version: 66.06
glider: 523
mission: 4
dive: 275
start: 5 23 113 23 50 4
data:
$ID,523
$MISSION,4
$DIVE,275
$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,-41255.652
$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,26
$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
$GPS1,234405,2100.345,-15746.528,27,1.3,27,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.9
$GPS2,234947,2100.361,-15746.579,17,0.9,17,9.8
$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,221.6,7258,-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,-76.00,0.000,2,0.000,0.000,24,1985,3378,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-4.7,12,113,9.27,2.17,-0.32,0.000,4,0.219,0.058,2387,3379,3395,0,0,0,0,0,0
$GC,357,-0.74,-146.0,54.2,-13.5,59,362,0.00,2.25,0.00,0.000,6,0.000,0.041,2387,1957,3397,0,0,0,0,0,0
$GC,694,-0.74,-146.0,97.1,-10.5,107,698,0.00,2.25,0.00,0.000,4,0.000,0.054,2387,545,3399,0,0,0,0,0,0
$GC,858,-0.74,-146.0,118.6,-13.7,121,862,0.00,2.17,0.00,0.000,6,0.000,0.034,2377,1980,3399,0,0,0,0,0,0
$GC,1186,-0.74,-146.0,160.2,-11.5,151,1190,0.00,2.25,0.00,0.000,4,0.000,0.050,2377,549,3400,0,0,0,0,0,0
$GC,1337,-0.74,-146.0,177.6,-11.5,164,1346,0.08,2.15,0.00,0.000,6,0.144,0.035,2393,1954,3400,0,0,0,0,0,0
$GC,1670,-0.74,-146.0,208.4,-9.6,192,1674,0.00,2.22,0.00,0.000,4,0.000,0.051,2393,543,3400,0,0,0,0,0,0
$GC,1861,-0.74,-146.0,226.2,-9.1,200,1867,0.00,2.15,0.00,0.000,6,0.000,0.035,2385,1965,3400,0,0,0,0,0,0
$GC,2179,-0.74,-146.0,255.6,-11.3,216,2183,0.00,2.20,0.00,0.000,4,0.000,0.054,2375,3368,3400,0,0,0,0,0,0
$GC,2235,-0.74,-146.0,262.3,-11.1,218,2241,0.00,2.20,0.00,0.000,6,0.000,0.043,2375,1958,3400,0,0,0,0,0,0
$GC,2554,-0.74,-146.0,291.9,-9.7,234,2558,0.00,2.22,0.00,0.000,4,0.000,0.054,2375,547,3400,0,0,0,0,0,0
$GC,2812,-0.74,-146.0,318.5,-9.0,241,2818,0.12,2.15,0.00,0.000,6,0.160,0.035,2398,1970,3400,0,0,0,0,0,0
$GC,3146,-0.74,-146.0,342.6,-6.9,250,3150,0.00,2.25,0.00,0.000,4,0.000,0.054,2398,554,3400,0,0,0,0,0,0
$GC,3163,-0.74,-146.0,343.9,-6.3,250,3167,0.00,2.15,0.00,0.000,6,0.000,0.037,2390,1967,3400,0,0,0,0,0,0
$GC,3505,-0.74,-146.0,362.2,-5.0,259,3509,0.00,2.28,0.00,0.000,4,0.000,0.057,2391,547,3398,0,0,0,0,0,0
$GC,3578,-0.74,-146.0,366.7,-7.1,260,3582,0.00,2.15,0.00,0.000,6,0.000,0.038,2380,1959,3397,0,0,0,0,0,0
$GC,3910,-0.74,-146.0,388.6,-6.5,268,3914,0.00,2.22,0.00,0.000,4,0.000,0.056,2371,3372,3395,0,0,0,0,0,0
$GC,4072,-0.74,-146.0,402.6,-9.6,271,4076,0.12,2.20,0.00,0.000,6,0.149,0.042,2404,1951,3395,0,0,0,0,0,0
$GC,4408,-0.74,-146.0,429.3,-7.8,280,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1950,3392,0,0,0,0,0,0
$STATE,4730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4731,begin apogee
$GC,4737,-0.17,0.0,451.4,6.4,288,4859,0.55,0.00,118.53,0.773,6,0.150,0.000,2585,1950,2799,0,0,0,0,0,0
$STATE,4860,end apogee,CONTROL_FINISHED_OK
$STATE,4860,begin climb
