version: 66.06
glider: 523
mission: 4
dive: 235
start: 5 19 113 19 8 52
data:
$ID,523
$MISSION,4
$DIVE,235
$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,-40501.266
$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,32
$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
$GPS1,190311,2059.414,-15747.539,17,0.8,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.0
$GPS2,190835,2059.444,-15747.537,14,1.0,14,9.8
$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,225.1,4913,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.80,0.000,6,0.000,0.000,37,1971,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.1,13,118,9.52,2.15,0.00,0.000,4,0.232,0.045,2386,3365,3397,0,0,0,0,0,0
$GC,355,-0.74,-146.0,55.5,-15.3,60,362,0.00,2.25,0.00,0.000,6,0.000,0.044,2386,1964,3399,0,0,0,0,0,0
$GC,694,-0.74,-146.0,100.4,-11.7,107,698,0.00,2.25,0.00,0.000,4,0.000,0.057,2385,548,3400,0,0,0,0,0,0
$GC,789,-0.74,-146.0,112.4,-12.2,115,793,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1963,3400,0,0,0,0,0,0
$GC,1116,-0.74,-146.0,152.5,-11.5,145,1120,0.00,2.22,0.00,0.000,4,0.000,0.051,2376,547,3401,0,0,0,0,0,0
$GC,1277,-0.74,-146.0,172.8,-12.0,159,1282,0.12,2.15,0.00,0.000,6,0.170,0.034,2398,1974,3401,0,0,0,0,0,0
$GC,1605,-0.74,-146.0,200.2,-8.7,189,1609,0.00,2.15,0.00,0.000,4,0.000,0.053,2389,3359,3402,0,0,0,0,0,0
$GC,1830,-0.74,-146.0,223.3,-11.2,199,1834,0.00,2.20,0.00,0.000,6,0.000,0.043,2390,1955,3402,0,0,0,0,0,0
$GC,2157,-0.74,-146.0,251.2,-7.7,215,2161,0.00,2.22,0.00,0.000,4,0.000,0.051,2389,540,3403,0,0,0,0,0,0
$GC,2247,-0.74,-146.0,259.4,-9.3,219,2251,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1962,3402,0,0,0,0,0,0
$GC,2568,-0.74,-146.0,290.5,-9.8,235,2572,0.00,2.22,0.00,0.000,4,0.000,0.052,2379,551,3402,0,0,0,0,0,0
$GC,2705,-0.74,-146.0,303.7,-10.5,241,2710,0.12,2.15,0.00,0.000,6,0.170,0.037,2403,1962,3402,0,0,0,0,0,0
$GC,3029,-0.74,-146.0,327.8,-6.5,249,3033,0.00,2.20,0.00,0.000,4,0.000,0.056,2394,3367,3402,0,0,0,0,0,0
$GC,3288,-0.74,-146.0,347.4,-8.0,254,3293,0.00,2.20,0.00,0.000,6,0.000,0.041,2394,1951,3401,0,0,0,0,0,0
$GC,3621,-0.74,-146.0,370.7,-6.8,263,3625,0.00,2.20,0.00,0.000,4,0.000,0.059,2394,553,3399,0,0,0,0,0,0
$GC,3728,-0.74,-146.0,378.7,-7.8,265,3732,0.00,2.15,0.00,0.000,6,0.000,0.040,2384,1956,3399,0,0,0,0,0,0
$GC,4070,-0.74,-146.0,398.5,-5.8,274,4074,0.00,2.25,0.00,0.000,4,0.000,0.058,2384,547,3397,0,0,0,0,0,0
$GC,4138,-0.74,-146.0,403.6,-7.6,275,4142,0.00,2.17,0.00,0.000,6,0.000,0.042,2375,1969,3396,0,0,0,0,0,0
$GC,4482,-0.74,-146.0,429.6,-7.6,284,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1969,3393,0,0,0,0,0,0
$STATE,4762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4762,begin apogee
$GC,4768,-0.17,0.0,451.8,7.7,291,4890,0.65,0.00,118.53,0.782,6,0.127,0.000,2582,1970,2800,0,0,0,0,0,0
