version: 66.06
glider: 523
mission: 4
dive: 270
start: 5 23 113 11 33 46
data:
$ID,523
$MISSION,4
$DIVE,270
$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,-41166.785
$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
$GPS1,112806,2103.400,-15744.125,18,1.6,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-75.9
$GPS2,113329,2103.387,-15744.162,15,1.0,15,9.8
$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,214.4,14132,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.85,0.000,2,0.000,0.000,44,1953,3356,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-3.8,12,113,9.50,2.30,-0.88,0.000,4,0.232,0.066,2394,553,3397,0,0,0,0,0,0
$GC,358,-0.74,-146.0,58.2,-15.0,59,363,0.00,2.15,0.00,0.000,6,0.000,0.035,2386,1973,3399,0,0,0,0,0,0
$GC,693,-0.74,-146.0,100.5,-11.2,105,697,0.00,2.30,0.00,0.000,4,0.000,0.054,2386,547,3401,0,0,0,0,0,0
$GC,866,-0.74,-146.0,122.3,-12.5,120,870,0.00,2.15,0.00,0.000,6,0.000,0.034,2377,1965,3402,0,0,0,0,0,0
$GC,1193,-0.74,-146.0,162.6,-12.8,150,1197,0.00,2.22,0.00,0.000,4,0.000,0.052,2377,553,3403,0,0,0,0,0,0
$GC,1315,-0.74,-146.0,178.6,-14.3,160,1320,0.12,2.12,0.00,0.000,6,0.169,0.035,2399,1961,3403,0,0,0,0,0,0
$GC,1646,-0.74,-146.0,213.9,-9.5,184,1650,0.00,2.25,0.00,0.000,4,0.000,0.051,2400,546,3403,0,0,0,0,0,0
$GC,1772,-0.74,-146.0,226.2,-9.6,189,1777,0.00,2.15,0.00,0.000,6,0.000,0.034,2391,1969,3403,0,0,0,0,0,0
$GC,2092,-0.74,-146.0,255.8,-9.0,205,2096,0.00,2.28,0.00,0.000,4,0.000,0.052,2392,546,3403,0,0,0,0,0,0
$GC,2177,-0.74,-146.0,264.1,-8.9,209,2181,0.00,2.15,0.00,0.000,6,0.000,0.035,2382,1966,3403,0,0,0,0,0,0
$GC,2507,-0.74,-146.0,289.1,-7.9,225,2511,0.00,2.20,0.00,0.000,4,0.000,0.054,2371,3360,3403,0,0,0,0,0,0
$GC,2593,-0.74,-146.0,296.9,-8.7,229,2597,0.10,2.17,0.00,0.000,6,0.158,0.040,2398,1960,3403,0,0,0,0,0,0
$GC,2940,-0.74,-146.0,320.4,-6.7,239,2944,0.00,2.25,0.00,0.000,4,0.000,0.056,2398,546,3403,0,0,0,0,0,0
$GC,3198,-0.74,-146.0,343.2,-9.5,244,3204,0.00,2.15,0.00,0.000,6,0.000,0.036,2390,1958,3402,0,0,0,0,0,0
$GC,3530,-0.74,-146.0,367.6,-6.2,253,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1958,3402,0,0,0,0,0,0
$GC,3855,-0.74,-146.0,389.1,-6.8,261,3859,0.00,2.22,0.00,0.000,4,0.000,0.056,2379,3368,3400,0,0,0,0,0,0
$GC,3916,-0.74,-146.0,393.8,-7.7,262,3920,0.00,2.20,0.00,0.000,6,0.000,0.039,2379,1952,3400,0,0,0,0,0,0
$GC,4266,-0.74,-146.0,420.1,-7.3,271,4270,0.00,2.22,0.00,0.000,4,0.000,0.062,2379,550,3397,0,0,0,0,0,0
$GC,4300,-0.74,-146.0,422.7,-7.6,271,4307,0.12,2.17,0.00,0.000,6,0.170,0.041,2403,1959,3396,0,0,0,0,0,0
$GC,4632,-0.74,-146.0,438.8,-4.6,280,4636,0.00,2.20,0.00,0.000,4,0.000,0.059,2394,3367,3394,0,0,0,0,0,0
$GC,4705,-0.74,-146.0,442.5,-5.5,281,4709,0.00,2.20,0.00,0.000,6,0.000,0.044,2394,1953,3394,0,0,0,0,0,0
$STATE,4836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4836,begin apogee
$GC,4843,-0.17,0.0,450.1,5.8,285,4965,0.57,0.00,119.10,0.773,6,0.120,0.000,2580,1954,2799,0,0,0,0,0,0
$STATE,4966,end apogee,CONTROL_FINISHED_OK
$STATE,4966,begin climb