$GC,4862,0.74,146.0,451.4,0.0,291,4992,0.82,0.00,126.25,0.743,6,0.077,0.000,2874,1950,2203,0,0,0,0,0,0
$GC,5311,0.74,146.0,391.6,14.6,302,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1950,2196,0,0,0,0,0,0
$GC,5634,0.74,146.0,343.7,15.2,310,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1950,2194,0,0,0,0,0,0
$GC,5959,0.74,146.0,300.1,12.3,318,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1950,2192,0,0,0,0,0,0
$GC,6267,0.74,146.0,262.8,11.4,332,6272,0.00,2.25,0.00,0.000,4,0.000,0.067,2884,566,2190,0,0,0,0,0,0
$GC,6335,0.74,146.0,254.1,13.2,335,6339,0.00,2.20,0.00,0.000,6,0.000,0.041,2884,1979,2190,0,0,0,0,0,0
$GC,6656,0.74,146.0,211.2,12.3,351,6660,0.00,2.17,0.00,0.000,4,0.000,0.052,2884,3392,2189,0,0,0,0,0,0
$GC,6689,0.74,146.0,206.9,13.3,352,6694,0.00,2.25,0.00,0.000,6,0.000,0.048,2893,1978,2188,0,0,0,0,0,0
$GC,7016,0.74,146.0,164.4,12.9,380,7020,0.00,2.25,0.00,0.000,4,0.000,0.058,2901,557,2188,0,0,0,0,0,0
$GC,7123,0.74,146.0,152.4,10.7,389,7127,0.00,2.20,0.00,0.000,6,0.000,0.042,2901,1974,2187,0,0,0,0,0,0
$GC,7449,0.74,146.0,114.4,12.0,419,7453,0.00,2.20,0.00,0.000,4,0.000,0.050,2901,3388,2187,0,0,0,0,0,0
$GC,7482,0.74,146.0,110.2,12.1,421,7490,0.10,2.25,0.00,0.000,6,0.126,0.038,2877,1965,2186,0,0,0,0,0,0
$GC,7809,0.74,151.2,79.0,8.8,453,7814,0.00,2.20,0.00,0.000,4,0.000,0.056,2885,567,2187,0,0,0,0,0,0
$GC,7855,0.74,151.2,74.6,10.0,461,7861,0.00,2.17,0.00,0.000,6,0.000,0.037,2885,1992,2186,0,0,0,0,0,0
$GC,8183,0.77,172.2,43.8,8.2,522,8214,0.00,2.22,20.30,0.481,4,0.000,0.049,2885,3386,2095,0,0,0,0,0,0
$GC,8338,0.80,196.4,31.3,8.0,549,8369,0.00,2.20,21.17,0.469,6,0.000,0.038,2895,1976,1998,0,0,0,0,0,0
$GC,8529,0.80,196.4,14.8,9.7,584,8536,0.00,2.28,0.00,0.000,4,0.000,0.056,2905,569,1997,0,0,0,0,0,0
$GC,8623,0.81,205.2,5.9,8.7,601,8638,0.00,2.17,9.02,0.406,6,0.000,0.035,2905,1972,1962,0,0,0,0,0,0
$STATE,8664,end climb,SURFACE_DEPTH_REACHED
$STATE,8665,begin surface coast
$FINISH,0.5,1.022986
$STATE,8725,end surface coast,CONTROL_FINISHED_OK
$STATE,8725,begin surface
$SM_CCo,8743,46.25,0.442,0,0,1575,300.24
$SM_GC,1.49,0.00,0.00,46.25,0.000,0.000,0.442,32,1986,1575,-8.15,0.74,300.24
$IRIDIUM_FIX,2045.60,-15808.06,170802,212157
$TT8_MAMPS,0.028379
$HUMID,63.15
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,416.7,56.9
$24V_AH,24.7,22.533
$10V_AH,10.5,24.709
$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,18.450,70.675,295.275,46.250,0.000,30.679,33.360,148.196,18.000,0.000,18.405,1111.214,5194.788,408.710,1969.927,448.156,0.000,1082.336,0.000,1928.467,0.000,117.435,0.000
$DEVICE_MAMPS,219.362,67.496,773.136,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,420.014,358.604,1219.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,34979,619
$CAP_FILE_SIZE,91225,0
$CFSIZE,260165632,242147328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240513,021742,2059.540,-15747.429,29,1.5,29,9.8