version: 66.06
glider: 523
mission: 4
dive: 234
start: 5 19 113 16 39 23
data:
$ID,523
$MISSION,4
$DIVE,234
$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,-40485.359
$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,26
$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
$GPS1,163335,2100.070,-15747.025,37,0.9,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.1
$GPS2,163906,2100.121,-15747.067,16,1.5,16,9.8
$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,220.0,6323,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-77.60,0.000,6,0.000,0.000,37,1978,3394,0,0,0,0,0,0
$GC,101,-0.74,-146.0,4.0,-6.6,13,116,9.55,2.28,0.00,0.000,4,0.232,0.048,2392,547,3396,0,0,0,0,0,0
$GC,356,-0.74,-146.0,57.2,-19.1,60,363,0.00,2.20,0.00,0.000,6,0.000,0.036,2384,1968,3397,0,0,0,0,0,0
$GC,687,-0.74,-146.0,109.7,-14.9,103,692,0.00,2.28,0.00,0.000,4,0.000,0.053,2384,549,3398,0,0,0,0,0,0
$GC,821,-0.74,-146.0,128.4,-13.7,115,829,0.00,2.17,0.00,0.000,6,0.000,0.035,2374,1965,3399,0,0,0,0,0,0
$GC,1149,-0.74,-146.0,172.4,-13.4,146,1153,0.00,2.25,0.00,0.000,4,0.000,0.051,2374,550,3400,0,0,0,0,0,0
$GC,1354,-0.74,-146.0,197.6,-11.0,164,1360,0.10,2.15,0.00,0.000,6,0.140,0.035,2397,1957,3400,0,0,0,0,0,0
$GC,1670,-0.74,-146.0,223.6,-9.0,181,1674,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,3364,3400,0,0,0,0,0,0
$GC,1915,-0.74,-146.0,247.8,-9.5,192,1920,0.00,2.20,0.00,0.000,6,0.000,0.041,2388,1958,3401,0,0,0,0,0,0
$GC,2239,-0.74,-146.0,274.8,-7.7,208,2243,0.00,2.20,0.00,0.000,4,0.000,0.052,2378,3367,3401,0,0,0,0,0,0
$GC,2339,-0.74,-146.0,281.4,-7.3,212,2343,0.00,2.20,0.00,0.000,6,0.000,0.043,2379,1961,3401,0,0,0,0,0,0
$GC,2679,-0.74,-146.0,308.4,-8.6,226,2683,0.00,2.22,0.00,0.000,4,0.000,0.057,2379,553,3400,0,0,0,0,0,0
$GC,2712,-0.74,-146.0,311.9,-9.0,226,2718,0.12,2.12,0.00,0.000,6,0.168,0.038,2402,1961,3401,0,0,0,0,0,0
$GC,3046,-0.74,-146.0,335.6,-6.8,235,3050,0.00,2.22,0.00,0.000,4,0.000,0.056,2394,3368,3399,0,0,0,0,0,0
$GC,3130,-0.74,-146.0,342.1,-7.9,236,3136,0.00,2.20,0.00,0.000,6,0.000,0.041,2394,1956,3399,0,0,0,0,0,0
$GC,3464,-0.74,-146.0,367.6,-7.4,245,3468,0.00,2.28,0.00,0.000,4,0.000,0.060,2394,554,3397,0,0,0,0,0,0
$GC,3724,-0.74,-146.0,389.8,-7.8,250,3730,0.00,2.15,0.00,0.000,6,0.000,0.040,2384,1959,3395,0,0,0,0,0,0
$GC,4055,-0.74,-146.0,415.0,-7.3,259,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1959,3394,0,0,0,0,0,0
$GC,4380,-0.74,-146.0,438.5,-7.7,267,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1959,3391,0,0,0,0,0,0
$STATE,4539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4540,begin apogee
$GC,4546,-0.17,0.0,451.1,7.8,271,4667,0.62,0.00,118.18,0.779,6,0.130,0.000,2582,1959,2800,0,0,0,0,0,0
$STATE,4668,end apogee,CONTROL_FINISHED_OK
$STATE,4668,begin climb
$GC,4671,0.74,146.0,453.0,0.0,274,4803,0.85,0.00,125.07,0.749,6,0.081,0.000,2874,1959,2203,0,0,0,0,0,0
