version: 66.06
glider: 523
mission: 4
dive: 366
start: 6 2 113 16 46 39
data:
$ID,523
$MISSION,4
$DIVE,366
$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,-43086.699
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,164014,2059.234,-15746.156,43,0.9,43,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.8
$GPS2,164623,2059.297,-15746.130,19,0.8,19,9.8
$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,238.6,6939,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,88,0.00,0.00,-68.88,0.000,2,0.000,0.000,38,1975,3388,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.5,-5.6,11,113,9.57,2.22,-2.25,0.000,4,0.228,0.067,2405,3358,3499,0,0,0,0,0,0
$GC,295,-0.74,-146.0,47.4,-16.8,48,303,0.00,2.25,0.00,0.000,6,0.000,0.044,2405,1954,3500,0,0,0,0,0,0
$GC,626,-0.74,-146.0,102.0,-13.8,96,630,0.00,2.25,0.00,0.000,4,0.000,0.054,2405,543,3501,0,0,0,0,0,0
$GC,744,-0.74,-146.0,119.5,-14.8,106,748,0.00,2.15,0.00,0.000,6,0.000,0.034,2395,1960,3501,0,0,0,0,0,0
$GC,1076,-0.74,-146.0,159.3,-11.2,137,1081,0.00,2.25,0.00,0.000,4,0.000,0.050,2396,544,3502,0,0,0,0,0,0
$GC,1177,-0.74,-146.0,171.7,-12.6,146,1181,0.12,2.12,0.00,0.000,6,0.159,0.033,2420,1963,3502,0,0,0,0,0,0
$GC,1515,-0.74,-146.0,208.8,-10.3,174,1519,0.00,2.28,0.00,0.000,4,0.000,0.051,2420,545,3504,0,0,0,0,0,0
$GC,1629,-0.74,-146.0,219.2,-8.2,179,1633,0.00,2.15,0.00,0.000,6,0.000,0.034,2412,1967,3504,0,0,0,0,0,0
$GC,1954,-0.74,-146.0,245.9,-8.5,195,1958,0.00,2.17,0.00,0.000,4,0.000,0.054,2401,3362,3504,0,0,0,0,0,0
$GC,2049,-0.74,-146.0,253.9,-7.4,199,2053,0.00,2.20,0.00,0.000,6,0.000,0.041,2402,1954,3504,0,0,0,0,0,0
$GC,2364,-0.74,-146.0,282.5,-9.2,214,2368,0.00,2.20,0.00,0.000,4,0.000,0.054,2402,544,3503,0,0,0,0,0,0
$GC,2544,-0.74,-146.0,300.0,-8.8,222,2549,0.10,2.15,0.00,0.000,6,0.171,0.035,2419,1964,3503,0,0,0,0,0,0
$GC,2884,-0.74,-146.0,327.3,-8.2,231,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1965,3503,0,0,0,0,0,0
$GC,3207,-0.74,-146.0,354.5,-8.1,239,3212,0.00,2.30,0.00,0.000,4,0.000,0.056,2419,548,3502,0,0,0,0,0,0
$GC,3374,-0.74,-146.0,369.7,-8.8,242,3379,0.00,2.15,0.00,0.000,6,0.000,0.037,2411,1954,3501,0,0,0,0,0,0
$GC,3711,-0.74,-146.0,394.6,-7.2,251,3717,0.00,2.28,0.00,0.000,4,0.000,0.056,2411,546,3500,0,0,0,0,0,0
$GC,3875,-0.74,-146.0,407.9,-8.5,254,3879,0.00,2.15,0.00,0.000,6,0.000,0.039,2401,1954,3498,0,0,0,0,0,0
$GC,4217,-0.74,-146.0,435.1,-8.2,263,4221,0.00,2.28,0.00,0.000,4,0.000,0.058,2401,549,3496,0,0,0,0,0,0
$GC,4296,-0.74,-146.0,442.0,-8.9,264,4302,0.10,2.17,0.00,0.000,6,0.173,0.041,2418,1955,3495,0,0,0,0,0,0
$GC,4627,-0.74,-146.0,449.3,0.0,273,4631,0.00,2.22,0.00,0.000,4,0.000,0.062,2416,3363,3493,0,0,0,0,0,0
$STATE,4664,end dive,NO_VERTICAL_VELOCITY
$STATE,4664,begin apogee
$GC,4672,-0.17,0.0,449.2,0.0,273,4798,0.52,0.00,119.10,0.768,6,0.083,0.000,2604,1980,2899,0,0,0,0,0,0
$STATE,4799,end apogee,CONTROL_FINISHED_OK
