version: 66.06
glider: 523
mission: 4
dive: 89
start: 5 4 113 11 26 16
data:
$ID,523
$MISSION,4
$DIVE,89
$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,-37624.848
$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,25
$R_STBD_OVSHOOT,34
$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
$GPS1,112034,2102.181,-15746.081,23,1.1,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-75.9
$GPS2,112559,2102.198,-15746.074,14,1.1,14,9.8
$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,209.8,10281,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.65,0.000,6,0.000,0.000,35,1989,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.6,13,118,9.38,2.35,0.00,0.000,4,0.231,0.050,2392,548,3398,0,0,0,0,0,0
$GC,358,-0.74,-146.0,60.2,-17.1,60,365,0.00,2.20,0.00,0.000,6,0.000,0.037,2384,1961,3401,0,0,0,0,0,0
$GC,688,-0.74,-146.0,104.9,-12.3,103,695,0.00,2.28,0.00,0.000,4,0.000,0.054,2383,544,3402,0,0,0,0,0,0
$GC,804,-0.74,-146.0,120.1,-13.2,113,808,0.00,2.17,0.00,0.000,6,0.000,0.036,2374,1970,3402,0,0,0,0,0,0
$GC,1131,-0.74,-146.0,162.1,-12.3,143,1135,0.00,2.20,0.00,0.000,4,0.000,0.056,2364,3362,3403,0,0,0,0,0,0
$GC,1251,-0.74,-146.0,176.4,-11.6,153,1255,0.12,2.20,0.00,0.000,6,0.155,0.044,2398,1952,3403,0,0,0,0,0,0
$GC,1573,-0.74,-146.0,207.3,-8.1,179,1577,0.00,2.20,0.00,0.000,4,0.000,0.052,2398,544,3404,0,0,0,0,0,0
$GC,1636,-0.74,-146.0,213.1,-9.6,182,1640,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1971,3404,0,0,0,0,0,0
$GC,1963,-0.74,-146.0,242.8,-7.9,198,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1972,3404,0,0,0,0,0,0
$GC,2273,-0.74,-146.0,265.7,-7.0,213,2277,0.00,2.15,0.00,0.000,4,0.000,0.055,2380,3359,3404,0,0,0,0,0,0
$GC,2323,-0.74,-146.0,269.8,-8.0,215,2330,0.00,2.20,0.00,0.000,6,0.000,0.043,2379,1953,3404,0,0,0,0,0,0
$GC,2646,-0.74,-146.0,299.1,-8.5,231,2650,0.00,2.25,0.00,0.000,4,0.000,0.060,2379,543,3404,0,0,0,0,0,0
$GC,2836,-0.74,-146.0,317.3,-9.3,236,2841,0.12,2.15,0.00,0.000,6,0.175,0.040,2402,1958,3403,0,0,0,0,0,0
$GC,3157,-0.74,-146.0,337.9,-6.1,244,3161,0.00,2.25,0.00,0.000,4,0.000,0.061,2404,554,3402,0,0,0,0,0,0
$GC,3288,-0.74,-146.0,347.2,-6.0,246,3294,0.00,2.15,0.00,0.000,6,0.000,0.043,2395,1956,3401,0,0,0,0,0,0
$GC,3622,-0.74,-146.0,370.0,-6.9,255,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1956,3399,0,0,0,0,0,0
$GC,3945,-0.74,-146.0,393.5,-7.6,263,3949,0.00,2.20,0.00,0.000,4,0.000,0.058,2384,3377,3397,0,0,0,0,0,0
$GC,4107,-0.74,-146.0,406.2,-7.9,266,4111,0.00,2.20,0.00,0.000,6,0.000,0.046,2384,1957,3396,0,0,0,0,0,0
$GC,4440,-0.74,-146.0,429.0,-6.6,274,4444,0.00,2.22,0.00,0.000,4,0.000,0.058,2374,3369,3393,0,0,0,0,0,0
$GC,4501,-0.74,-146.0,433.5,-7.8,275,4505,0.00,2.20,0.00,0.000,6,0.000,0.047,2374,1956,3393,0,0,0,0,0,0
$STATE,4719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4719,begin apogee
$GC,4725,-0.17,0.0,450.3,7.7,281,4848,0.65,0.00,118.93,0.792,6,0.125,0.000,2585,1956,2800,0,0,0,0,0,0
$STATE,4848,end apogee,CONTROL_FINISHED_OK
