version: 66.06
glider: 523
mission: 4
dive: 226
start: 5 18 113 20 32 52
data:
$ID,523
$MISSION,4
$DIVE,226
$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,-40333.113
$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,28
$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
$GPS1,202704,2105.672,-15743.995,32,0.8,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.2
$GPS2,203235,2105.651,-15744.009,17,0.9,17,9.8
$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,205.4,17537,-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,-75.72,0.000,2,0.000,0.000,32,1972,3352,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-4.2,12,113,9.45,2.25,-0.98,0.000,4,0.229,0.062,2387,3370,3396,0,0,0,0,0,0
$GC,357,-0.74,-146.0,52.4,-16.5,59,363,0.00,2.20,0.00,0.000,6,0.000,0.041,2387,1962,3398,0,0,0,0,0,0
$GC,686,-0.74,-146.0,99.2,-13.5,106,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1962,3399,0,0,0,0,0,0
$GC,1004,-0.74,-146.0,137.3,-12.3,136,1008,0.00,2.22,0.00,0.000,4,0.000,0.053,2387,540,3401,0,0,0,0,0,0
$GC,1253,-0.74,-146.0,168.4,-13.1,158,1261,0.00,2.17,0.00,0.000,6,0.000,0.034,2377,1966,3401,0,0,0,0,0,0
$GC,1576,-0.74,-146.0,207.6,-11.7,186,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1967,3402,0,0,0,0,0,0
$GC,1885,-0.74,-146.0,239.7,-9.4,201,1890,0.00,2.28,0.00,0.000,4,0.000,0.051,2377,543,3402,0,0,0,0,0,0
$GC,1993,-0.74,-146.0,251.9,-12.4,205,1999,0.12,2.15,0.00,0.000,6,0.165,0.034,2400,1971,3402,0,0,0,0,0,0
$GC,2311,-0.74,-146.0,280.8,-8.7,221,2315,0.00,2.25,0.00,0.000,4,0.000,0.052,2401,550,3402,0,0,0,0,0,0
$GC,2543,-0.74,-146.0,296.9,-5.9,231,2547,0.00,2.12,0.00,0.000,6,0.000,0.035,2393,1958,3402,0,0,0,0,0,0
$GC,2856,-0.74,-146.0,316.3,-6.8,240,2859,0.00,2.22,0.00,0.000,4,0.000,0.057,2382,3366,3402,0,0,0,0,0,0
$GC,2934,-0.74,-146.0,322.9,-8.1,241,2940,0.00,2.20,0.00,0.000,6,0.000,0.042,2382,1956,3402,0,0,0,0,0,0
$GC,3266,-0.74,-146.0,350.6,-8.0,250,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1956,3401,0,0,0,0,0,0
$GC,3592,-0.74,-146.0,372.2,-6.4,258,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1956,3399,0,0,0,0,0,0
$GC,3918,-0.74,-146.0,398.0,-8.2,266,3922,0.00,2.28,0.00,0.000,4,0.000,0.056,2372,3362,3397,0,0,0,0,0,0
$GC,3962,-0.74,-146.0,401.8,-7.6,267,3967,0.10,2.20,0.00,0.000,6,0.158,0.045,2397,1956,3397,0,0,0,0,0,0
$GC,4283,-0.74,-146.0,423.7,-6.8,275,4287,0.00,2.25,0.00,0.000,4,0.000,0.064,2398,553,3394,0,0,0,0,0,0
$GC,4316,-0.74,-146.0,426.5,-8.1,275,4322,0.00,2.17,0.00,0.000,6,0.000,0.043,2390,1966,3394,0,0,0,0,0,0
$STATE,4605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4605,begin apogee
$GC,4611,-0.17,0.0,450.2,8.4,283,4733,0.60,0.00,118.57,0.783,6,0.126,0.000,2582,1966,2800,0,0,0,0,0,0
$STATE,4734,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4737,0.74,146.0,453.2,0.0,286,4871,0.85,2.35,124.35,0.755,4,0.081,0.051,2874,3385,2205,0,0,0,0,0,0
