version: 66.06
glider: 523
mission: 4
dive: 233
start: 5 19 113 14 5 59
data:
$ID,523
$MISSION,4
$DIVE,233
$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,-40467.586
$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,26
$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
$GPS1,135953,2100.476,-15746.324,16,1.0,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.9
$GPS2,140543,2100.478,-15746.331,20,1.3,20,9.8
$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,222.4,7728,-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,-78.07,0.000,6,0.000,0.000,48,1977,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.0,13,118,9.48,2.17,0.00,0.000,4,0.232,0.045,2382,3377,3397,0,0,0,0,0,0
$GC,359,-0.74,-146.0,57.9,-17.5,60,366,0.00,2.28,0.00,0.000,6,0.000,0.041,2381,1949,3398,0,0,0,0,0,0
$GC,695,-0.74,-146.0,109.5,-15.1,104,702,0.00,2.28,0.00,0.000,4,0.000,0.051,2372,3368,3399,0,0,0,0,0,0
$GC,743,-0.74,-146.0,116.2,-13.8,108,748,0.10,2.22,0.00,0.000,6,0.164,0.042,2397,1949,3399,0,0,0,0,0,0
$GC,1070,-0.74,-146.0,158.7,-12.1,138,1074,0.00,2.20,0.00,0.000,4,0.000,0.053,2397,545,3401,0,0,0,0,0,0
$GC,1297,-0.74,-146.0,187.9,-10.5,158,1301,0.00,2.15,0.00,0.000,6,0.000,0.034,2389,1974,3401,0,0,0,0,0,0
$GC,1626,-0.74,-146.0,219.4,-9.6,179,1630,0.00,2.15,0.00,0.000,4,0.000,0.052,2378,3358,3402,0,0,0,0,0,0
$GC,1704,-0.74,-146.0,227.7,-10.0,182,1710,0.00,2.17,0.00,0.000,6,0.000,0.042,2378,1959,3402,0,0,0,0,0,0
$GC,2024,-0.74,-146.0,255.5,-7.6,198,2028,0.00,2.20,0.00,0.000,4,0.000,0.051,2379,550,3402,0,0,0,0,0,0
$GC,2079,-0.74,-146.0,260.8,-8.9,200,2086,0.12,2.12,0.00,0.000,6,0.169,0.034,2402,1963,3402,0,0,0,0,0,0
$GC,2398,-0.74,-146.0,286.5,-7.2,216,2401,0.00,2.20,0.00,0.000,4,0.000,0.054,2393,3361,3402,0,0,0,0,0,0
$GC,2460,-0.74,-146.0,291.6,-7.8,219,2464,0.00,2.17,0.00,0.000,6,0.000,0.041,2393,1955,3402,0,0,0,0,0,0
$GC,2787,-0.74,-146.0,317.0,-7.8,230,2791,0.00,2.22,0.00,0.000,4,0.000,0.056,2393,546,3402,0,0,0,0,0,0
$GC,2849,-0.74,-146.0,322.4,-8.4,231,2853,0.00,2.15,0.00,0.000,6,0.000,0.038,2383,1957,3401,0,0,0,0,0,0
$GC,3194,-0.74,-146.0,345.9,-6.3,240,3198,0.00,2.17,0.00,0.000,4,0.000,0.056,2373,3371,3400,0,0,0,0,0,0
$GC,3384,-0.74,-146.0,360.5,-7.6,244,3388,0.00,2.20,0.00,0.000,6,0.000,0.041,2373,1956,3400,0,0,0,0,0,0
$GC,3698,-0.74,-146.0,386.4,-8.9,252,3702,0.00,2.22,0.00,0.000,4,0.000,0.061,2373,555,3398,0,0,0,0,0,0
$GC,3823,-0.74,-146.0,397.3,-8.7,254,3829,0.15,2.15,0.00,0.000,6,0.158,0.040,2405,1960,3397,0,0,0,0,0,0
$GC,4155,-0.74,-146.0,417.5,-6.1,263,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1960,3396,0,0,0,0,0,0
$GC,4479,-0.74,-146.0,440.5,-6.9,271,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1960,3393,0,0,0,0,0,0
$STATE,4639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4639,begin apogee
$GC,4645,-0.17,0.0,451.1,6.5,275,4766,0.55,0.00,118.43,0.778,6,0.124,0.000,2583,1960,2800,0,0,0,0,0,0
$STATE,4767,end apogee,CONTROL_FINISHED_OK
$STATE,4767,begin climb
