version: 66.06
glider: 523
mission: 4
dive: 318
start: 5 28 113 14 46 45
data:
$ID,523
$MISSION,4
$DIVE,318
$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,-42115.672
$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,35
$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
$GPS1,144059,2103.167,-15744.272,16,1.1,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.8
$GPS2,144629,2103.152,-15744.306,18,1.0,18,9.8
$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,214.9,13647,-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,-76.18,0.000,2,0.000,0.000,27,1976,3371,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-3.9,12,113,9.50,2.33,-0.55,0.000,4,0.227,0.064,2394,540,3396,0,0,0,0,0,0
$GC,266,-0.74,-146.0,41.9,-20.5,43,272,0.00,2.17,0.00,0.000,6,0.000,0.035,2386,1963,3398,0,0,0,0,0,0
$GC,598,-0.74,-146.0,94.7,-13.0,94,605,0.00,2.25,0.00,0.000,4,0.000,0.051,2386,546,3399,0,0,0,0,0,0
$GC,667,-0.74,-146.0,103.8,-12.7,100,671,0.00,2.15,0.00,0.000,6,0.000,0.034,2377,1961,3399,0,0,0,0,0,0
$GC,994,-0.74,-146.0,149.7,-11.8,130,1000,0.00,2.22,0.00,0.000,4,0.000,0.051,2377,550,3400,0,0,0,0,0,0
$GC,1155,-0.74,-146.0,168.9,-12.6,144,1163,0.10,2.15,0.00,0.000,6,0.146,0.034,2398,1955,3400,0,0,0,0,0,0
$GC,1479,-0.74,-146.0,205.1,-9.9,173,1483,0.00,2.17,0.00,0.000,4,0.000,0.055,2390,3359,3401,0,0,0,0,0,0
$GC,1598,-0.74,-146.0,216.1,-9.5,178,1602,0.00,2.20,0.00,0.000,6,0.000,0.045,2389,1961,3401,0,0,0,0,0,0
$GC,1921,-0.74,-146.0,242.5,-7.5,194,1925,0.00,2.22,0.00,0.000,4,0.000,0.052,2390,548,3401,0,0,0,0,0,0
$GC,2177,-0.74,-146.0,266.8,-9.7,205,2183,0.00,2.12,0.00,0.000,6,0.000,0.034,2380,1973,3401,0,0,0,0,0,0
$GC,2496,-0.74,-146.0,296.0,-9.4,221,2500,0.00,2.25,0.00,0.000,4,0.000,0.052,2380,551,3401,0,0,0,0,0,0
$GC,2590,-0.74,-146.0,306.0,-9.9,224,2595,0.12,2.15,0.00,0.000,6,0.170,0.035,2403,1965,3401,0,0,0,0,0,0
$GC,2906,-0.74,-146.0,331.6,-8.5,232,2910,0.00,2.28,0.00,0.000,4,0.000,0.055,2403,548,3401,0,0,0,0,0,0
$GC,3165,-0.74,-146.0,358.1,-8.6,237,3170,0.00,2.15,0.00,0.000,6,0.000,0.037,2395,1960,3400,0,0,0,0,0,0
$GC,3499,-0.74,-146.0,381.2,-6.6,246,3503,0.00,2.28,0.00,0.000,4,0.000,0.057,2395,550,3398,0,0,0,0,0,0
$GC,3756,-0.74,-146.0,398.5,-6.4,251,3762,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1965,3396,0,0,0,0,0,0
$GC,4088,-0.74,-146.0,419.6,-6.6,260,4092,0.00,2.28,0.00,0.000,4,0.000,0.058,2385,544,3395,0,0,0,0,0,0
$GC,4348,-0.74,-146.0,439.9,-7.6,265,4352,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1970,3393,0,0,0,0,0,0
$STATE,4513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4514,begin apogee
$GC,4520,-0.17,0.0,451.6,6.9,269,4642,0.65,0.00,119.03,0.769,6,0.122,0.000,2584,1970,2800,0,0,0,0,0,0
$STATE,4643,end apogee,CONTROL_FINISHED_OK
$STATE,4643,begin climb
$GC,4646,0.74,146.0,451.4,0.0,272,4778,0.82,0.00,125.70,0.740,6,0.078,0.000,2870,1970,2204,0,0,0,0,0,0
