version: 66.06
glider: 523
mission: 4
dive: 362
start: 6 2 113 6 38 5
data:
$ID,523
$MISSION,4
$DIVE,362
$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,285
$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,-43007.918
$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,2660
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,063149,2102.670,-15743.618,47,1.2,47,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.7
$GPS2,063749,2102.664,-15743.636,23,1.4,23,9.8
$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,221.0,13897,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-70.03,0.000,2,0.000,0.000,29,1997,3401,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.4,-5.1,11,113,9.57,2.40,-2.03,0.000,4,0.227,0.066,2412,547,3498,0,0,0,0,0,0
$GC,348,-0.74,-146.0,57.2,-15.8,57,353,0.00,2.17,0.00,0.000,6,0.000,0.036,2404,1964,3500,0,0,0,0,0,0
$GC,682,-0.74,-146.0,109.9,-14.7,101,686,0.00,2.28,0.00,0.000,4,0.000,0.054,2404,547,3501,0,0,0,0,0,0
$GC,738,-0.74,-146.0,118.3,-15.5,106,742,0.00,2.15,0.00,0.000,6,0.000,0.035,2395,1962,3501,0,0,0,0,0,0
$GC,1065,-0.74,-146.0,163.0,-13.4,136,1069,0.00,2.22,0.00,0.000,4,0.000,0.054,2383,3367,3502,0,0,0,0,0,0
$GC,1118,-0.74,-146.0,170.1,-13.2,140,1123,0.12,2.22,0.00,0.000,6,0.155,0.044,2417,1959,3502,0,0,0,0,0,0
$GC,1442,-0.74,-146.0,204.6,-10.2,168,1447,0.00,2.22,0.00,0.000,4,0.000,0.055,2418,547,3503,0,0,0,0,0,0
$GC,1699,-0.74,-146.0,231.6,-8.4,179,1703,0.00,2.15,0.00,0.000,6,0.000,0.036,2409,1967,3504,0,0,0,0,0,0
$GC,2023,-0.74,-146.0,258.2,-8.9,195,2027,0.00,2.30,0.00,0.000,4,0.000,0.054,2409,543,3504,0,0,0,0,0,0
$GC,2281,-0.74,-146.0,280.8,-9.7,206,2287,0.00,2.17,0.00,0.000,6,0.000,0.038,2400,1960,3504,0,0,0,0,0,0
$GC,2599,-0.74,-146.0,307.0,-8.2,220,2603,0.00,2.28,0.00,0.000,4,0.000,0.057,2400,539,3504,0,0,0,0,0,0
$GC,2819,-0.74,-146.0,324.7,-7.6,225,2824,0.12,2.17,0.00,0.000,6,0.160,0.042,2425,1957,3503,0,0,0,0,0,0
$GC,3154,-0.74,-146.0,350.2,-8.0,233,3158,0.00,2.30,0.00,0.000,4,0.000,0.061,2426,544,3502,0,0,0,0,0,0
$GC,3299,-0.74,-146.0,362.5,-8.2,236,3304,0.00,2.20,0.00,0.000,6,0.000,0.044,2417,1954,3501,0,0,0,0,0,0
$GC,3650,-0.74,-146.0,388.4,-7.7,245,3654,0.00,2.25,0.00,0.000,4,0.000,0.062,2407,3375,3499,0,0,0,0,0,0
$GC,3739,-0.74,-146.0,395.7,-8.3,247,3743,0.00,2.25,0.00,0.000,6,0.000,0.045,2407,1953,3499,0,0,0,0,0,0
$GC,4059,-0.74,-146.0,419.9,-7.4,255,4063,0.00,2.22,0.00,0.000,4,0.000,0.058,2407,545,3497,0,0,0,0,0,0
$GC,4154,-0.74,-146.0,428.3,-8.5,257,4158,0.00,2.17,0.00,0.000,6,0.000,0.038,2398,1962,3496,0,0,0,0,0,0
$STATE,4429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4429,begin apogee
$GC,4436,-0.17,0.0,450.8,8.0,264,4558,0.65,0.00,119.22,0.765,6,0.119,0.000,2606,1962,2899,0,0,0,0,0,0
$STATE,4559,end apogee,CONTROL_FINISHED_OK