$GC,4888,0.74,146.0,440.1,12.1,289,4892,0.00,2.33,0.00,0.000,6,0.000,0.048,2882,1980,2203,0,0,0,0,0,0
$GC,5219,0.74,146.0,393.5,14.4,297,5223,0.00,2.28,0.00,0.000,4,0.000,0.061,2893,565,2198,0,0,0,0,0,0
$GC,5268,0.74,146.0,385.6,15.5,298,5272,0.00,2.20,0.00,0.000,6,0.000,0.043,2893,1975,2197,0,0,0,0,0,0
$GC,5582,0.74,146.0,336.0,16.2,306,5585,0.00,2.17,0.00,0.000,4,0.000,0.052,2893,3386,2195,0,0,0,0,0,0
$GC,5666,0.74,146.0,321.8,16.1,308,5670,0.00,2.20,0.00,0.000,6,0.000,0.041,2902,1961,2194,0,0,0,0,0,0
$GC,5999,0.74,146.0,269.1,16.1,320,6003,0.00,2.20,0.00,0.000,4,0.000,0.060,2913,569,2193,0,0,0,0,0,0
$GC,6054,0.74,146.0,260.3,16.1,322,6060,0.12,2.17,0.00,0.000,6,0.153,0.039,2880,1981,2193,0,0,0,0,0,0
$GC,6369,0.74,146.0,220.6,11.9,338,6373,0.00,2.15,0.00,0.000,4,0.000,0.051,2880,3384,2192,0,0,0,0,0,0
$GC,6432,0.74,146.0,213.4,12.1,341,6436,0.00,2.17,0.00,0.000,6,0.000,0.041,2888,1976,2191,0,0,0,0,0,0
$GC,6763,0.74,146.0,175.4,12.1,366,6767,0.00,2.22,0.00,0.000,4,0.000,0.058,2899,562,2190,0,0,0,0,0,0
$GC,6826,0.74,146.0,167.6,12.5,371,6830,0.00,2.15,0.00,0.000,6,0.000,0.038,2899,1981,2189,0,0,0,0,0,0
$GC,7154,0.74,146.0,125.9,11.8,401,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1981,2189,0,0,0,0,0,0
$GC,7484,0.74,146.0,90.9,9.7,432,7488,0.00,2.25,0.00,0.000,4,0.000,0.057,2908,561,2190,0,0,0,0,0,0
$GC,7524,0.74,146.0,86.5,10.4,435,7529,0.12,2.17,0.00,0.000,6,0.143,0.038,2874,1984,2189,0,0,0,0,0,0
$GC,7854,0.74,146.0,57.8,9.8,488,7861,0.00,2.17,0.00,0.000,4,0.000,0.051,2873,3384,2190,0,0,0,0,0,0
$GC,7921,0.74,146.0,50.6,11.4,500,7929,0.00,2.20,0.00,0.000,6,0.000,0.038,2882,1971,2190,0,0,0,0,0,0
$GC,8251,0.75,152.8,20.8,8.8,561,8265,0.00,2.22,4.78,0.365,4,0.000,0.055,2892,572,2177,0,0,0,0,0,0
$GC,8305,0.76,163.6,16.2,8.6,570,8326,0.00,2.15,11.32,0.436,6,0.000,0.036,2892,1969,2131,0,0,0,0,0,0
$STATE,8455,end climb,SURFACE_DEPTH_REACHED
$STATE,8455,begin surface coast
$FINISH,0.6,1.023399
$STATE,8492,end surface coast,CONTROL_FINISHED_OK
$STATE,8493,begin surface
$SM_CCo,8510,62.47,0.444,0,0,1576,300.24
$SM_GC,1.51,0.00,0.00,62.47,0.000,0.000,0.444,36,1971,1576,-8.14,0.31,300.24
$IRIDIUM_FIX,2052.52,-15749.62,120802,181850
$TT8_MAMPS,0.028379
$HUMID,62.08
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.7,18.658
$10V_AH,10.5,20.387
$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,18.650,70.750,259.025,62.475,0.000,24.505,36.692,140.613,19.250,0.000,18.102,1105.746,5043.062,379.070,1950.667,425.350,0.000,1055.770,0.000,1906.534,0.000,119.121,0.000
$DEVICE_MAMPS,228.566,63.661,783.107,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.457,344.338,1193.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,31787,604
$CAP_FILE_SIZE,91474,0
$CFSIZE,260165632,244453376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180513,225647,2104.871,-15744.297,23,1.2,23,9.8