version: 66.06
glider: 523
mission: 4
dive: 232
start: 5 19 113 11 37 34
data:
$ID,523
$MISSION,4
$DIVE,232
$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,-40446.055
$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,28
$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
$GPS1,113152,2101.259,-15745.699,38,1.0,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.4
$GPS2,113717,2101.241,-15745.697,17,1.1,17,9.8
$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,219.7,9471,-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,-77.68,0.000,6,0.000,0.000,37,1985,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.9,13,118,9.50,2.28,0.00,0.000,4,0.233,0.049,2396,551,3397,0,0,0,0,0,0
$GC,358,-0.74,-146.0,56.7,-17.4,60,365,0.00,2.17,0.00,0.000,6,0.000,0.036,2387,1956,3399,0,0,0,0,0,0
$GC,688,-0.74,-146.0,108.3,-14.2,103,692,0.00,2.25,0.00,0.000,4,0.000,0.052,2388,551,3400,0,0,0,0,0,0
$GC,753,-0.74,-146.0,116.1,-12.2,108,757,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1972,3400,0,0,0,0,0,0
$GC,1080,-0.74,-146.0,154.8,-12.2,138,1085,0.00,2.25,0.00,0.000,4,0.000,0.051,2378,544,3401,0,0,0,0,0,0
$GC,1227,-0.74,-146.0,174.9,-12.4,151,1235,0.10,2.15,0.00,0.000,6,0.141,0.035,2401,1953,3402,0,0,0,0,0,0
$GC,1551,-0.74,-146.0,205.3,-10.4,180,1555,0.00,2.22,0.00,0.000,4,0.000,0.051,2402,552,3402,0,0,0,0,0,0
$GC,1681,-0.74,-146.0,220.8,-11.8,186,1685,0.00,2.12,0.00,0.000,6,0.000,0.033,2394,1961,3403,0,0,0,0,0,0
$GC,2010,-0.74,-146.0,249.0,-7.4,202,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1962,3403,0,0,0,0,0,0
$GC,2316,-0.74,-146.0,275.0,-9.6,217,2321,0.00,2.28,0.00,0.000,4,0.000,0.053,2394,553,3403,0,0,0,0,0,0
$GC,2552,-0.74,-146.0,298.5,-9.5,227,2556,0.00,2.15,0.00,0.000,6,0.000,0.035,2384,1967,3402,0,0,0,0,0,0
$GC,2864,-0.74,-146.0,323.8,-7.8,235,2868,0.00,2.20,0.00,0.000,4,0.000,0.055,2374,3364,3402,0,0,0,0,0,0
$GC,2908,-0.74,-146.0,327.2,-7.5,236,2912,0.00,2.20,0.00,0.000,6,0.000,0.041,2374,1954,3402,0,0,0,0,0,0
$GC,3230,-0.74,-146.0,351.5,-7.8,244,3234,0.00,2.22,0.00,0.000,4,0.000,0.053,2365,3363,3400,0,0,0,0,0,0
$GC,3325,-0.74,-146.0,360.3,-9.7,246,3330,0.12,2.20,0.00,0.000,6,0.153,0.042,2397,1948,3399,0,0,0,0,0,0
$GC,3641,-0.74,-146.0,386.3,-8.5,254,3645,0.00,2.22,0.00,0.000,4,0.000,0.061,2398,557,3398,0,0,0,0,0,0
$GC,3853,-0.74,-146.0,407.5,-9.6,258,3858,0.00,2.15,0.00,0.000,6,0.000,0.040,2389,1955,3397,0,0,0,0,0,0
$GC,4185,-0.74,-146.0,432.9,-6.7,267,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1956,3395,0,0,0,0,0,0
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4472,-0.17,0.0,451.2,6.8,274,4594,0.60,0.00,118.72,0.779,6,0.124,0.000,2582,1956,2800,0,0,0,0,0,0
$STATE,4595,end apogee,CONTROL_FINISHED_OK
$STATE,4595,begin climb
$GC,4597,0.74,146.0,452.7,0.0,277,4732,0.85,2.38,125.15,0.750,4,0.081,0.058,2874,3378,2203,0,0,0,0,0,0
$GC,4761,0.74,146.0,434.0,15.4,281,4766,0.00,2.35,0.00,0.000,6,0.000,0.048,2883,1979,2201,0,0,0,0,0,0