$STATE,4799,begin climb
$GC,4802,0.74,146.0,448.6,0.0,277,4931,0.85,0.00,125.80,0.742,6,0.072,0.000,2897,1980,2304,0,0,0,0,0,0
$GC,5246,0.74,146.0,390.7,14.6,288,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1980,2297,0,0,0,0,0,0
$GC,5571,0.74,146.0,346.9,13.0,296,5575,0.00,2.28,0.00,0.000,4,0.000,0.060,2908,573,2294,0,0,0,0,0,0
$GC,5655,0.74,146.0,334.9,14.0,298,5659,0.00,2.20,0.00,0.000,6,0.000,0.042,2908,1982,2292,0,0,0,0,0,0
$GC,5986,0.74,146.0,289.2,13.4,307,5990,0.00,2.17,0.00,0.000,4,0.000,0.052,2908,3390,2291,0,0,0,0,0,0
$GC,6120,0.74,146.0,270.7,14.8,313,6124,0.00,2.25,0.00,0.000,6,0.000,0.051,2918,1984,2290,0,0,0,0,0,0
$GC,6441,0.74,146.0,228.7,13.1,329,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1984,2289,0,0,0,0,0,0
$GC,6754,0.74,146.0,189.1,11.4,348,6758,0.00,2.28,0.00,0.000,4,0.000,0.060,2918,3392,2289,0,0,0,0,0,0
$GC,6785,0.74,146.0,185.5,11.3,350,6789,0.00,2.25,0.00,0.000,6,0.000,0.049,2926,1980,2289,0,0,0,0,0,0
$GC,7111,0.74,146.0,147.6,10.6,380,7115,0.00,2.25,0.00,0.000,4,0.000,0.058,2926,3387,2289,0,0,0,0,0,0
$GC,7198,0.74,146.0,137.0,11.7,387,7204,0.10,2.25,0.00,0.000,6,0.130,0.049,2902,1983,2288,0,0,0,0,0,0
$GC,7525,0.77,172.1,108.6,8.0,418,7552,0.00,2.30,20.45,0.531,4,0.000,0.058,2910,568,2197,0,0,0,0,0,0
$GC,7701,0.77,172.1,91.8,10.0,434,7706,0.00,2.22,0.00,0.000,6,0.000,0.042,2910,1998,2195,0,0,0,0,0,0
$GC,8032,0.78,183.3,66.2,8.6,480,8051,0.00,2.20,10.93,0.461,4,0.000,0.051,2911,3386,2151,0,0,0,0,0,0
$GC,8112,0.80,197.1,59.5,8.5,494,8132,0.00,2.25,13.25,0.463,6,0.000,0.045,2920,1977,2095,0,0,0,0,0,0
$GC,8464,0.81,207.1,29.0,8.6,557,8479,0.00,2.28,10.07,0.423,4,0.000,0.056,2930,571,2053,0,0,0,0,0,0
$GC,8545,0.85,237.6,22.1,7.8,571,8578,0.00,2.20,26.30,0.447,6,0.000,0.040,2930,1969,1931,0,0,0,0,0,0
$STATE,8729,end climb,SURFACE_DEPTH_REACHED
$STATE,8729,begin surface coast
$FINISH,0.5,1.022886
$STATE,8758,end surface coast,CONTROL_FINISHED_OK
$STATE,8758,begin surface
$SM_CCo,8776,24.08,0.420,0,0,1737,285.03
$SM_GC,1.44,0.00,0.00,24.08,0.000,0.000,0.420,37,1980,1737,-8.20,0.65,285.03
$IRIDIUM_FIX,2050.21,-15742.34,270802,141425
$TT8_MAMPS,0.028379
$HUMID,62.60
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,25.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,412.5,36.5
$24V_AH,24.6,29.986
$10V_AH,10.5,32.919
$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,18.700,75.550,325.900,24.075,0.000,30.091,38.652,166.447,18.000,0.000,20.190,1111.151,5178.753,398.232,2004.190,475.920,0.000,1104.618,0.000,1959.363,0.000,115.924,0.000
$DEVICE_MAMPS,227.799,66.729,767.767,420.316,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,414.593,352.421,1188.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34934,610
$CAP_FILE_SIZE,94042,0
$CFSIZE,260165632,237780992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020613,191453,2058.605,-15746.927,54,0.9,54,9.8