version: 66.06
glider: 523
mission: 4
dive: 277
start: 5 24 113 4 58 39
data:
$ID,523
$MISSION,4
$DIVE,277
$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,-41304.121
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,045231,2058.981,-15748.149,15,0.8,16,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.1
$GPS2,045823,2059.010,-15748.188,23,0.9,23,9.8
$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,225.2,3528,-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,-76.12,0.000,2,0.000,0.000,49,1985,3371,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.3,12,113,9.25,2.30,-0.52,0.000,4,0.224,0.062,2390,553,3396,0,0,0,0,0,0
$GC,357,-0.74,-146.0,58.7,-18.7,59,362,0.00,2.17,0.00,0.000,6,0.000,0.036,2381,1968,3397,0,0,0,0,0,0
$GC,686,-0.74,-146.0,108.0,-14.7,101,690,0.00,2.28,0.00,0.000,4,0.000,0.054,2382,547,3399,0,0,0,0,0,0
$GC,892,-0.74,-146.0,139.6,-13.8,119,901,0.08,2.17,0.00,0.000,6,0.139,0.034,2397,1969,3400,0,0,0,0,0,0
$GC,1219,-0.74,-146.0,173.1,-9.2,150,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1969,3401,0,0,0,0,0,0
$GC,1537,-0.74,-146.0,199.4,-7.7,180,1544,0.00,2.20,0.00,0.000,4,0.000,0.056,2389,3363,3401,0,0,0,0,0,0
$GC,1588,-0.74,-146.0,204.2,-9.3,183,1592,0.00,2.22,0.00,0.000,6,0.000,0.044,2389,1955,3401,0,0,0,0,0,0
$GC,1908,-0.74,-146.0,234.7,-9.4,199,1913,0.00,2.25,0.00,0.000,4,0.000,0.054,2389,544,3402,0,0,0,0,0,0
$GC,1964,-0.74,-146.0,239.6,-8.5,201,1969,0.00,2.15,0.00,0.000,6,0.000,0.037,2379,1962,3401,0,0,0,0,0,0
$GC,2287,-0.74,-146.0,263.4,-7.5,217,2291,0.00,2.25,0.00,0.000,4,0.000,0.054,2380,549,3401,0,0,0,0,0,0
$GC,2499,-0.74,-146.0,283.7,-10.9,226,2505,0.12,2.15,0.00,0.000,6,0.162,0.038,2404,1956,3401,0,0,0,0,0,0
$GC,2835,-0.74,-146.0,309.8,-6.9,240,2840,0.00,2.20,0.00,0.000,4,0.000,0.059,2396,3363,3401,0,0,0,0,0,0
$GC,2908,-0.74,-146.0,314.6,-6.3,241,2912,0.00,2.22,0.00,0.000,6,0.000,0.048,2396,1954,3401,0,0,0,0,0,0
$GC,3247,-0.74,-146.0,334.4,-6.0,250,3251,0.00,2.22,0.00,0.000,4,0.000,0.056,2396,543,3399,0,0,0,0,0,0
$GC,3505,-0.74,-146.0,355.6,-9.0,255,3510,0.00,2.17,0.00,0.000,6,0.000,0.037,2386,1966,3397,0,0,0,0,0,0
$GC,3837,-0.74,-146.0,383.2,-8.7,264,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1966,3395,0,0,0,0,0,0
$GC,4161,-0.74,-146.0,409.0,-7.4,272,4165,0.00,2.30,0.00,0.000,4,0.000,0.061,2386,544,3393,0,0,0,0,0,0
$GC,4212,-0.74,-146.0,413.0,-8.1,273,4216,0.00,2.17,0.00,0.000,6,0.000,0.040,2377,1957,3392,0,0,0,0,0,0
$GC,4528,-0.74,-146.0,434.4,-6.7,281,4532,0.00,2.22,0.00,0.000,4,0.000,0.056,2366,3367,3391,0,0,0,0,0,0
$GC,4606,-0.74,-146.0,440.5,-8.2,282,4612,0.12,2.22,0.00,0.000,6,0.145,0.044,2400,1951,3390,0,0,0,0,0,0
$STATE,4772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4772,begin apogee
$GC,4779,-0.17,0.0,451.7,6.6,287,4900,0.55,0.00,118.57,0.779,6,0.114,0.000,2582,1951,2799,0,0,0,0,0,0