$GC,5086,0.74,146.0,383.6,15.4,289,5090,0.00,2.33,0.00,0.000,4,0.000,0.068,2893,563,2196,0,0,0,0,0,0
$GC,5125,0.74,146.0,377.4,15.7,290,5129,0.00,2.22,0.00,0.000,6,0.000,0.042,2893,1972,2196,0,0,0,0,0,0
$GC,5449,0.74,146.0,332.4,14.0,298,5453,0.00,2.33,0.00,0.000,4,0.000,0.067,2901,555,2193,0,0,0,0,0,0
$GC,5476,0.74,146.0,327.9,16.1,298,5480,0.00,2.25,0.00,0.000,6,0.000,0.045,2901,1980,2193,0,0,0,0,0,0
$GC,5788,0.74,146.0,280.5,14.6,308,5792,0.00,2.17,0.00,0.000,4,0.000,0.051,2901,3397,2192,0,0,0,0,0,0
$GC,5906,0.74,146.0,262.2,15.7,313,5911,0.12,2.22,0.00,0.000,6,0.162,0.040,2878,1966,2191,0,0,0,0,0,0
$GC,6222,0.74,146.0,226.4,10.8,328,6226,0.00,2.20,0.00,0.000,4,0.000,0.058,2887,560,2190,0,0,0,0,0,0
$GC,6261,0.74,146.0,222.0,10.8,330,6266,0.00,2.20,0.00,0.000,6,0.000,0.038,2887,1993,2190,0,0,0,0,0,0
$GC,6583,0.74,146.0,187.1,11.5,350,6587,0.00,2.15,0.00,0.000,4,0.000,0.052,2886,3383,2189,0,0,0,0,0,0
$GC,6700,0.74,146.0,173.0,11.6,360,6704,0.00,2.20,0.00,0.000,6,0.000,0.040,2897,1966,2188,0,0,0,0,0,0
$GC,7028,0.74,146.0,138.2,11.9,390,7032,0.00,2.20,0.00,0.000,4,0.000,0.058,2907,567,2188,0,0,0,0,0,0
$GC,7122,0.74,146.0,127.1,11.4,398,7126,0.00,2.15,0.00,0.000,6,0.000,0.037,2907,1975,2188,0,0,0,0,0,0
$GC,7450,0.74,146.0,85.6,12.4,428,7454,0.00,2.17,0.00,0.000,4,0.000,0.051,2907,3386,2187,0,0,0,0,0,0
$GC,7560,0.74,146.0,71.9,11.6,443,7566,0.15,2.17,0.00,0.000,6,0.144,0.038,2872,1976,2188,0,0,0,0,0,0
$GC,7893,0.79,187.2,46.4,7.3,504,7935,0.00,2.28,32.88,0.492,4,0.000,0.056,2881,567,2034,0,0,0,0,0,0
$GC,7995,0.81,209.5,38.8,8.1,521,8019,0.00,2.17,19.58,0.466,6,0.000,0.035,2881,1985,1945,0,0,0,0,0,0
$GC,8341,0.81,209.5,7.8,10.0,585,8348,0.00,2.30,0.00,0.000,4,0.000,0.058,2890,569,1943,0,0,0,0,0,0
$GC,8373,0.81,209.5,4.5,9.9,590,8380,0.00,2.20,0.00,0.000,6,0.000,0.039,2890,1973,1943,0,0,0,0,0,0
$STATE,8391,end climb,SURFACE_DEPTH_REACHED
$STATE,8392,begin surface coast
$FINISH,0.4,1.657850
$STATE,8424,end surface coast,CONTROL_FINISHED_OK
$STATE,8424,begin surface
$SM_CCo,8442,41.88,0.439,0,0,1574,300.24
$SM_GC,1.40,0.00,0.00,41.88,0.000,0.000,0.439,48,1976,1574,-8.10,0.48,300.24
$IRIDIUM_FIX,2054.83,-15746.61,130802,090914
$TT8_MAMPS,0.028379
$HUMID,62.48
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,435.2,39.6
$24V_AH,24.7,19.131
$10V_AH,10.5,20.918
$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,18.775,79.875,296.325,41.875,0.000,24.825,34.311,137.528,19.000,0.000,18.363,1101.130,4900.742,381.209,2001.443,425.035,0.000,1096.731,0.000,1950.902,0.000,124.673,0.000
$DEVICE_MAMPS,233.168,68.263,779.272,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.499,340.115,1168.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34892,599
$CAP_FILE_SIZE,94617,0
$CFSIZE,260165632,244162560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190513,135953,2100.476,-15746.324,16,1.0,16,9.8