version: 66.06
glider: 523
mission: 4
dive: 266
start: 5 23 113 1 18 34
data:
$ID,523
$MISSION,4
$DIVE,266
$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,-41082.648
$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,37
$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
$GPS1,011235,2106.644,-15743.369,26,0.9,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.9
$GPS2,011817,2106.639,-15743.404,15,1.0,15,9.8
$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,204.9,19635,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.53,0.000,2,0.000,0.000,39,1985,3356,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.3,12,113,9.48,2.40,-0.88,0.000,4,0.232,0.066,2390,546,3398,0,0,0,0,0,0
$GC,355,-0.74,-146.0,57.9,-19.1,59,360,0.00,2.17,0.00,0.000,6,0.000,0.035,2381,1966,3400,0,0,0,0,0,0
$GC,683,-0.74,-146.0,106.4,-12.7,102,687,0.00,2.28,0.00,0.000,4,0.000,0.054,2381,546,3401,0,0,0,0,0,0
$GC,790,-0.74,-146.0,120.7,-13.8,111,795,0.12,2.15,0.00,0.000,6,0.164,0.036,2405,1968,3402,0,0,0,0,0,0
$GC,1122,-0.74,-146.0,154.4,-10.3,142,1129,0.00,2.25,0.00,0.000,4,0.000,0.054,2405,555,3402,0,0,0,0,0,0
$GC,1375,-0.74,-146.0,181.9,-9.9,165,1379,0.00,2.12,0.00,0.000,6,0.000,0.036,2398,1959,3402,0,0,0,0,0,0
$GC,1708,-0.74,-146.0,210.9,-8.3,190,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1959,3403,0,0,0,0,0,0
$GC,2016,-0.74,-146.0,233.1,-7.0,205,2020,0.00,2.25,0.00,0.000,4,0.000,0.054,2398,547,3403,0,0,0,0,0,0
$GC,2272,-0.74,-146.0,257.3,-10.0,216,2276,0.00,2.12,0.00,0.000,6,0.000,0.038,2388,1955,3402,0,0,0,0,0,0
$GC,2590,-0.74,-146.0,282.6,-6.8,231,2594,0.00,2.20,0.00,0.000,4,0.000,0.059,2377,3363,3403,0,0,0,0,0,0
$GC,2680,-0.74,-146.0,289.0,-6.2,235,2684,0.00,2.20,0.00,0.000,6,0.000,0.044,2378,1955,3403,0,0,0,0,0,0
$GC,3001,-0.74,-146.0,313.0,-7.8,247,3005,0.00,2.25,0.00,0.000,4,0.000,0.058,2377,544,3402,0,0,0,0,0,0
$GC,3080,-0.74,-146.0,319.8,-8.7,248,3087,0.12,2.17,0.00,0.000,6,0.169,0.041,2400,1968,3402,0,0,0,0,0,0
$GC,3412,-0.74,-146.0,340.5,-6.0,257,3416,0.00,2.20,0.00,0.000,4,0.000,0.060,2392,3362,3401,0,0,0,0,0,0
$GC,3530,-0.74,-146.0,349.0,-7.1,259,3535,0.00,2.20,0.00,0.000,6,0.000,0.047,2392,1961,3401,0,0,0,0,0,0
$GC,3872,-0.74,-146.0,375.7,-8.3,268,3876,0.00,2.28,0.00,0.000,4,0.000,0.065,2391,546,3398,0,0,0,0,0,0
$GC,4084,-0.74,-146.0,395.9,-9.6,272,4090,0.00,2.20,0.00,0.000,6,0.000,0.044,2382,1960,3396,0,0,0,0,0,0
$GC,4418,-0.74,-146.0,419.3,-6.6,281,4422,0.00,2.22,0.00,0.000,4,0.000,0.056,2372,3377,3394,0,0,0,0,0,0
$GC,4554,-0.74,-146.0,429.2,-7.2,284,4559,0.12,2.25,0.00,0.000,6,0.152,0.048,2405,1951,3394,0,0,0,0,0,0
$GC,4880,-0.74,-146.0,444.9,-4.8,292,4887,0.00,2.22,0.00,0.000,4,0.000,0.059,2405,550,3391,0,0,0,0,0,0
$STATE,4958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4958,begin apogee
$GC,4967,-0.17,0.0,450.1,6.6,293,5089,0.55,0.00,118.80,0.779,6,0.122,0.000,2578,1991,2799,0,0,0,0,0,0