$GC,4770,0.74,146.0,452.2,0.0,278,4905,0.82,2.35,124.97,0.750,4,0.079,0.059,2868,3375,2203,0,0,0,0,0,0
$GC,4921,0.74,146.0,437.3,12.9,281,4926,0.00,2.33,0.00,0.000,6,0.000,0.049,2878,1986,2201,0,0,0,0,0,0
$GC,5253,0.74,146.0,394.5,12.7,289,5257,0.00,2.33,0.00,0.000,4,0.000,0.071,2888,563,2196,0,0,0,0,0,0
$GC,5308,0.74,146.0,386.5,14.0,290,5312,0.00,2.22,0.00,0.000,6,0.000,0.045,2888,1967,2195,0,0,0,0,0,0
$GC,5656,0.74,146.0,339.5,13.2,299,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1968,2194,0,0,0,0,0,0
$GC,5980,0.74,146.0,294.9,13.3,307,5984,0.00,2.22,0.00,0.000,4,0.000,0.052,2888,3397,2192,0,0,0,0,0,0
$GC,6120,0.74,146.0,273.2,15.5,313,6125,0.00,2.22,0.00,0.000,6,0.000,0.041,2898,1965,2191,0,0,0,0,0,0
$GC,6436,0.74,146.0,229.2,12.7,328,6440,0.00,2.20,0.00,0.000,4,0.000,0.058,2908,568,2189,0,0,0,0,0,0
$GC,6464,0.74,146.0,225.6,12.9,329,6468,0.12,2.17,0.00,0.000,6,0.146,0.038,2874,1984,2189,0,0,0,0,0,0
$GC,6782,0.74,146.0,194.3,9.5,346,6786,0.00,2.17,0.00,0.000,4,0.000,0.051,2874,3388,2188,0,0,0,0,0,0
$GC,6925,0.74,146.0,177.5,11.1,358,6932,0.00,2.20,0.00,0.000,6,0.000,0.039,2882,1977,2187,0,0,0,0,0,0
$GC,7252,0.74,146.0,145.4,9.6,389,7256,0.00,2.20,0.00,0.000,4,0.000,0.056,2893,566,2187,0,0,0,0,0,0
$GC,7326,0.74,146.0,138.1,9.8,395,7330,0.00,2.17,0.00,0.000,6,0.000,0.038,2893,1987,2187,0,0,0,0,0,0
$GC,7653,0.74,146.0,99.0,10.9,425,7657,0.00,2.25,0.00,0.000,4,0.000,0.054,2902,564,2187,0,0,0,0,0,0
$GC,7806,0.74,146.0,83.1,10.4,438,7810,0.00,2.15,0.00,0.000,6,0.000,0.037,2902,1975,2187,0,0,0,0,0,0
$GC,8135,0.74,146.0,49.7,10.0,496,8142,0.00,2.20,0.00,0.000,4,0.000,0.051,2901,3383,2187,0,0,0,0,0,0
$GC,8156,0.74,146.0,47.7,10.4,499,8162,0.12,2.17,0.00,0.000,6,0.151,0.039,2875,1974,2188,0,0,0,0,0,0
$GC,8485,0.78,178.5,19.5,7.7,560,8518,0.00,2.25,25.75,0.463,4,0.000,0.054,2885,571,2070,0,0,0,0,0,0
$GC,8631,0.81,201.9,6.9,8.1,586,8659,0.00,2.17,20.73,0.441,6,0.000,0.036,2885,1973,1974,0,0,0,0,0,0
$STATE,8675,end climb,SURFACE_DEPTH_REACHED
$STATE,8675,begin surface coast
$FINISH,0.4,1.176496
$STATE,8716,end surface coast,CONTROL_FINISHED_OK
$STATE,8717,begin surface
$SM_CCo,8734,45.00,0.438,0,0,1575,300.24
$SM_GC,1.28,0.00,0.00,45.00,0.000,0.000,0.438,37,1978,1575,-8.14,0.51,300.24
$IRIDIUM_FIX,2057.14,-15709.31,130802,111133
$TT8_MAMPS,0.028379
$HUMID,61.53
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,426.5,53.2
$24V_AH,24.7,19.209
$10V_AH,10.5,21.006
$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,18.825,79.450,289.875,45.000,0.000,24.416,37.056,155.578,18.250,0.000,20.902,1102.249,5218.861,377.359,1971.395,459.339,0.000,1087.975,0.000,1924.913,0.000,115.416,0.000
$DEVICE_MAMPS,232.401,71.331,777.738,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.252,344.006,1163.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,35042,600
$CAP_FILE_SIZE,95197,0
$CFSIZE,260165632,244113408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190513,163335,2100.070,-15747.025,37,0.9,37,9.8