version: 66.06
glider: 523
mission: 4
dive: 321
start: 5 28 113 22 37 16
data:
$ID,523
$MISSION,4
$DIVE,321
$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,-42175.965
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,223123,2100.408,-15746.371,41,0.8,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.2
$GPS2,223659,2100.429,-15746.364,17,0.9,17,9.8
$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,222.6,7628,-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,-75.90,0.000,2,0.000,0.000,41,1974,3366,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.2,12,113,9.48,2.28,-0.68,0.000,4,0.227,0.062,2392,551,3397,0,0,0,0,0,0
$GC,354,-0.74,-146.0,53.3,-15.9,59,360,0.00,2.15,0.00,0.000,6,0.000,0.035,2384,1963,3399,0,0,0,0,0,0
$GC,683,-0.74,-146.0,101.6,-11.6,105,687,0.00,2.25,0.00,0.000,4,0.000,0.052,2384,550,3400,0,0,0,0,0,0
$GC,899,-0.74,-146.0,130.8,-15.8,124,903,0.00,2.12,0.00,0.000,6,0.000,0.034,2375,1969,3401,0,0,0,0,0,0
$GC,1227,-0.74,-146.0,175.1,-11.7,154,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1969,3401,0,0,0,0,0,0
$GC,1560,-0.74,-146.0,212.1,-11.8,181,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1970,3403,0,0,0,0,0,0
$GC,1869,-0.74,-146.0,243.6,-10.0,196,1873,0.00,2.17,0.00,0.000,4,0.000,0.051,2365,3359,3402,0,0,0,0,0,0
$GC,1995,-0.74,-146.0,255.7,-9.8,201,2001,0.12,2.20,0.00,0.000,6,0.150,0.041,2398,1959,3402,0,0,0,0,0,0
$GC,2314,-0.74,-146.0,277.6,-7.3,217,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1959,3402,0,0,0,0,0,0
$GC,2641,-0.74,-146.0,304.1,-8.6,232,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1959,3402,0,0,0,0,0,0
$GC,2967,-0.74,-146.0,327.1,-6.6,240,2971,0.00,2.20,0.00,0.000,4,0.000,0.053,2398,551,3402,0,0,0,0,0,0
$GC,3203,-0.74,-146.0,344.5,-8.4,245,3208,0.00,2.15,0.00,0.000,6,0.000,0.037,2390,1960,3401,0,0,0,0,0,0
$GC,3518,-0.74,-146.0,371.6,-8.5,253,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1961,3399,0,0,0,0,0,0
$GC,3841,-0.74,-146.0,393.6,-6.4,261,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1961,3397,0,0,0,0,0,0
$GC,4168,-0.74,-146.0,416.8,-7.6,269,4172,0.00,2.20,0.00,0.000,4,0.000,0.061,2379,3362,3396,0,0,0,0,0,0
$GC,4325,-0.74,-146.0,429.4,-7.9,272,4329,0.00,2.22,0.00,0.000,6,0.000,0.044,2379,1952,3395,0,0,0,0,0,0
$STATE,4619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4619,begin apogee
$GC,4625,-0.17,0.0,450.9,7.0,280,4748,0.65,0.00,119.40,0.775,6,0.123,0.000,2586,1952,2800,0,0,0,0,0,0
$STATE,4749,end apogee,CONTROL_FINISHED_OK
$STATE,4749,begin climb
$GC,4752,0.74,146.0,451.8,0.0,283,4889,0.85,2.47,125.80,0.747,4,0.077,0.056,2879,3374,2202,0,0,0,0,0,0
$GC,4940,0.74,146.0,431.4,12.9,287,4944,0.00,2.30,0.00,0.000,6,0.000,0.048,2888,1981,2199,0,0,0,0,0,0