$GC,4968,0.74,146.0,450.4,0.0,288,5104,0.82,2.40,125.15,0.744,4,0.075,0.056,2870,3384,2202,0,0,0,0,0,0
$GC,5137,0.74,146.0,430.3,16.2,292,5141,0.00,2.30,0.00,0.000,6,0.000,0.041,2880,1975,2200,0,0,0,0,0,0
$GC,5456,0.74,146.0,380.2,15.7,300,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1976,2196,0,0,0,0,0,0
$GC,5781,0.74,146.0,333.2,13.4,308,5785,0.00,2.25,0.00,0.000,4,0.000,0.051,2880,3392,2193,0,0,0,0,0,0
$GC,5830,0.74,146.0,326.8,12.6,309,5834,0.00,2.22,0.00,0.000,6,0.000,0.041,2889,1964,2192,0,0,0,0,0,0
$GC,6145,0.74,146.0,287.8,12.7,319,6149,0.00,2.20,0.00,0.000,4,0.000,0.058,2900,558,2191,0,0,0,0,0,0
$GC,6251,0.74,146.0,272.9,12.4,324,6256,0.00,2.20,0.00,0.000,6,0.000,0.038,2900,1983,2190,0,0,0,0,0,0
$GC,6578,0.74,146.0,224.0,15.5,340,6582,0.00,2.15,0.00,0.000,4,0.000,0.051,2900,3387,2189,0,0,0,0,0,0
$GC,6657,0.74,146.0,211.6,14.6,343,6663,0.12,2.20,0.00,0.000,6,0.156,0.040,2875,1968,2187,0,0,0,0,0,0
$GC,6982,0.74,146.0,175.9,10.6,369,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1967,2187,0,0,0,0,0,0
$GC,7311,0.74,146.0,141.6,10.3,400,7315,0.00,2.25,0.00,0.000,4,0.000,0.057,2884,559,2187,0,0,0,0,0,0
$GC,7365,0.74,146.0,135.4,10.5,404,7373,0.00,2.20,0.00,0.000,6,0.000,0.038,2884,1977,2187,0,0,0,0,0,0
$GC,7692,0.74,146.0,103.6,9.1,435,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1977,2187,0,0,0,0,0,0
$GC,8008,0.74,146.0,71.6,10.9,472,8015,0.00,2.20,0.00,0.000,4,0.000,0.050,2884,3381,2187,0,0,0,0,0,0
$GC,8076,0.74,146.0,64.0,10.6,484,8083,0.00,2.25,0.00,0.000,6,0.000,0.044,2893,1976,2187,0,0,0,0,0,0
$GC,8411,0.78,184.4,34.6,7.4,545,8448,0.00,2.25,30.60,0.474,4,0.000,0.054,2901,564,2046,0,0,0,0,0,0
$GC,8473,0.82,210.3,29.8,8.0,555,8501,0.00,2.20,22.62,0.458,6,0.000,0.038,2900,1968,1942,0,0,0,0,0,0
$GC,8661,0.82,210.3,12.9,10.0,589,8669,0.00,2.25,0.00,0.000,4,0.000,0.050,2900,3381,1939,0,0,0,0,0,0
$GC,8718,0.82,210.3,7.3,10.0,599,8726,0.00,2.25,0.00,0.000,6,0.000,0.043,2908,1976,1939,0,0,0,0,0,0
$STATE,8763,end climb,SURFACE_DEPTH_REACHED
$STATE,8763,begin surface coast
$FINISH,0.4,1.010380
$STATE,8795,end surface coast,CONTROL_FINISHED_OK
$STATE,8796,begin surface
$SM_CCo,8814,42.65,0.436,0,0,1575,300.24
$SM_GC,1.43,0.00,0.00,42.65,0.000,0.000,0.436,29,1972,1575,-8.16,0.37,300.24
$IRIDIUM_FIX,2059.45,-15810.63,170802,090935
$TT8_MAMPS,0.028379
$HUMID,63.19
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,435.0,50.2
$24V_AH,24.7,22.151
$10V_AH,10.5,24.269
$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,18.725,79.850,297.475,42.650,0.000,23.461,38.922,136.304,18.750,0.000,15.703,1120.995,5220.289,384.073,2015.097,440.003,0.000,1103.657,0.000,1969.843,0.000,117.612,0.000
$DEVICE_MAMPS,232.401,65.962,773.136,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.907,344.097,1199.641,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34972,613
$CAP_FILE_SIZE,96013,0
$CFSIZE,260165632,242376704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230513,140234,2102.065,-15745.150,32,0.8,32,9.8