$STATE,4901,end apogee,CONTROL_FINISHED_OK
$STATE,4901,begin climb
$GC,4904,0.74,146.0,452.5,0.0,290,5041,0.82,2.38,125.38,0.749,4,0.078,0.058,2881,571,2201,0,0,0,0,0,0
$GC,5058,0.74,146.0,437.4,12.1,293,5062,0.00,2.30,0.00,0.000,6,0.000,0.042,2881,1981,2200,0,0,0,0,0,0
$GC,5389,0.74,146.0,389.6,14.6,301,5393,0.00,2.22,0.00,0.000,4,0.000,0.052,2881,3392,2195,0,0,0,0,0,0
$GC,5467,0.74,146.0,376.8,15.9,302,5473,0.00,2.22,0.00,0.000,6,0.000,0.042,2891,1978,2194,0,0,0,0,0,0
$GC,5799,0.74,146.0,327.2,14.7,311,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1977,2193,0,0,0,0,0,0
$GC,6105,0.74,146.0,285.3,13.4,321,6109,0.00,2.25,0.00,0.000,4,0.000,0.058,2901,559,2192,0,0,0,0,0,0
$GC,6191,0.74,146.0,274.4,13.1,325,6195,0.00,2.20,0.00,0.000,6,0.000,0.039,2901,1981,2190,0,0,0,0,0,0
$GC,6517,0.74,146.0,230.5,12.3,341,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1982,2189,0,0,0,0,0,0
$GC,6830,0.74,146.0,192.3,12.5,359,6834,0.00,2.17,0.00,0.000,4,0.000,0.052,2901,3384,2188,0,0,0,0,0,0
$GC,6947,0.74,146.0,176.5,13.1,369,6952,0.12,2.20,0.00,0.000,6,0.159,0.040,2877,1967,2187,0,0,0,0,0,0
$GC,7276,0.74,146.0,141.0,11.0,399,7280,0.00,2.20,0.00,0.000,4,0.000,0.058,2886,568,2187,0,0,0,0,0,0
$GC,7327,0.74,146.0,134.8,11.6,403,7331,0.00,2.17,0.00,0.000,6,0.000,0.037,2886,1985,2186,0,0,0,0,0,0
$GC,7654,0.74,146.6,102.2,9.0,433,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1986,2186,0,0,0,0,0,0
$GC,7972,0.74,146.6,73.5,9.1,469,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1986,2186,0,0,0,0,0,0
$GC,8303,0.79,191.5,44.3,7.2,530,8345,0.00,2.20,36.05,0.489,4,0.000,0.049,2886,3385,2018,0,0,0,0,0,0
$GC,8416,0.81,208.8,35.5,8.3,549,8440,0.00,2.22,15.57,0.456,6,0.000,0.038,2895,1976,1948,0,0,0,0,0,0
$GC,8761,0.82,211.4,8.7,8.9,613,8769,0.00,2.30,3.88,0.315,4,0.000,0.055,2905,568,1937,0,0,0,0,0,0
$STATE,8815,end climb,SURFACE_DEPTH_REACHED
$STATE,8815,begin surface coast
$FINISH,0.6,1.014926
$STATE,8849,end surface coast,CONTROL_FINISHED_OK
$STATE,8849,begin surface
$SM_CCo,8869,43.03,0.439,0,0,1573,300.24
$SM_GC,1.56,0.00,0.00,43.03,0.000,0.000,0.439,33,1966,1573,-8.15,0.20,300.24
$IRIDIUM_FIX,2059.45,-15734.18,180802,020230
$TT8_MAMPS,0.028379
$HUMID,62.52
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,426.5,52.9
$24V_AH,24.7,22.690
$10V_AH,10.5,24.895
$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,18.350,71.125,299.450,43.025,0.000,23.189,38.809,155.369,18.500,0.000,23.409,1142.310,5222.458,385.130,2067.968,446.059,0.000,1096.307,0.000,2010.392,0.000,117.348,0.000
$DEVICE_MAMPS,223.964,62.127,778.505,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,427.335,359.859,1252.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,35004,629
$CAP_FILE_SIZE,94281,0
$CFSIZE,260165632,242049024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240513,072830,2058.635,-15748.698,38,0.9,38,9.8