version: 66.06
glider: 523
mission: 4
dive: 276
start: 5 24 113 2 23 49
data:
$ID,523
$MISSION,4
$DIVE,276
$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,-41280.082
$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,27
$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
$GPS1,021742,2059.540,-15747.429,29,1.5,29,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.3
$GPS2,022333,2059.550,-15747.460,23,1.0,23,9.8
$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,224.2,5135,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-75.10,0.000,2,0.000,0.000,32,1986,3368,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.5,-5.4,12,114,9.25,2.28,-0.60,0.000,4,0.222,0.061,2389,551,3396,0,0,0,0,0,0
$GC,358,-0.74,-146.0,56.6,-15.8,59,364,0.00,2.12,0.00,0.000,6,0.000,0.035,2381,1963,3398,0,0,0,0,0,0
$GC,688,-0.74,-146.0,103.1,-13.7,105,692,0.00,2.25,0.00,0.000,4,0.000,0.052,2381,553,3399,0,0,0,0,0,0
$GC,850,-0.74,-146.0,124.9,-12.9,119,858,0.12,2.15,0.00,0.000,6,0.163,0.035,2405,1967,3400,0,0,0,0,0,0
$GC,1186,-0.74,-146.0,161.6,-9.0,150,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1967,3402,0,0,0,0,0,0
$GC,1505,-0.74,-146.0,190.5,-8.9,180,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1967,3402,0,0,0,0,0,0
$GC,1827,-0.74,-146.0,214.4,-8.2,202,1832,0.00,2.25,0.00,0.000,4,0.000,0.050,2405,544,3402,0,0,0,0,0,0
$GC,1977,-0.74,-146.0,227.9,-8.6,208,1983,0.00,2.15,0.00,0.000,6,0.000,0.033,2397,1971,3402,0,0,0,0,0,0
$GC,2295,-0.74,-146.0,249.2,-6.5,224,2299,0.00,2.25,0.00,0.000,4,0.000,0.051,2397,552,3402,0,0,0,0,0,0
$GC,2553,-0.74,-146.0,271.0,-8.8,235,2559,0.00,2.15,0.00,0.000,6,0.000,0.035,2387,1969,3401,0,0,0,0,0,0
$GC,2871,-0.74,-146.0,300.1,-9.7,251,2875,0.00,2.17,0.00,0.000,4,0.000,0.056,2377,3360,3401,0,0,0,0,0,0
$GC,2933,-0.74,-146.0,306.3,-9.5,252,2937,0.00,2.17,0.00,0.000,6,0.000,0.041,2377,1946,3402,0,0,0,0,0,0
$GC,3283,-0.74,-146.0,335.5,-8.4,261,3287,0.00,2.22,0.00,0.000,4,0.000,0.058,2378,545,3400,0,0,0,0,0,0
$GC,3541,-0.74,-146.0,361.3,-9.9,266,3547,0.12,2.15,0.00,0.000,6,0.161,0.037,2401,1958,3398,0,0,0,0,0,0
$GC,3877,-0.74,-146.0,386.1,-6.9,275,3880,0.00,2.17,0.00,0.000,4,0.000,0.057,2392,3365,3397,0,0,0,0,0,0
$GC,3963,-0.74,-146.0,393.3,-8.2,277,3967,0.00,2.20,0.00,0.000,6,0.000,0.041,2392,1950,3396,0,0,0,0,0,0
$GC,4294,-0.74,-146.0,415.4,-6.1,285,4298,0.00,2.20,0.00,0.000,4,0.000,0.061,2392,554,3394,0,0,0,0,0,0
$GC,4453,-0.74,-146.0,426.3,-6.6,288,4457,0.00,2.17,0.00,0.000,6,0.000,0.041,2382,1969,3393,0,0,0,0,0,0
$GC,4796,-0.74,-146.0,449.4,-7.4,297,4800,0.00,2.22,0.00,0.000,4,0.000,0.060,2372,3368,3391,0,0,0,0,0,0
$STATE,4804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4804,begin apogee
$GC,4812,-0.17,0.0,450.3,7.5,297,4934,0.62,0.00,118.43,0.775,6,0.123,0.000,2578,1972,2799,0,0,0,0,0,0
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4935,begin climb
$GC,4938,0.74,146.0,451.9,0.0,300,5075,0.85,2.45,125.55,0.746,4,0.079,0.064,2883,565,2202,0,0,0,0,0,0
