,0
$STATE,4669,end apogee,CONTROL_FINISHED_OK
$STATE,4669,begin climb
$GC,4672,0.74,146.0,453.0,0.0,272,4806,0.82,2.38,124.78,0.751,4,0.078,0.061,2880,575,2204,0,0,0,0,0,0
$GC,4835,0.74,146.0,438.0,12.5,276,4839,0.00,2.25,0.00,0.000,6,0.000,0.041,2880,1981,2201,0,0,0,0,0,0
$GC,5159,0.74,146.0,392.9,14.2,284,5163,0.00,2.33,0.00,0.000,4,0.000,0.064,2889,568,2196,0,0,0,0,0,0
$GC,5187,0.74,146.0,388.9,14.7,284,5191,0.00,2.22,0.00,0.000,6,0.000,0.044,2889,1984,2196,0,0,0,0,0,0
$GC,5518,0.74,146.0,342.7,14.2,292,5522,0.00,2.22,0.00,0.000,4,0.000,0.061,2889,3386,2195,0,0,0,0,0,0
$GC,5534,0.74,146.0,340.1,14.5,292,5539,0.00,2.22,0.00,0.000,6,0.000,0.051,2898,1983,2194,0,0,0,0,0,0
$GC,5863,0.74,146.0,289.5,15.0,302,5867,0.00,2.30,0.00,0.000,4,0.000,0.069,2909,555,2192,0,0,0,0,0,0
$GC,5908,0.74,146.0,283.1,14.6,304,5913,0.12,2.20,0.00,0.000,6,0.153,0.038,2876,1981,2192,0,0,0,0,0,0
$GC,6228,0.74,146.0,241.4,12.8,320,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1982,2190,0,0,0,0,0,0
$GC,6538,0.74,146.0,207.0,11.1,335,6542,0.00,2.20,0.00,0.000,4,0.000,0.054,2876,3387,2189,0,0,0,0,0,0
$GC,6555,0.74,146.0,205.0,10.9,336,6559,0.00,2.25,0.00,0.000,6,0.000,0.044,2883,1959,2189,0,0,0,0,0,0
$GC,6881,0.74,146.0,169.0,11.5,364,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1959,2189,0,0,0,0,0,0
$GC,7202,0.74,146.0,130.7,11.9,394,7206,0.00,2.20,0.00,0.000,4,0.000,0.057,2894,570,2188,0,0,0,0,0,0
$GC,7254,0.74,146.0,124.5,10.9,398,7258,0.00,2.17,0.00,0.000,6,0.000,0.043,2894,1971,2188,0,0,0,0,0,0
$GC,7581,0.74,146.0,89.2,10.3,428,7585,0.00,2.25,0.00,0.000,4,0.000,0.060,2901,570,2188,0,0,0,0,0,0
$GC,7610,0.74,146.0,86.0,11.1,430,7614,0.00,2.15,0.00,0.000,6,0.000,0.041,2901,1974,2188,0,0,0,0,0,0
$GC,7941,0.74,146.0,52.0,10.0,485,7946,0.00,2.15,0.00,0.000,4,0.000,0.051,2901,3387,2188,0,0,0,0,0,0
$GC,8009,0.74,146.0,44.7,10.2,497,8015,0.12,2.17,0.00,0.000,6,0.151,0.038,2876,1976,2188,0,0,0,0,0,0
$GC,8338,0.79,186.3,19.7,7.4,558,8378,0.00,0.00,31.98,0.469,6,0.000,0.000,2876,1976,2038,0,0,0,0,0,0
$STATE,8536,end climb,SURFACE_DEPTH_REACHED
$STATE,8536,begin surface coast
$FINISH,0.6,1.023359
$STATE,8569,end surface coast,CONTROL_FINISHED_OK
$STATE,8569,begin surface
$SM_CCo,8587,52.12,0.440,0,0,1575,300.24
$SM_GC,1.33,0.00,0.00,52.12,0.000,0.000,0.440,33,1972,1575,-8.15,0.34,300.24
$IRIDIUM_FIX,2057.14,-15723.87,120802,151547
$TT8_MAMPS,0.028379
$HUMID,62.79
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.7,18.582
$10V_AH,10.5,20.299
$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,18.750,75.175,275.275,52.125,0.000,31.169,38.279,139.950,19.000,0.000,14.512,1106.517,5087.005,368.477,1970.861,440.915,0.000,1066.876,0.000,1929.365,0.000,121.813,0.000
$DEVICE_MAMPS,231.634,69.030,778.505,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.781,339.778,1163.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31833,600
$CAP_FILE_SIZE,93933,0
$CFSIZE,260165632,244502528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180513,202704,2105.672,-15743.995,32,0.8,32,9.8