version: 66.06
glider: 523
mission: 4
dive: 231
start: 5 19 113 9 10 10
data:
$ID,523
$MISSION,4
$DIVE,231
$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,-40427.062
$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,29
$R_STBD_OVSHOOT,31
$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
$GPS1,090429,2102.117,-15744.967,12,1.0,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.5
$GPS2,090953,2102.105,-15744.983,14,1.0,14,9.8
$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,217.6,11457,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.68,0.000,2,0.000,0.000,32,1991,3347,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.3,12,113,9.48,2.22,-1.10,0.000,4,0.229,0.064,2383,3374,3397,0,0,0,0,0,0
$GC,356,-0.74,-146.0,50.5,-14.3,59,361,0.00,2.22,0.00,0.000,6,0.000,0.041,2382,1956,3399,0,0,0,0,0,0
$GC,685,-0.74,-146.0,97.1,-12.2,108,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1956,3401,0,0,0,0,0,0
$GC,1003,-0.74,-146.0,139.6,-13.5,138,1008,0.00,2.22,0.00,0.000,4,0.000,0.054,2383,540,3402,0,0,0,0,0,0
$GC,1071,-0.74,-146.0,149.5,-15.4,144,1075,0.00,2.15,0.00,0.000,6,0.000,0.033,2374,1968,3402,0,0,0,0,0,0
$GC,1403,-0.74,-146.0,191.9,-9.9,175,1407,0.00,2.25,0.00,0.000,4,0.000,0.051,2374,543,3403,0,0,0,0,0,0
$GC,1658,-0.74,-146.0,218.0,-9.3,189,1664,0.15,2.12,0.00,0.000,6,0.160,0.032,2404,1962,3404,0,0,0,0,0,0
$GC,1973,-0.74,-146.0,244.8,-10.1,205,1978,0.00,2.15,0.00,0.000,4,0.000,0.052,2396,3366,3404,0,0,0,0,0,0
$GC,2041,-0.74,-146.0,251.7,-9.7,208,2045,0.00,2.20,0.00,0.000,6,0.000,0.042,2396,1958,3404,0,0,0,0,0,0
$GC,2368,-0.74,-146.0,280.1,-7.5,224,2372,0.00,2.20,0.00,0.000,4,0.000,0.055,2396,553,3404,0,0,0,0,0,0
$GC,2514,-0.74,-146.0,291.2,-7.6,230,2520,0.00,2.12,0.00,0.000,6,0.000,0.036,2386,1964,3404,0,0,0,0,0,0
$GC,2847,-0.74,-146.0,314.8,-7.0,242,2852,0.00,2.15,0.00,0.000,4,0.000,0.054,2376,3367,3404,0,0,0,0,0,0
$GC,2973,-0.74,-146.0,324.3,-8.2,244,2977,0.00,2.17,0.00,0.000,6,0.000,0.040,2376,1957,3404,0,0,0,0,0,0
$GC,3312,-0.74,-146.0,356.7,-10.5,253,3316,0.00,2.22,0.00,0.000,4,0.000,0.053,2366,3359,3402,0,0,0,0,0,0
$GC,3362,-0.74,-146.0,362.7,-11.1,254,3367,0.12,2.17,0.00,0.000,6,0.149,0.042,2399,1955,3402,0,0,0,0,0,0
$GC,3677,-0.74,-146.0,388.4,-7.4,262,3681,0.00,2.22,0.00,0.000,4,0.000,0.061,2399,553,3400,0,0,0,0,0,0
$GC,3777,-0.74,-146.0,397.1,-9.2,264,3781,0.00,2.15,0.00,0.000,6,0.000,0.039,2392,1963,3400,0,0,0,0,0,0
$GC,4127,-0.74,-146.0,425.7,-9.9,273,4131,0.00,2.20,0.00,0.000,4,0.000,0.058,2381,3369,3397,0,0,0,0,0,0
$GC,4222,-0.74,-146.0,433.0,-4.8,275,4226,0.00,2.20,0.00,0.000,6,0.000,0.042,2381,1958,3396,0,0,0,0,0,0
$STATE,4501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4501,begin apogee
$GC,4507,-0.17,0.0,450.0,7.1,282,4629,0.62,0.00,119.07,0.785,6,0.126,0.000,2580,1958,2800,0,0,0,0,0,0
$STATE,4630,end apogee,CONTROL_FINISHED_OK
$STATE,4630,begin climb
