version: 66.06
glider: 523
mission: 4
dive: 274
start: 5 23 113 21 19 17
data:
$ID,523
$MISSION,4
$DIVE,274
$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,-41236.617
$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,33
$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
$GPS1,211306,2101.021,-15745.783,13,1.1,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.1
$GPS2,211900,2101.049,-15745.784,15,1.1,15,9.8
$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,220.8,9127,-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,-76.05,0.000,2,0.000,0.000,43,1966,3388,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.5,-5.8,12,112,9.38,2.20,0.00,0.000,4,0.229,0.048,2384,3374,3390,0,0,0,0,0,0
$GC,355,-0.74,-146.0,55.4,-14.7,59,360,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1950,3392,0,0,0,0,0,0
$GC,685,-0.74,-146.0,102.7,-15.0,105,689,0.00,2.17,0.00,0.000,4,0.000,0.054,2383,550,3393,0,0,0,0,0,0
$GC,805,-0.74,-146.0,119.2,-12.7,115,812,0.00,2.15,0.00,0.000,6,0.000,0.034,2374,1971,3393,0,0,0,0,0,0
$GC,1141,-0.74,-146.0,161.0,-11.5,146,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1971,3394,0,0,0,0,0,0
$GC,1468,-0.74,-146.0,197.5,-11.1,177,1472,0.00,2.28,0.00,0.000,4,0.000,0.050,2374,541,3395,0,0,0,0,0,0
$GC,1724,-0.74,-146.0,229.5,-11.9,189,1731,0.12,2.15,0.00,0.000,6,0.166,0.033,2397,1968,3395,0,0,0,0,0,0
$GC,2040,-0.74,-146.0,257.3,-9.2,205,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1968,3395,0,0,0,0,0,0
$GC,2350,-0.74,-146.0,284.8,-8.5,220,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1968,3395,0,0,0,0,0,0
$GC,2680,-0.74,-146.0,307.0,-7.0,234,2684,0.00,2.28,0.00,0.000,4,0.000,0.055,2397,548,3395,0,0,0,0,0,0
$GC,2777,-0.74,-146.0,315.4,-8.7,236,2781,0.00,2.12,0.00,0.000,6,0.000,0.035,2389,1957,3395,0,0,0,0,0,0
$GC,3091,-0.74,-146.0,336.6,-6.5,244,3094,0.00,2.17,0.00,0.000,4,0.000,0.054,2378,3368,3394,0,0,0,0,0,0
$GC,3192,-0.74,-146.0,345.5,-8.9,246,3196,0.00,2.20,0.00,0.000,6,0.000,0.040,2378,1952,3394,0,0,0,0,0,0
$GC,3541,-0.74,-146.0,374.8,-7.8,255,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1952,3392,0,0,0,0,0,0
$GC,3867,-0.74,-146.0,400.3,-8.2,263,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1952,3390,0,0,0,0,0,0
$GC,4190,-0.74,-146.0,422.9,-6.8,271,4194,0.00,2.28,0.00,0.000,4,0.000,0.054,2369,3365,3387,0,0,0,0,0,0
$GC,4253,-0.74,-146.0,427.6,-7.6,272,4258,0.12,2.20,0.00,0.000,6,0.148,0.042,2403,1961,3387,0,0,0,0,0,0
$GC,4596,-0.74,-146.0,448.5,-5.8,281,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1961,3386,0,0,0,0,0,0
$STATE,4633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4633,begin apogee
$GC,4639,-0.17,0.0,451.3,6.4,282,4760,0.55,0.00,117.57,0.769,6,0.114,0.000,2585,1961,2799,0,0,0,0,0,0
$STATE,4760,end apogee,CONTROL_FINISHED_OK
$STATE,4761,begin climb