$GC,5118,0.74,146.0,396.4,14.4,285,5122,0.00,2.28,0.00,0.000,4,0.000,0.060,2874,3382,2196,0,0,0,0,0,0
$GC,5151,0.74,146.0,391.3,15.0,285,5156,0.00,2.30,0.00,0.000,6,0.000,0.051,2883,1978,2195,0,0,0,0,0,0
$GC,5482,0.74,146.0,340.5,15.4,294,5486,0.00,2.28,0.00,0.000,4,0.000,0.059,2894,556,2193,0,0,0,0,0,0
$GC,5560,0.74,146.0,328.6,14.3,295,5566,0.00,2.20,0.00,0.000,6,0.000,0.038,2894,1977,2193,0,0,0,0,0,0
$GC,5872,0.74,146.0,288.0,13.3,305,5876,0.00,2.20,0.00,0.000,4,0.000,0.052,2894,3389,2191,0,0,0,0,0,0
$GC,5967,0.74,146.0,273.6,15.5,309,5972,0.00,2.25,0.00,0.000,6,0.000,0.041,2905,1955,2190,0,0,0,0,0,0
$GC,6283,0.74,146.0,225.4,15.6,324,6287,0.00,2.25,0.00,0.000,4,0.000,0.050,2905,3381,2189,0,0,0,0,0,0
$GC,6322,0.74,146.0,219.3,15.7,326,6327,0.12,2.20,0.00,0.000,6,0.162,0.041,2879,1964,2188,0,0,0,0,0,0
$GC,6645,0.74,146.0,182.3,10.0,349,6649,0.00,2.20,0.00,0.000,4,0.000,0.050,2879,3380,2188,0,0,0,0,0,0
$GC,6720,0.74,146.0,173.6,11.6,355,6727,0.00,2.20,0.00,0.000,6,0.000,0.040,2888,1976,2187,0,0,0,0,0,0
$GC,7047,0.74,148.1,140.6,8.9,386,7051,0.00,2.20,0.00,0.000,4,0.000,0.057,2898,559,2187,0,0,0,0,0,0
$GC,7164,0.74,148.1,130.2,10.0,396,7168,0.00,2.17,0.00,0.000,6,0.000,0.036,2898,1985,2186,0,0,0,0,0,0
$GC,7491,0.74,148.1,94.4,10.6,426,7495,0.00,2.22,0.00,0.000,4,0.000,0.054,2908,558,2187,0,0,0,0,0,0
$GC,7534,0.74,148.1,89.2,11.7,429,7542,0.08,2.17,0.00,0.000,6,0.109,0.036,2882,1971,2186,0,0,0,0,0,0
$GC,7865,0.74,148.1,54.8,9.8,481,7871,0.00,2.17,0.00,0.000,4,0.000,0.050,2881,3384,2186,0,0,0,0,0,0
$GC,7904,0.74,148.1,50.8,9.9,488,7911,0.00,2.20,0.00,0.000,6,0.000,0.038,2888,1979,2187,0,0,0,0,0,0
$GC,8234,0.74,148.1,24.0,9.9,549,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1979,2187,0,0,0,0,0,0
$GC,8400,0.74,148.1,9.4,9.1,580,8408,0.00,2.25,0.00,0.000,4,0.000,0.054,2899,563,2188,0,0,0,0,0,0
$STATE,8471,end climb,SURFACE_DEPTH_REACHED
$STATE,8471,begin surface coast
$FINISH,2.2,1.023349
$STATE,8478,end surface coast,CONTROL_FINISHED_OK
$STATE,8478,begin surface
$SM_CCo,8498,72.22,0.447,0,0,1574,300.24
$SM_GC,1.18,0.00,0.00,72.22,0.000,0.000,0.447,37,1971,1574,-8.14,0.31,300.24
$IRIDIUM_FIX,2054.83,-15729.03,130802,141435
$TT8_MAMPS,0.028379
$HUMID,61.41
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,417.8,55.0
$24V_AH,24.7,19.285
$10V_AH,10.5,21.093
$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,19.025,75.250,243.250,72.225,0.000,30.362,33.002,140.175,17.250,0.000,17.145,1097.524,5017.188,391.880,1961.621,433.919,0.000,1078.854,0.000,1918.631,0.000,109.439,0.000
$DEVICE_MAMPS,232.401,59.826,778.505,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.506,339.659,1156.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,31806,594
$CAP_FILE_SIZE,91503,0
$CFSIZE,260165632,244072448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190513,190311,2059.414,-15747.539,17,0.8,17,9.8