version: 66.06
glider: 523
mission: 4
dive: 42
start: 4 29 113 13 6 29
data:
$ID,523
$MISSION,4
$DIVE,42
$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,-36724.145
$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,25
$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
$GPS1,130043,2059.035,-15748.149,14,0.9,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-74.0
$GPS2,130613,2059.069,-15748.132,19,1.0,20,9.8
$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,224.7,3671,-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,-76.30,0.000,2,0.000,0.000,30,1974,3375,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-6.2,12,113,9.45,2.30,-0.43,0.000,4,0.232,0.062,2392,541,3396,0,0,0,0,0,0
$GC,172,-0.74,-146.0,23.4,-19.8,25,179,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1956,3397,0,0,0,0,0,0
$GC,342,-0.74,-146.0,52.8,-17.0,56,349,0.00,2.30,0.00,0.000,4,0.000,0.055,2384,546,3398,0,0,0,0,0,0
$GC,374,-0.74,-146.0,57.8,-15.4,61,380,0.00,2.20,0.00,0.000,6,0.000,0.040,2375,1965,3398,0,0,0,0,0,0
$GC,709,-0.74,-146.0,108.9,-14.9,105,714,0.00,2.22,0.00,0.000,4,0.000,0.054,2365,3377,3399,0,0,0,0,0,0
$GC,777,-0.74,-146.0,119.1,-15.1,111,782,0.12,2.25,0.00,0.000,6,0.158,0.045,2397,1952,3399,0,0,0,0,0,0
$GC,1110,-0.74,-146.0,157.9,-11.1,142,1114,0.00,2.20,0.00,0.000,4,0.000,0.052,2397,541,3401,0,0,0,0,0,0
$GC,1258,-0.74,-146.0,174.2,-10.4,155,1264,0.00,2.17,0.00,0.000,6,0.000,0.035,2389,1981,3401,0,0,0,0,0,0
$GC,1598,-0.74,-146.0,211.0,-10.3,182,1602,0.00,2.28,0.00,0.000,4,0.000,0.053,2389,542,3402,0,0,0,0,0,0
$GC,1761,-0.74,-146.0,227.3,-9.8,189,1765,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1970,3402,0,0,0,0,0,0
$GC,2078,-0.74,-146.0,258.8,-10.3,204,2082,0.00,2.15,0.00,0.000,4,0.000,0.057,2369,3356,3402,0,0,0,0,0,0
$GC,2218,-0.74,-146.0,272.5,-9.0,210,2222,0.12,2.17,0.00,0.000,6,0.146,0.044,2404,1949,3402,0,0,0,0,0,0
$GC,2535,-0.74,-146.0,300.9,-9.9,225,2539,0.00,2.17,0.00,0.000,4,0.000,0.058,2404,552,3402,0,0,0,0,0,0
$GC,2686,-0.74,-146.0,315.8,-9.2,228,2690,0.00,2.15,0.00,0.000,6,0.000,0.039,2396,1963,3402,0,0,0,0,0,0
$GC,3032,-0.74,-146.0,341.4,-7.0,237,3036,0.00,2.17,0.00,0.000,4,0.000,0.058,2386,3364,3401,0,0,0,0,0,0
$GC,3290,-0.74,-146.0,362.1,-9.4,242,3296,0.00,2.17,0.00,0.000,6,0.000,0.041,2386,1956,3401,0,0,0,0,0,0
$GC,3623,-0.74,-146.0,394.1,-9.4,251,3627,0.00,2.22,0.00,0.000,4,0.000,0.057,2377,3365,3398,0,0,0,0,0,0
$GC,3678,-0.74,-146.0,399.5,-9.3,252,3682,0.00,2.15,0.00,0.000,6,0.000,0.041,2377,1953,3398,0,0,0,0,0,0
$GC,4028,-0.74,-146.0,429.0,-8.7,261,4032,0.00,2.22,0.00,0.000,4,0.000,0.064,2377,548,3396,0,0,0,0,0,0
$STATE,4255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4255,begin apogee
$GC,4264,-0.17,0.0,450.2,8.6,266,4385,0.65,0.00,118.03,0.785,6,0.127,0.000,2582,1981,2800,0,0,0,0,0,0
$STATE,4386,end apogee,CONTROL_FINISHED_OK
$STATE,4386,begin climb