$GC,4764,0.74,146.0,452.4,0.0,285,4896,0.85,2.38,125.80,0.742,4,0.071,0.061,2889,567,2205,0,0,0,0,0,0
$GC,4918,0.74,146.0,435.1,13.9,289,4922,0.00,2.25,0.00,0.000,6,0.000,0.038,2890,1969,2202,0,0,0,0,0,0
$GC,5237,0.74,146.0,388.1,15.1,297,5241,0.00,2.28,0.00,0.000,4,0.000,0.061,2889,3388,2197,0,0,0,0,0,0
$GC,5317,0.74,146.0,375.3,16.4,298,5322,0.00,2.22,0.00,0.000,6,0.000,0.040,2899,1977,2196,0,0,0,0,0,0
$GC,5649,0.74,146.0,323.0,16.0,307,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1977,2194,0,0,0,0,0,0
$GC,5955,0.74,146.0,280.4,13.2,318,5959,0.00,2.25,0.00,0.000,4,0.000,0.060,2909,565,2192,0,0,0,0,0,0
$GC,5989,0.74,146.0,275.6,13.4,319,5995,0.12,2.20,0.00,0.000,6,0.151,0.039,2876,1991,2192,0,0,0,0,0,0
$GC,6304,0.74,146.0,240.1,11.6,335,6308,0.00,2.15,0.00,0.000,4,0.000,0.052,2876,3385,2191,0,0,0,0,0,0
$GC,6372,0.74,146.0,231.7,13.1,338,6377,0.00,2.20,0.00,0.000,6,0.000,0.041,2885,1973,2190,0,0,0,0,0,0
$GC,6693,0.74,146.0,189.7,13.3,357,6697,0.00,2.20,0.00,0.000,4,0.000,0.058,2895,568,2189,0,0,0,0,0,0
$GC,6821,0.74,146.0,173.6,11.9,368,6825,0.00,2.17,0.00,0.000,6,0.000,0.038,2895,1985,2188,0,0,0,0,0,0
$GC,7148,0.74,146.0,134.6,12.7,398,7152,0.00,2.17,0.00,0.000,4,0.000,0.051,2895,3389,2189,0,0,0,0,0,0
$GC,7169,0.74,146.0,131.9,11.6,399,7177,0.00,2.20,0.00,0.000,6,0.000,0.038,2905,1979,2188,0,0,0,0,0,0
$GC,7496,0.74,146.0,96.1,10.5,430,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1979,2188,0,0,0,0,0,0
$GC,7818,0.74,146.0,61.0,11.1,475,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1979,2188,0,0,0,0,0,0
$GC,8150,0.75,159.2,30.5,8.5,536,8165,0.00,2.28,10.18,0.441,4,0.000,0.056,2915,562,2149,0,0,0,0,0,0
$GC,8212,0.75,159.6,25.3,9.0,546,8220,0.08,2.20,0.00,0.000,6,0.109,0.038,2886,1979,2148,0,0,0,0,0,0
$GC,8382,0.77,173.2,11.5,8.5,577,8402,0.00,0.00,13.50,0.433,6,0.000,0.000,2886,1980,2091,0,0,0,0,0,0
$STATE,8497,end climb,SURFACE_DEPTH_REACHED
$STATE,8497,begin surface coast
$FINISH,0.6,1.000641
$STATE,8543,end surface coast,CONTROL_FINISHED_OK
$STATE,8543,begin surface
$SM_CCo,8560,60.45,0.440,0,0,1575,300.24
$SM_GC,1.37,0.00,0.00,60.45,0.000,0.000,0.440,24,1985,1575,-8.18,0.71,300.24
$IRIDIUM_FIX,2052.52,-15812.34,170802,191905
$TT8_MAMPS,0.028379
$HUMID,62.87
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,432.4,41.8
$24V_AH,24.7,22.454
$10V_AH,10.5,24.619
$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,18.475,57.575,267.050,60.450,0.000,31.201,39.277,155.484,19.000,0.000,15.781,1097.896,5141.918,404.207,1887.673,444.581,0.000,1030.503,0.000,1844.787,0.000,116.934,0.000
$DEVICE_MAMPS,229.333,60.593,769.301,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.810,347.403,1183.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34990,606
$CAP_FILE_SIZE,87025,0
$CFSIZE,260165632,242196480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230513,234405,2100.345,-15746.528,27,1.3,27,9.8