version: 66.06
glider: 523
mission: 4
dive: 236
start: 5 19 113 21 44 46
data:
$ID,523
$MISSION,4
$DIVE,236
$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,-40519.137
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,213558,2058.839,-15748.503,36,0.8,36,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.4
$GPS2,214429,2058.864,-15748.440,16,0.8,16,9.8
$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,224.7,3016,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,101,0.00,0.00,-77.55,0.000,6,0.000,0.000,47,1975,3395,0,0,0,0,0,0
$GC,105,-0.74,-146.0,3.9,-6.0,13,120,9.55,2.25,0.00,0.000,4,0.235,0.044,2382,3382,3396,0,0,0,0,0,0
$GC,360,-0.74,-146.0,53.8,-13.4,60,368,0.00,2.25,0.00,0.000,6,0.000,0.041,2382,1965,3399,0,0,0,0,0,0
$GC,692,-0.74,-146.0,96.1,-14.2,110,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1965,3400,0,0,0,0,0,0
$GC,1020,-0.74,-146.0,141.1,-13.0,141,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1965,3401,0,0,0,0,0,0
$GC,1347,-0.74,-146.0,177.1,-10.6,172,1351,0.00,2.25,0.00,0.000,4,0.000,0.053,2383,544,3401,0,0,0,0,0,0
$GC,1599,-0.74,-146.0,205.5,-11.0,192,1605,0.00,2.15,0.00,0.000,6,0.000,0.034,2373,1980,3401,0,0,0,0,0,0
$GC,1917,-0.74,-146.0,237.2,-9.7,208,1921,0.00,2.25,0.00,0.000,4,0.000,0.051,2373,549,3401,0,0,0,0,0,0
$GC,2107,-0.74,-146.0,257.7,-9.1,216,2113,0.15,2.15,0.00,0.000,6,0.162,0.035,2404,1970,3401,0,0,0,0,0,0
$GC,2425,-0.74,-146.0,281.9,-7.3,232,2429,0.00,2.25,0.00,0.000,4,0.000,0.053,2404,550,3401,0,0,0,0,0,0
$GC,2615,-0.74,-146.0,295.8,-6.6,240,2621,0.00,2.15,0.00,0.000,6,0.000,0.037,2396,1963,3400,0,0,0,0,0,0
$GC,2950,-0.74,-146.0,315.5,-6.5,251,2954,0.00,2.17,0.00,0.000,4,0.000,0.058,2386,3363,3400,0,0,0,0,0,0
$GC,3209,-0.74,-146.0,339.2,-8.4,256,3214,0.00,2.20,0.00,0.000,6,0.000,0.043,2386,1950,3400,0,0,0,0,0,0
$GC,3541,-0.74,-146.0,364.1,-7.0,265,3544,0.00,2.22,0.00,0.000,4,0.000,0.059,2385,550,3398,0,0,0,0,0,0
$GC,3597,-0.74,-146.0,368.2,-7.3,266,3601,0.00,2.15,0.00,0.000,6,0.000,0.040,2376,1966,3397,0,0,0,0,0,0
$GC,3910,-0.74,-146.0,389.6,-6.7,274,3914,0.00,2.20,0.00,0.000,4,0.000,0.059,2366,3371,3396,0,0,0,0,0,0
$GC,4010,-0.74,-146.0,396.0,-6.8,276,4015,0.12,2.20,0.00,0.000,6,0.148,0.044,2399,1958,3395,0,0,0,0,0,0
$GC,4361,-0.74,-146.0,417.7,-7.0,285,4365,0.00,2.22,0.00,0.000,4,0.000,0.058,2391,3363,3393,0,0,0,0,0,0
$GC,4401,-0.74,-146.0,420.9,-7.5,286,4406,0.00,2.22,0.00,0.000,6,0.000,0.048,2391,1953,3393,0,0,0,0,0,0
$GC,4726,-0.74,-146.0,442.2,-6.0,294,4730,0.00,2.22,0.00,0.000,4,0.000,0.061,2391,548,3390,0,0,0,0,0,0
$STATE,4841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4841,begin apogee
$GC,4849,-0.17,0.0,450.2,6.8,296,4971,0.60,0.00,118.05,0.782,6,0.127,0.000,2577,1977,2800,0,0,0,0,0,0
$STATE,4971,end apogee,CONTROL_FINISHED_OK
$STATE,4972,begin climb
$GC,4974,0.74,146.0,451.4,0.0,299,5111,0.88,2.38,125.28,0.752,4,0.082,0.053,2877,3383,2202,0,0,0,0,0,0