$GC,5093,0.74,146.0,390.1,14.8,283,5097,0.00,2.35,0.00,0.000,4,0.000,0.062,2879,568,2196,0,0,0,0,0,0
$GC,5132,0.74,146.0,384.5,14.2,284,5136,0.00,2.22,0.00,0.000,6,0.000,0.041,2879,1975,2195,0,0,0,0,0,0
$GC,5456,0.74,146.0,340.1,14.2,292,5460,0.00,2.25,0.00,0.000,4,0.000,0.061,2879,3383,2193,0,0,0,0,0,0
$GC,5495,0.74,146.0,334.6,14.4,293,5499,0.00,2.25,0.00,0.000,6,0.000,0.050,2887,1975,2192,0,0,0,0,0,0
$GC,5820,0.74,146.0,287.4,13.8,303,5824,0.00,2.28,0.00,0.000,4,0.000,0.061,2898,551,2191,0,0,0,0,0,0
$GC,5881,0.74,146.0,279.2,13.0,305,5886,0.00,2.22,0.00,0.000,6,0.000,0.042,2898,1974,2191,0,0,0,0,0,0
$GC,6196,0.74,146.0,240.8,12.3,321,6200,0.00,2.17,0.00,0.000,4,0.000,0.051,2898,3387,2189,0,0,0,0,0,0
$GC,6291,0.74,146.0,227.1,14.5,325,6296,0.00,2.22,0.00,0.000,6,0.000,0.041,2907,1963,2188,0,0,0,0,0,0
$GC,6618,0.74,146.0,184.9,12.9,346,6622,0.00,2.22,0.00,0.000,4,0.000,0.060,2914,565,2187,0,0,0,0,0,0
$GC,6726,0.74,146.0,171.1,12.8,355,6734,0.10,2.20,0.00,0.000,6,0.113,0.038,2880,1980,2187,0,0,0,0,0,0
$GC,7053,0.74,146.0,135.1,10.8,386,7057,0.00,2.17,0.00,0.000,4,0.000,0.051,2880,3386,2186,0,0,0,0,0,0
$GC,7104,0.74,146.0,128.8,11.2,390,7108,0.00,2.20,0.00,0.000,6,0.000,0.040,2888,1973,2186,0,0,0,0,0,0
$GC,7432,0.74,146.0,95.3,10.0,420,7436,0.00,2.20,0.00,0.000,4,0.000,0.058,2898,567,2186,0,0,0,0,0,0
$GC,7495,0.74,146.0,89.1,10.1,425,7499,0.00,2.17,0.00,0.000,6,0.000,0.036,2898,1990,2186,0,0,0,0,0,0
$GC,7822,0.74,146.0,61.2,9.7,476,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1990,2186,0,0,0,0,0,0
$GC,8156,0.76,165.3,35.8,8.2,537,8181,0.00,2.20,14.82,0.455,4,0.000,0.051,2898,3376,2125,0,0,0,0,0,0
$GC,8243,0.76,168.3,28.3,8.9,552,8258,0.00,2.25,4.55,0.350,6,0.000,0.044,2906,1977,2112,0,0,0,0,0,0
$GC,8420,0.76,168.3,11.8,9.7,584,8428,0.00,2.28,0.00,0.000,4,0.000,0.054,2916,564,2111,0,0,0,0,0,0
$GC,8463,0.77,169.5,8.0,9.0,591,8470,0.08,2.17,0.00,0.000,6,0.109,0.038,2888,1963,2110,0,0,0,0,0,0
$STATE,8517,end climb,SURFACE_DEPTH_REACHED
$STATE,8517,begin surface coast
$FINISH,0.4,1.023126
$STATE,8552,end surface coast,CONTROL_FINISHED_OK
$STATE,8552,begin surface
$SM_CCo,8570,62.10,0.438,0,0,1575,300.24
$SM_GC,1.38,0.00,0.00,62.10,0.000,0.000,0.438,49,1973,1575,-8.10,0.37,300.24
$IRIDIUM_FIX,2059.45,-15743.60,220802,121230
$TT8_MAMPS,0.028379
$HUMID,62.32
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,425.1,55.5
$24V_AH,24.7,26.077
$10V_AH,10.5,28.598
$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,18.575,79.800,264.100,62.100,0.000,25.098,35.594,138.998,18.000,0.000,19.023,1143.157,4867.041,395.078,2118.602,436.715,0.000,1147.560,0.000,2064.158,0.000,118.936,0.000
$DEVICE_MAMPS,227.032,64.428,768.534,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.915,341.308,1181.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,34957,607
$CAP_FILE_SIZE,97764,0
$CFSIZE,260165632,240066560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280513,171153,2101.707,-15745.365,36,0.7,36,9.8