version: 66.06
glider: 523
mission: 4
dive: 273
start: 5 23 113 18 56 22
data:
$ID,523
$MISSION,4
$DIVE,273
$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,-41220.207
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,185021,2101.247,-15745.743,29,1.1,36,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-76.2
$GPS2,185606,2101.270,-15745.791,18,0.9,18,9.8
$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,218.8,9385,-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,-76.03,0.000,2,0.000,0.000,55,1980,3380,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.7,12,113,9.35,2.17,-0.35,0.000,4,0.228,0.058,2386,3381,3396,0,0,0,0,0,0
$GC,358,-0.74,-146.0,59.1,-17.8,59,363,0.00,2.22,0.00,0.000,6,0.000,0.038,2386,1956,3399,0,0,0,0,0,0
$GC,686,-0.74,-146.0,104.4,-12.9,103,691,0.00,2.20,0.00,0.000,4,0.000,0.051,2386,542,3400,0,0,0,0,0,0
$GC,840,-0.74,-146.0,127.9,-15.0,117,844,0.00,2.15,0.00,0.000,6,0.000,0.033,2376,1970,3400,0,0,0,0,0,0
$GC,1168,-0.74,-146.0,166.2,-12.0,147,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1970,3401,0,0,0,0,0,0
$GC,1503,-0.74,-146.0,205.1,-10.0,177,1507,0.00,2.25,0.00,0.000,4,0.000,0.049,2376,554,3402,0,0,0,0,0,0
$GC,1553,-0.74,-146.0,210.4,-10.4,179,1558,0.12,2.12,0.00,0.000,6,0.164,0.033,2399,1965,3402,0,0,0,0,0,0
$GC,1869,-0.74,-146.0,239.4,-9.5,194,1873,0.00,2.25,0.00,0.000,4,0.000,0.051,2400,550,3402,0,0,0,0,0,0
$GC,2032,-0.74,-146.0,254.8,-8.7,201,2037,0.00,2.12,0.00,0.000,6,0.000,0.034,2392,1958,3402,0,0,0,0,0,0
$GC,2355,-0.74,-146.0,282.3,-7.7,217,2359,0.00,2.25,0.00,0.000,4,0.000,0.053,2392,549,3402,0,0,0,0,0,0
$GC,2427,-0.74,-146.0,288.5,-10.3,220,2431,0.00,2.12,0.00,0.000,6,0.000,0.036,2382,1962,3402,0,0,0,0,0,0
$GC,2739,-0.74,-146.0,319.8,-9.6,230,2743,0.00,2.25,0.00,0.000,4,0.000,0.054,2382,551,3402,0,0,0,0,0,0
$GC,2882,-0.74,-146.0,332.5,-8.7,233,2886,0.00,2.15,0.00,0.000,6,0.000,0.038,2372,1963,3402,0,0,0,0,0,0
$GC,3195,-0.74,-146.0,356.9,-7.8,241,3200,0.10,2.28,0.00,0.000,4,0.169,0.058,2399,557,3400,0,0,0,0,0,0
$GC,3273,-0.74,-146.0,362.6,-7.3,242,3278,0.00,2.17,0.00,0.000,6,0.000,0.041,2391,1968,3400,0,0,0,0,0,0
$GC,3605,-0.74,-146.0,387.7,-7.6,251,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1968,3398,0,0,0,0,0,0
$GC,3930,-0.74,-146.0,411.2,-6.9,259,3934,0.00,2.25,0.00,0.000,4,0.000,0.059,2380,3378,3396,0,0,0,0,0,0
$GC,3980,-0.74,-146.0,415.2,-7.8,260,3984,0.00,2.22,0.00,0.000,6,0.000,0.044,2380,1965,3396,0,0,0,0,0,0
$GC,4293,-0.74,-146.0,421.9,-0.1,268,4297,0.00,2.25,0.00,0.000,4,0.000,0.057,2380,3368,3393,0,0,0,0,0,0
$STATE,4330,end dive,NO_VERTICAL_VELOCITY
$STATE,4330,begin apogee
$GC,4338,-0.17,0.0,421.7,0.0,269,4460,0.57,0.00,118.40,0.749,6,0.065,0.000,2595,1973,2799,0,0,0,0,0,0
$STATE,4461,end apogee,CONTROL_FINISHED_OK
$STATE,4461,begin climb