$STATE,4559,begin climb
$GC,4562,0.74,146.0,452.6,0.0,267,4696,0.85,2.45,125.30,0.742,4,0.067,0.054,2903,3390,2303,0,0,0,0,0,0
$GC,4748,0.74,146.0,430.0,16.7,271,4753,0.00,2.33,0.00,0.000,6,0.000,0.048,2912,1982,2300,0,0,0,0,0,0
$GC,5080,0.74,146.0,374.2,17.1,279,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1982,2296,0,0,0,0,0,0
$GC,5404,0.74,146.0,319.6,16.4,287,5408,0.00,2.28,0.00,0.000,4,0.000,0.060,2923,559,2293,0,0,0,0,0,0
$GC,5438,0.74,146.0,313.8,17.5,287,5443,0.00,2.22,0.00,0.000,6,0.000,0.039,2923,1989,2292,0,0,0,0,0,0
$GC,5752,0.74,146.0,262.8,15.7,301,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1989,2291,0,0,0,0,0,0
$GC,6061,0.74,146.0,220.2,12.7,316,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1989,2290,0,0,0,0,0,0
$GC,6377,0.74,146.0,178.2,11.5,338,6381,0.00,2.20,0.00,0.000,4,0.000,0.053,2923,3388,2289,0,0,0,0,0,0
$GC,6429,0.74,146.0,171.2,13.7,342,6434,0.12,2.22,0.00,0.000,6,0.156,0.041,2899,1975,2289,0,0,0,0,0,0
$GC,6756,0.74,146.0,139.0,9.7,372,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1975,2288,0,0,0,0,0,0
$GC,7076,0.75,155.3,110.0,8.6,402,7089,0.00,2.25,6.50,0.466,4,0.000,0.048,2898,3390,2265,0,0,0,0,0,0
$GC,7331,0.77,173.3,87.6,8.3,425,7353,0.00,2.22,16.42,0.509,6,0.000,0.040,2906,1978,2194,0,0,0,0,0,0
$GC,7681,0.77,173.3,56.4,9.0,481,7687,0.00,2.22,0.00,0.000,4,0.000,0.049,2906,3390,2191,0,0,0,0,0,0
$GC,7849,0.77,173.3,39.5,10.1,512,7856,0.00,2.22,0.00,0.000,6,0.000,0.039,2913,1973,2191,0,0,0,0,0,0
$GC,8177,0.81,206.4,13.7,7.7,573,8211,0.00,2.28,29.33,0.449,4,0.000,0.056,2923,568,2057,0,0,0,0,0,0
$GC,8251,0.89,269.4,7.8,6.4,585,8298,0.00,2.20,41.97,0.442,2,0.000,0.036,2923,1978,1854,0,0,0,0,0,0
$STATE,8298,end climb,SURFACE_DEPTH_REACHED
$STATE,8299,begin surface coast
$FINISH,0.7,1.022991
$STATE,8315,end surface coast,CONTROL_FINISHED_OK
$STATE,8315,begin surface
$SM_CCo,8333,15.73,0.413,0,0,1737,285.03
$SM_GC,0.98,0.00,0.00,15.73,0.000,0.000,0.413,46,1987,1737,-8.17,0.85,285.03
$IRIDIUM_FIX,2059.45,-15850.95,270802,040416
$TT8_MAMPS,0.028379
$HUMID,62.60
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,25.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,407.9,52.3
$24V_AH,24.6,29.661
$10V_AH,10.5,32.557
$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,18.800,67.250,338.750,15.725,0.000,29.970,37.656,154.035,17.250,0.000,23.645,1081.682,4771.082,377.263,2023.935,454.331,0.000,1087.576,0.000,1975.015,0.000,106.344,0.000
$DEVICE_MAMPS,227.032,65.962,765.466,412.646,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.005,333.741,1186.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,31857,595
$CAP_FILE_SIZE,90481,0
$CFSIZE,260165632,237977600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020613,085833,2101.415,-15744.223,21,1.3,39,9.8