$GC,5282,0.74,146.0,383.2,14.4,296,5286,0.00,2.28,0.00,0.000,4,0.000,0.059,2888,3383,2195,0,0,0,0,0,0
$GC,5309,0.74,146.0,378.8,15.2,296,5313,0.00,2.28,0.00,0.000,6,0.000,0.050,2897,1973,2194,0,0,0,0,0,0
$GC,5640,0.74,146.0,330.1,14.1,304,5644,0.00,2.30,0.00,0.000,4,0.000,0.070,2908,564,2193,0,0,0,0,0,0
$GC,5725,0.74,146.0,317.8,13.9,306,5729,0.12,2.20,0.00,0.000,6,0.154,0.044,2875,1972,2192,0,0,0,0,0,0
$GC,6056,0.74,146.0,274.1,12.6,318,6060,0.00,2.20,0.00,0.000,4,0.000,0.052,2875,3386,2190,0,0,0,0,0,0
$GC,6241,0.74,146.0,251.2,11.8,326,6246,0.00,2.22,0.00,0.000,6,0.000,0.041,2884,1967,2189,0,0,0,0,0,0
$GC,6557,0.74,146.0,214.4,12.0,341,6561,0.00,2.22,0.00,0.000,4,0.000,0.059,2894,556,2188,0,0,0,0,0,0
$GC,6612,0.74,146.0,208.1,10.9,343,6616,0.00,2.20,0.00,0.000,6,0.000,0.038,2894,1984,2188,0,0,0,0,0,0
$GC,6939,0.74,146.0,170.3,14.3,369,6943,0.00,2.17,0.00,0.000,4,0.000,0.050,2894,3387,2187,0,0,0,0,0,0
$GC,7109,0.74,146.0,146.7,11.1,384,7113,0.00,2.17,0.00,0.000,6,0.000,0.038,2905,1969,2186,0,0,0,0,0,0
$GC,7436,0.74,146.0,108.4,12.1,414,7440,0.00,2.22,0.00,0.000,4,0.000,0.057,2914,557,2186,0,0,0,0,0,0
$GC,7588,0.74,146.0,88.5,13.5,427,7595,0.10,2.20,0.00,0.000,6,0.111,0.038,2879,1977,2186,0,0,0,0,0,0
$GC,7916,0.79,185.9,59.7,7.4,480,7958,0.00,2.22,31.67,0.505,4,0.000,0.050,2879,3379,2040,0,0,0,0,0,0
$GC,8061,0.82,211.3,49.1,8.0,505,8090,0.00,2.20,22.23,0.481,6,0.000,0.038,2886,1970,1937,0,0,0,0,0,0
$GC,8413,0.85,234.6,22.6,8.1,570,8440,0.00,2.25,20.75,0.453,4,0.000,0.054,2895,566,1842,0,0,0,0,0,0
$GC,8490,0.87,251.2,16.2,8.3,583,8511,0.00,2.20,15.38,0.436,6,0.000,0.035,2895,1973,1774,0,0,0,0,0,0
$STATE,8637,end climb,SURFACE_DEPTH_REACHED
$STATE,8637,begin surface coast
$FINISH,0.6,0.998278
$STATE,8669,end surface coast,CONTROL_FINISHED_OK
$STATE,8669,begin surface
$SM_CCo,8687,25.88,0.430,0,0,1576,300.24
$SM_GC,1.51,0.00,0.00,25.88,0.000,0.000,0.430,40,1975,1576,-8.13,0.42,300.24
$IRIDIUM_FIX,2050.21,-15747.49,220802,202038
$TT8_MAMPS,0.028379
$HUMID,64.53
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,436.6,36.1
$24V_AH,24.6,26.333
$10V_AH,10.4,28.873
$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,18.650,62.275,335.225,25.875,0.000,25.458,32.913,145.583,18.750,0.000,18.247,1106.665,5107.397,372.917,2023.729,437.204,0.000,1095.151,0.000,1974.292,0.000,118.449,0.000
$DEVICE_MAMPS,227.032,69.797,775.437,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,418.160,346.030,1185.252,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,35010,616
$CAP_FILE_SIZE,91326,0
$CFSIZE,260165632,239923200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290513,010336,2059.982,-15746.669,27,1.4,27,9.8