$GC,5140,0.74,146.0,432.2,15.1,303,5145,0.00,2.33,0.00,0.000,6,0.000,0.048,2886,1975,2200,0,0,0,0,0,0
$GC,5465,0.74,146.0,384.0,14.8,311,5469,0.00,2.25,0.00,0.000,4,0.000,0.061,2896,564,2195,0,0,0,0,0,0
$GC,5538,0.74,146.0,373.5,14.6,312,5542,0.00,2.22,0.00,0.000,6,0.000,0.044,2897,1972,2194,0,0,0,0,0,0
$GC,5869,0.74,146.0,324.2,14.8,320,5873,0.00,2.20,0.00,0.000,4,0.000,0.052,2897,3388,2192,0,0,0,0,0,0
$GC,5920,0.74,146.0,316.5,15.2,321,5924,0.00,2.22,0.00,0.000,6,0.000,0.042,2907,1962,2192,0,0,0,0,0,0
$GC,6247,0.74,146.0,267.3,15.4,334,6251,0.00,2.25,0.00,0.000,4,0.000,0.051,2907,3390,2190,0,0,0,0,0,0
$GC,6269,0.74,146.0,264.0,13.8,335,6274,0.12,2.20,0.00,0.000,6,0.163,0.041,2881,1976,2190,0,0,0,0,0,0
$GC,6590,0.74,146.0,228.0,10.8,351,6594,0.00,2.22,0.00,0.000,4,0.000,0.058,2890,564,2188,0,0,0,0,0,0
$GC,6663,0.74,146.0,219.7,11.7,354,6667,0.00,2.17,0.00,0.000,6,0.000,0.038,2890,1983,2187,0,0,0,0,0,0
$GC,6987,0.74,146.0,182.5,11.8,376,6991,0.00,2.17,0.00,0.000,4,0.000,0.051,2890,3390,2187,0,0,0,0,0,0
$GC,7017,0.74,146.0,178.4,13.3,378,7021,0.00,2.20,0.00,0.000,6,0.000,0.039,2900,1968,2187,0,0,0,0,0,0
$GC,7345,0.74,146.0,142.1,10.2,408,7349,0.00,2.20,0.00,0.000,4,0.000,0.056,2910,567,2187,0,0,0,0,0,0
$GC,7460,0.74,146.0,129.3,10.8,418,7465,0.12,2.15,0.00,0.000,6,0.143,0.036,2876,1977,2186,0,0,0,0,0,0
$GC,7788,0.75,155.6,98.3,8.6,448,7801,0.00,2.20,6.12,0.453,4,0.000,0.049,2875,3379,2167,0,0,0,0,0,0
$GC,7893,0.75,155.6,88.2,9.5,457,7900,0.00,2.20,0.00,0.000,6,0.000,0.039,2884,1979,2166,0,0,0,0,0,0
$GC,8222,0.75,156.2,61.2,9.0,509,8227,0.00,2.20,0.00,0.000,4,0.000,0.054,2894,565,2166,0,0,0,0,0,0
$GC,8303,0.75,156.2,53.3,9.8,524,8311,0.00,2.17,0.00,0.000,6,0.000,0.035,2894,1977,2166,0,0,0,0,0,0
$GC,8635,0.75,156.2,23.7,9.7,585,8643,0.00,2.22,0.00,0.000,4,0.000,0.051,2894,3386,2166,0,0,0,0,0,0
$GC,8721,0.75,156.2,15.5,9.6,600,8728,0.00,2.22,0.00,0.000,6,0.000,0.039,2904,1972,2167,0,0,0,0,0,0
$STATE,8858,end climb,SURFACE_DEPTH_REACHED
$STATE,8858,begin surface coast
$FINISH,0.5,1.012642
$STATE,8893,end surface coast,CONTROL_FINISHED_OK
$STATE,8893,begin surface
$SM_CCo,8911,69.07,0.444,0,0,1575,300.24
$SM_GC,1.48,0.00,0.00,69.07,0.000,0.000,0.444,42,1968,1575,-8.12,0.23,300.24
$IRIDIUM_FIX,2050.21,-15742.34,130802,212144
$TT8_MAMPS,0.028379
$HUMID,62.40
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,432.4,54.9
$24V_AH,24.7,19.445
$10V_AH,10.5,21.276
$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,18.850,84.150,249.450,69.075,0.000,55.953,122.699,144.593,18.250,0.000,17.242,1177.306,5214.680,391.480,2153.835,553.959,0.000,1148.011,0.000,2099.411,0.000,114.073,0.000
$DEVICE_MAMPS,234.702,60.593,781.573,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,429.408,356.440,1232.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34973,632
$CAP_FILE_SIZE,99834,0
$CFSIZE,260165632,243970048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200513,001528,2058.324,-15749.409,23,1.1,23,9.8