$GC,4464,0.74,146.0,421.9,0.0,272,4598,0.77,2.35,124.75,0.722,4,0.066,0.055,2877,3376,2203,0,0,0,0,0,0
$GC,4778,0.74,146.0,380.8,14.0,279,4782,0.00,2.28,0.00,0.000,6,0.000,0.049,2885,1981,2196,0,0,0,0,0,0
$GC,5090,0.74,146.0,336.9,14.5,287,5094,0.00,2.28,0.00,0.000,4,0.000,0.060,2896,556,2194,0,0,0,0,0,0
$GC,5136,0.74,146.0,330.6,14.4,288,5140,0.00,2.22,0.00,0.000,6,0.000,0.042,2896,1976,2193,0,0,0,0,0,0
$GC,5467,0.74,146.0,284.0,13.9,298,5471,0.00,2.17,0.00,0.000,4,0.000,0.051,2896,3389,2192,0,0,0,0,0,0
$GC,5539,0.74,146.0,272.4,17.0,301,5543,0.00,2.22,0.00,0.000,6,0.000,0.041,2906,1969,2190,0,0,0,0,0,0
$GC,5855,0.74,146.0,227.1,13.3,316,5859,0.00,2.22,0.00,0.000,4,0.000,0.059,2916,568,2190,0,0,0,0,0,0
$GC,5887,0.74,146.0,222.4,13.7,317,5894,0.15,2.17,0.00,0.000,6,0.140,0.038,2874,1982,2190,0,0,0,0,0,0
$GC,6208,0.74,146.0,193.4,11.2,335,6212,0.00,2.17,0.00,0.000,4,0.000,0.051,2874,3386,2188,0,0,0,0,0,0
$GC,6240,0.74,146.0,188.9,12.6,337,6247,0.00,2.22,0.00,0.000,6,0.000,0.040,2882,1974,2188,0,0,0,0,0,0
$GC,6567,0.74,146.0,149.8,11.9,368,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1974,2187,0,0,0,0,0,0
$GC,6888,0.76,161.9,120.7,8.4,398,6905,0.00,2.22,12.25,0.526,4,0.000,0.055,2893,566,2138,0,0,0,0,0,0
$GC,6919,0.76,164.9,117.8,8.9,400,6932,0.00,2.17,4.15,0.390,6,0.000,0.038,2892,1983,2125,0,0,0,0,0,0
$GC,7251,0.76,164.9,82.4,12.0,431,7255,0.00,2.15,0.00,0.000,4,0.000,0.049,2892,3379,2124,0,0,0,0,0,0
$GC,7372,0.76,164.9,68.2,11.2,451,7378,0.00,2.22,0.00,0.000,6,0.000,0.047,2901,1973,2124,0,0,0,0,0,0
$GC,7702,0.77,172.0,32.1,8.7,512,7714,0.00,0.00,7.75,0.420,6,0.000,0.000,2901,1973,2096,0,0,0,0,0,0
$GC,8031,0.81,206.5,3.9,7.6,574,8045,0.00,0.00,12.65,0.423,2,0.000,0.000,2901,1973,2017,0,0,0,0,0,0
$STATE,8046,end climb,SURFACE_DEPTH_REACHED
$STATE,8046,begin surface coast
$FINISH,0.5,1.004597
$STATE,8084,end surface coast,CONTROL_FINISHED_OK
$STATE,8084,begin surface
$SM_CCo,8102,49.33,0.439,0,0,1575,300.24
$SM_GC,1.20,0.00,0.00,49.33,0.000,0.000,0.439,44,1966,1575,-8.12,0.17,300.24
$IRIDIUM_FIX,2050.21,-15805.06,170802,161645
$TT8_MAMPS,0.028379
$HUMID,63.54
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,271.1,52.8
$24V_AH,24.8,22.377
$10V_AH,10.5,24.533
$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,18.400,70.775,279.950,49.325,0.000,22.456,38.006,156.413,10.500,0.000,18.962,1055.930,4704.298,372.936,1926.064,437.230,0.000,1044.303,0.000,1895.762,0.000,71.311,0.000
$DEVICE_MAMPS,227.799,59.826,748.592,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,396.179,335.345,1176.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,31939,583
$CAP_FILE_SIZE,87689,0
$CFSIZE,260165632,242245632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230513,211306,2101.021,-15745.783,13,1.1,13,9.8