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4891,begin climb
$GC,4894,0.74,146.0,452.5,0.0,294,5026,0.85,0.00,125.30,0.752,6,0.078,0.000,2875,1969,2203,0,0,0,0,0,0
$GC,5341,0.74,146.0,393.7,14.0,305,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1969,2195,0,0,0,0,0,0
$GC,5665,0.74,146.0,346.5,14.2,313,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1969,2193,0,0,0,0,0,0
$GC,5990,0.74,146.0,304.3,13.2,321,5994,0.00,2.22,0.00,0.000,4,0.000,0.053,2875,3393,2191,0,0,0,0,0,0
$GC,6059,0.74,146.0,294.8,13.9,323,6063,0.00,2.25,0.00,0.000,6,0.000,0.043,2885,1967,2190,0,0,0,0,0,0
$GC,6379,0.74,146.0,253.6,14.0,339,6383,0.00,2.22,0.00,0.000,4,0.000,0.059,2895,566,2189,0,0,0,0,0,0
$GC,6407,0.74,146.0,250.0,12.7,340,6411,0.00,2.17,0.00,0.000,6,0.000,0.038,2895,1978,2188,0,0,0,0,0,0
$GC,6728,0.74,146.0,207.9,13.4,356,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1979,2188,0,0,0,0,0,0
$GC,7047,0.74,146.0,166.3,10.9,383,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1979,2188,0,0,0,0,0,0
$GC,7367,0.74,146.0,131.4,11.2,413,7371,0.00,2.28,0.00,0.000,4,0.000,0.061,2905,564,2187,0,0,0,0,0,0
$GC,7409,0.74,146.0,125.9,11.5,416,7417,0.00,2.22,0.00,0.000,6,0.000,0.043,2906,1974,2187,0,0,0,0,0,0
$GC,7736,0.74,146.0,86.2,14.7,447,7740,0.00,2.17,0.00,0.000,4,0.000,0.051,2905,3390,2187,0,0,0,0,0,0
$GC,7788,0.74,146.0,78.4,15.4,451,7794,0.15,2.20,0.00,0.000,6,0.146,0.039,2872,1967,2186,0,0,0,0,0,0
$GC,8120,0.76,162.2,43.1,8.4,512,8139,0.00,0.00,11.55,0.471,6,0.000,0.000,2872,1968,2140,0,0,0,0,0,0
$GC,8459,0.79,190.5,17.7,7.9,575,8493,0.00,2.33,25.33,0.465,4,0.000,0.057,2872,3379,2022,0,0,0,0,0,0
$GC,8529,0.81,208.1,12.4,8.3,586,8550,0.00,2.25,16.15,0.443,6,0.000,0.045,2878,1979,1950,0,0,0,0,0,0
$STATE,8650,end climb,SURFACE_DEPTH_REACHED
$STATE,8650,begin surface coast
$FINISH,0.5,1.012668
$STATE,8688,end surface coast,CONTROL_FINISHED_OK
$STATE,8688,begin surface
$SM_CCo,8706,44.17,0.443,0,0,1575,300.24
$SM_GC,1.39,0.00,0.00,44.17,0.000,0.000,0.443,48,1974,1575,-8.10,0.40,300.24
$IRIDIUM_FIX,2050.21,-15750.49,130802,161622
$TT8_MAMPS,0.027612
$HUMID,63.86
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,420.1,57.8
$24V_AH,24.7,19.363
$10V_AH,10.5,21.182
$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,18.700,61.775,296.850,44.175,0.000,25.402,39.754,135.392,17.750,0.000,15.272,1115.835,5156.083,368.884,2011.596,422.252,0.000,1070.856,0.000,1967.870,0.000,117.003,0.000
$DEVICE_MAMPS,231.634,61.360,782.340,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,418.297,347.950,1212.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34929,615
$CAP_FILE_SIZE,90637,0
$CFSIZE,260165632,244023296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190513,213558,2058.839,-15748.503,36,0.8,36,9.8