$GC,4633,0.74,146.0,453.1,0.0,285,4770,0.85,2.45,125.32,0.755,4,0.080,0.051,2872,3380,2202,0,0,0,0,0,0
$GC,4815,0.74,146.0,433.5,16.3,289,4819,0.00,2.30,0.00,0.000,6,0.000,0.047,2882,1980,2199,0,0,0,0,0,0
$GC,5163,0.74,146.0,381.4,15.4,298,5167,0.00,2.30,0.00,0.000,4,0.000,0.060,2892,557,2195,0,0,0,0,0,0
$GC,5236,0.74,146.0,370.1,15.6,299,5241,0.00,2.22,0.00,0.000,6,0.000,0.043,2892,1969,2194,0,0,0,0,0,0
$GC,5568,0.74,146.0,319.3,14.8,307,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1970,2192,0,0,0,0,0,0
$GC,5874,0.74,146.0,275.9,14.1,318,5878,0.00,2.17,0.00,0.000,4,0.000,0.052,2892,3384,2190,0,0,0,0,0,0
$GC,5964,0.74,146.0,262.9,14.4,322,5968,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1968,2190,0,0,0,0,0,0
$GC,6284,0.74,146.0,218.4,14.6,338,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1968,2189,0,0,0,0,0,0
$GC,6601,0.74,146.0,177.7,13.3,361,6605,0.00,2.22,0.00,0.000,4,0.000,0.059,2913,568,2188,0,0,0,0,0,0
$GC,6695,0.74,146.0,165.5,12.8,369,6700,0.12,2.17,0.00,0.000,6,0.146,0.038,2879,1984,2187,0,0,0,0,0,0
$GC,7022,0.74,146.0,132.5,11.2,399,7026,0.00,2.28,0.00,0.000,4,0.000,0.055,2887,561,2186,0,0,0,0,0,0
$GC,7042,0.74,146.0,130.4,10.6,400,7046,0.00,2.17,0.00,0.000,6,0.000,0.038,2887,1982,2186,0,0,0,0,0,0
$GC,7369,0.76,168.9,99.0,8.1,430,7393,0.00,2.17,17.70,0.537,4,0.000,0.048,2887,3382,2110,0,0,0,0,0,0
$GC,7496,0.76,168.9,86.4,11.3,441,7500,0.00,2.17,0.00,0.000,6,0.000,0.038,2896,1969,2108,0,0,0,0,0,0
$GC,7824,0.76,168.9,52.9,9.3,496,7831,0.00,2.25,0.00,0.000,4,0.000,0.048,2896,3377,2108,0,0,0,0,0,0
$GC,7856,0.76,168.9,49.7,10.5,501,7861,0.00,2.17,0.00,0.000,6,0.000,0.039,2906,1972,2108,0,0,0,0,0,0
$GC,8183,0.76,168.9,17.1,11.1,562,8191,0.00,2.25,0.00,0.000,4,0.000,0.056,2916,567,2108,0,0,0,0,0,0
$GC,8227,0.76,168.9,12.8,10.5,569,8234,0.00,2.17,0.00,0.000,6,0.000,0.035,2916,1979,2108,0,0,0,0,0,0
$STATE,8322,end climb,SURFACE_DEPTH_REACHED
$STATE,8322,begin surface coast
$FINISH,0.6,1.186302
$STATE,8347,end surface coast,CONTROL_FINISHED_OK
$STATE,8347,begin surface
$SM_CCo,8365,59.80,0.449,0,0,1575,300.24
$SM_GC,1.40,0.00,0.00,59.80,0.000,0.000,0.449,37,1985,1575,-8.14,0.71,300.24
$IRIDIUM_FIX,2059.45,-15741.46,130802,060622
$TT8_MAMPS,0.028379
$HUMID,62.48
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.7,19.052
$10V_AH,10.5,20.831
$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,18.700,75.100,262.100,59.800,0.000,27.015,36.603,136.052,19.250,0.000,15.126,1090.802,4890.021,375.774,1966.891,424.821,0.000,1059.438,0.000,1917.610,0.000,122.066,0.000
$DEVICE_MAMPS,229.333,63.661,784.641,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.165,338.797,1163.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,34961,591
$CAP_FILE_SIZE,92170,0
$CFSIZE,260165632,244211712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190513,113152,2101.259,-15745.699,38,1.0,38,9.8