$STATE,4848,begin climb
$GC,4851,0.74,146.0,451.0,0.0,284,4988,0.82,2.45,125.35,0.757,4,0.076,0.054,2872,3381,2202,0,0,0,0,0,0
$GC,5021,0.74,146.0,432.7,14.3,288,5026,0.00,2.33,0.00,0.000,6,0.000,0.049,2880,1981,2200,0,0,0,0,0,0
$GC,5340,0.74,146.0,390.3,13.1,296,5344,0.00,2.33,0.00,0.000,4,0.000,0.069,2892,557,2195,0,0,0,0,0,0
$GC,5395,0.74,146.0,382.7,13.3,297,5399,0.00,2.25,0.00,0.000,6,0.000,0.043,2891,1985,2194,0,0,0,0,0,0
$GC,5743,0.74,146.0,333.3,14.3,306,5747,0.00,2.22,0.00,0.000,4,0.000,0.055,2892,3390,2194,0,0,0,0,0,0
$GC,5764,0.74,146.0,330.1,14.4,306,5769,0.00,2.25,0.00,0.000,6,0.000,0.043,2902,1964,2192,0,0,0,0,0,0
$GC,6082,0.74,146.0,283.5,16.7,316,6086,0.00,2.25,0.00,0.000,4,0.000,0.061,2912,561,2191,0,0,0,0,0,0
$GC,6305,0.74,146.0,252.8,13.1,326,6310,0.12,2.20,0.00,0.000,6,0.153,0.041,2879,1984,2189,0,0,0,0,0,0
$GC,6626,0.74,146.0,212.8,13.2,342,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1985,2188,0,0,0,0,0,0
$GC,6943,0.74,146.0,177.4,10.3,366,6947,0.00,2.15,0.00,0.000,4,0.000,0.054,2879,3387,2187,0,0,0,0,0,0
$GC,6973,0.74,146.0,174.4,10.3,368,6977,0.00,2.20,0.00,0.000,6,0.000,0.043,2888,1976,2187,0,0,0,0,0,0
$GC,7299,0.74,146.0,140.6,11.3,398,7303,0.00,2.22,0.00,0.000,4,0.000,0.058,2887,3383,2187,0,0,0,0,0,0
$GC,7364,0.74,146.0,132.7,11.4,403,7372,0.00,2.25,0.00,0.000,6,0.000,0.048,2895,1973,2186,0,0,0,0,0,0
$GC,7692,0.74,146.0,101.0,9.9,434,7696,0.00,2.22,0.00,0.000,4,0.000,0.059,2906,555,2186,0,0,0,0,0,0
$GC,7808,0.74,146.0,88.9,11.6,444,7812,0.00,2.20,0.00,0.000,6,0.000,0.042,2905,1984,2186,0,0,0,0,0,0
$GC,8137,0.74,146.0,52.8,10.1,497,8143,0.00,2.15,0.00,0.000,4,0.000,0.053,2906,3390,2186,0,0,0,0,0,0
$GC,8184,0.74,146.0,47.5,12.0,505,8190,0.12,2.17,0.00,0.000,6,0.149,0.043,2879,1970,2187,0,0,0,0,0,0
$GC,8511,0.75,160.3,19.8,8.4,566,8532,0.00,2.28,10.73,0.445,4,0.000,0.056,2888,568,2145,0,0,0,0,0,0
$GC,8582,0.77,176.2,13.8,8.4,578,8603,0.00,2.17,14.98,0.450,6,0.000,0.039,2888,1969,2079,0,0,0,0,0,0
$STATE,8705,end climb,SURFACE_DEPTH_REACHED
$STATE,8705,begin surface coast
$FINISH,0.4,1.006388
$STATE,8737,end surface coast,CONTROL_FINISHED_OK
$STATE,8738,begin surface
$SM_CCo,8755,56.30,0.451,0,0,1575,300.24
$SM_GC,1.39,0.00,0.00,56.30,0.000,0.000,0.451,25,1979,1575,-8.17,0.54,300.24
$IRIDIUM_FIX,2057.14,-15736.31,290702,090912
$TT8_MAMPS,0.028379
$HUMID,60.78
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.6,7.660
$10V_AH,10.4,8.385
$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,18.625,80.025,269.975,56.300,0.000,26.529,35.766,140.996,19.000,0.000,15.393,1122.565,5188.707,381.127,2019.394,425.563,0.000,1096.285,0.000,1971.491,0.000,119.246,0.000
$DEVICE_MAMPS,230.867,69.030,791.544,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,412.559,343.169,1183.169,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34949,606
$CAP_FILE_SIZE,96127,0
$CFSIZE,260165632,250892288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,135411,2101.402,-15746.881,24,0.8,24,9.8