$GC,4389,0.74,146.0,451.7,0.0,269,4523,0.85,2.35,124.50,0.755,4,0.074,0.061,2878,3383,2204,0,0,0,0,0,0
$GC,4568,0.74,146.0,431.8,15.1,273,4572,0.00,2.28,0.00,0.000,6,0.000,0.043,2888,1981,2201,0,0,0,0,0,0
$GC,4915,0.74,146.0,381.1,14.8,282,4919,0.00,2.28,0.00,0.000,4,0.000,0.063,2898,567,2196,0,0,0,0,0,0
$GC,5016,0.74,146.0,365.8,15.0,284,5020,0.00,2.20,0.00,0.000,6,0.000,0.041,2898,1979,2195,0,0,0,0,0,0
$GC,5363,0.74,146.0,315.6,14.3,293,5367,0.00,2.17,0.00,0.000,4,0.000,0.056,2898,3385,2193,0,0,0,0,0,0
$GC,5437,0.74,146.0,305.4,14.5,294,5441,0.00,2.22,0.00,0.000,6,0.000,0.044,2907,1963,2193,0,0,0,0,0,0
$GC,5752,0.74,146.0,263.4,12.7,308,5756,0.00,2.20,0.00,0.000,4,0.000,0.061,2917,564,2191,0,0,0,0,0,0
$GC,5841,0.74,146.0,252.5,12.2,312,5845,0.15,2.17,0.00,0.000,6,0.148,0.041,2876,1976,2191,0,0,0,0,0,0
$GC,6161,0.74,146.0,220.6,9.3,328,6165,0.00,2.17,0.00,0.000,4,0.000,0.056,2875,3378,2190,0,0,0,0,0,0
$GC,6269,0.74,146.0,208.9,11.4,333,6273,0.00,2.17,0.00,0.000,6,0.000,0.043,2883,1973,2190,0,0,0,0,0,0
$GC,6594,0.74,146.0,174.1,11.1,359,6598,0.00,2.20,0.00,0.000,4,0.000,0.060,2894,570,2189,0,0,0,0,0,0
$GC,6808,0.74,146.0,151.1,10.4,378,6812,0.00,2.15,0.00,0.000,6,0.000,0.039,2894,1978,2188,0,0,0,0,0,0
$GC,7135,0.74,151.1,119.2,8.8,408,7139,0.00,2.22,0.00,0.000,4,0.000,0.057,2902,563,2187,0,0,0,0,0,0
$GC,7187,0.74,151.1,114.4,10.1,412,7191,0.00,2.15,0.00,0.000,6,0.000,0.038,2902,1976,2187,0,0,0,0,0,0
$GC,7514,0.74,151.1,77.7,11.4,443,7519,0.00,2.17,0.00,0.000,4,0.000,0.053,2902,3386,2188,0,0,0,0,0,0
$GC,7571,0.74,151.1,71.4,11.6,453,7577,0.12,2.20,0.00,0.000,6,0.154,0.043,2877,1967,2188,0,0,0,0,0,0
$GC,7901,0.75,154.9,42.5,8.9,514,7914,0.00,2.20,6.55,0.425,4,0.000,0.051,2877,3377,2167,0,0,0,0,0,0
$GC,7958,0.75,154.9,37.1,9.7,524,7965,0.00,2.20,0.00,0.000,6,0.000,0.044,2882,1982,2167,0,0,0,0,0,0
$GC,8286,0.76,168.2,10.2,8.5,585,8307,0.00,2.28,12.73,0.443,4,0.000,0.058,2893,568,2113,0,0,0,0,0,0
$STATE,8365,end climb,SURFACE_DEPTH_REACHED
$STATE,8365,begin surface coast
$FINISH,0.7,1.023506
$STATE,8399,end surface coast,CONTROL_FINISHED_OK
$STATE,8399,begin surface
$SM_CCo,8419,57.30,0.450,0,0,1574,300.24
$SM_GC,1.30,0.00,0.00,57.30,0.000,0.000,0.450,42,1968,1574,-8.12,0.23,300.24
$IRIDIUM_FIX,2054.83,-15751.76,240702,101051
$TT8_MAMPS,0.028379
$HUMID,59.92
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,425.4,54.9
$24V_AH,24.6,3.919
$10V_AH,10.6,4.256
$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,18.650,88.300,261.800,57.300,0.000,27.648,38.481,139.096,18.250,0.000,21.050,1143.342,4715.667,372.496,2138.820,436.498,0.000,1125.328,0.000,2084.224,0.000,119.167,0.000
$DEVICE_MAMPS,232.401,64.428,785.408,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.277,347.730,1212.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34990,605
$CAP_FILE_SIZE,98687,0
$CFSIZE,260165632,253087744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290413,152904,2057.937,-15749.098,39,0.8,39,9.8