$STATE,5090,end apogee,CONTROL_FINISHED_OK
$STATE,5090,begin climb
$GC,5093,0.74,146.0,451.4,0.0,296,5228,0.85,2.28,125.00,0.749,4,0.081,0.052,2871,3380,2204,0,0,0,0,0,0
$GC,5257,0.74,146.0,433.0,14.7,300,5261,0.00,2.33,0.00,0.000,6,0.000,0.048,2880,1975,2200,0,0,0,0,0,0
$GC,5581,0.74,146.0,383.4,14.7,308,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1975,2197,0,0,0,0,0,0
$GC,5906,0.74,146.0,337.8,14.3,316,5910,0.00,2.25,0.00,0.000,4,0.000,0.060,2891,555,2194,0,0,0,0,0,0
$GC,5956,0.74,146.0,330.7,14.1,317,5960,0.00,2.22,0.00,0.000,6,0.000,0.044,2891,1969,2193,0,0,0,0,0,0
$GC,6269,0.74,146.0,284.9,14.2,327,6273,0.00,2.20,0.00,0.000,4,0.000,0.053,2890,3388,2192,0,0,0,0,0,0
$GC,6370,0.74,146.0,269.1,15.9,331,6376,0.00,2.22,0.00,0.000,6,0.000,0.041,2901,1963,2191,0,0,0,0,0,0
$GC,6686,0.74,146.0,223.9,13.0,347,6690,0.00,2.20,0.00,0.000,4,0.000,0.057,2911,567,2190,0,0,0,0,0,0
$GC,6735,0.74,146.0,217.2,13.4,349,6740,0.12,2.17,0.00,0.000,6,0.149,0.038,2877,1982,2189,0,0,0,0,0,0
$GC,7060,0.74,146.0,182.2,10.4,371,7064,0.00,2.15,0.00,0.000,4,0.000,0.052,2877,3385,2189,0,0,0,0,0,0
$GC,7199,0.74,146.0,166.5,11.5,383,7203,0.00,2.17,0.00,0.000,6,0.000,0.039,2886,1976,2187,0,0,0,0,0,0
$GC,7526,0.74,146.0,129.8,11.2,413,7530,0.00,2.22,0.00,0.000,4,0.000,0.056,2896,558,2187,0,0,0,0,0,0
$GC,7620,0.74,146.0,119.5,11.3,421,7624,0.00,2.15,0.00,0.000,6,0.000,0.036,2896,1980,2187,0,0,0,0,0,0
$GC,7948,0.74,146.0,85.4,11.1,451,7952,0.00,2.15,0.00,0.000,4,0.000,0.051,2896,3379,2187,0,0,0,0,0,0
$GC,8053,0.74,146.0,74.6,10.4,465,8059,0.00,2.17,0.00,0.000,6,0.000,0.039,2906,1974,2187,0,0,0,0,0,0
$GC,8385,0.74,146.0,40.6,9.8,526,8392,0.00,2.20,0.00,0.000,4,0.000,0.049,2906,3373,2187,0,0,0,0,0,0
$GC,8472,0.78,177.5,33.3,7.7,541,8501,0.00,2.15,24.90,0.476,6,0.000,0.039,2915,1975,2076,0,0,0,0,0,0
$STATE,8785,end climb,SURFACE_DEPTH_REACHED
$STATE,8785,begin surface coast
$FINISH,0.6,1.022897
$STATE,8820,end surface coast,CONTROL_FINISHED_OK
$STATE,8820,begin surface
$SM_CCo,8838,58.50,0.445,0,0,1576,300.24
$SM_GC,1.43,0.00,0.00,58.50,0.000,0.000,0.445,56,1967,1576,-8.08,0.20,300.24
$IRIDIUM_FIX,2057.14,-15746.61,160802,222216
$TT8_MAMPS,0.028379
$HUMID,63.54
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.7,21.825
$10V_AH,10.5,23.914
$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,18.725,79.650,268.700,58.500,0.000,30.742,35.767,147.983,19.250,0.000,15.679,1140.734,5181.955,380.496,2091.493,443.093,0.000,1108.810,0.000,2037.657,0.000,119.413,0.000
$DEVICE_MAMPS,231.634,65.962,778.505,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.443,344.583,1186.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34937,606
$CAP_FILE_SIZE,97138,0
$CFSIZE,260165632,242565120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230513,034748,2105.788,-15743.438,18,1.2,18,9.8