$GC,5109,0.74,146.0,432.9,14.9,304,5113,0.00,2.28,0.00,0.000,6,0.000,0.039,2883,1979,2199,0,0,0,0,0,0
$GC,5427,0.74,146.0,384.3,15.1,312,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1979,2196,0,0,0,0,0,0
$GC,5752,0.74,146.0,340.0,13.5,320,5756,0.00,2.22,0.00,0.000,4,0.000,0.064,2883,3387,2194,0,0,0,0,0,0
$GC,5784,0.74,146.0,335.4,13.7,320,5790,0.00,2.22,0.00,0.000,6,0.000,0.041,2893,1971,2193,0,0,0,0,0,0
$GC,6097,0.74,146.0,287.9,15.4,330,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1971,2192,0,0,0,0,0,0
$GC,6406,0.74,146.0,240.9,14.8,345,6410,0.00,2.22,0.00,0.000,4,0.000,0.057,2901,555,2190,0,0,0,0,0,0
$GC,6490,0.74,146.0,228.6,13.8,349,6494,0.00,2.20,0.00,0.000,6,0.000,0.037,2901,1988,2189,0,0,0,0,0,0
$GC,6812,0.74,146.0,187.4,11.9,369,6816,0.00,2.15,0.00,0.000,4,0.000,0.052,2901,3388,2189,0,0,0,0,0,0
$GC,6928,0.74,146.0,172.7,12.9,379,6933,0.12,2.20,0.00,0.000,6,0.156,0.040,2876,1972,2187,0,0,0,0,0,0
$GC,7257,0.74,146.0,138.3,10.8,409,7261,0.00,2.20,0.00,0.000,4,0.000,0.054,2886,562,2187,0,0,0,0,0,0
$GC,7289,0.74,146.0,134.3,11.5,411,7296,0.00,2.17,0.00,0.000,6,0.000,0.035,2886,1974,2187,0,0,0,0,0,0
$GC,7616,0.74,146.0,100.7,9.0,442,7620,0.00,2.20,0.00,0.000,4,0.000,0.051,2886,3387,2187,0,0,0,0,0,0
$GC,7657,0.74,146.0,97.0,9.2,445,7661,0.00,2.20,0.00,0.000,6,0.000,0.039,2895,1966,2187,0,0,0,0,0,0
$GC,7987,0.74,146.0,65.3,10.4,487,7993,0.00,2.17,0.00,0.000,4,0.000,0.052,2906,569,2187,0,0,0,0,0,0
$GC,8098,0.75,158.1,55.3,8.5,507,8111,0.00,2.15,8.73,0.453,6,0.000,0.034,2906,1986,2155,0,0,0,0,0,0
$GC,8440,0.77,171.1,29.1,8.5,569,8460,0.00,0.00,12.88,0.447,6,0.000,0.000,2906,1987,2100,0,0,0,0,0,0
$GC,8622,0.77,171.1,13.2,9.4,602,8629,0.00,2.28,0.00,0.000,4,0.000,0.051,2914,572,2099,0,0,0,0,0,0
$GC,8658,0.77,171.1,9.8,9.7,608,8665,0.00,2.15,0.00,0.000,6,0.000,0.033,2914,1972,2100,0,0,0,0,0,0
$STATE,8743,end climb,SURFACE_DEPTH_REACHED
$STATE,8743,begin surface coast
$FINISH,0.4,1.017325
$STATE,8788,end surface coast,CONTROL_FINISHED_OK
$STATE,8788,begin surface
$SM_CCo,8806,59.95,0.440,0,0,1575,300.24
$SM_GC,1.40,0.00,0.00,59.95,0.000,0.000,0.440,50,1985,1575,-8.10,0.71,300.24
$IRIDIUM_FIX,2050.21,-15742.34,170802,232352
$TT8_MAMPS,0.028379
$HUMID,63.11
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,415.4,59.4
$24V_AH,24.7,22.610
$10V_AH,10.5,24.803
$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,18.375,75.000,265.575,59.950,0.000,23.759,38.402,155.415,17.750,0.000,23.802,1154.880,5096.545,377.492,2129.434,458.275,0.000,1114.724,0.000,2073.150,0.000,113.539,0.000
$DEVICE_MAMPS,222.430,64.428,774.670,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,429.598,362.241,1262.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34893,632
$CAP_FILE_SIZE,96693,0
$CFSIZE,260165632,242098176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240513,045231,2058.981,-15748.149,15,0.8,16,9.8