version: 66.06
glider: 523
mission: 4
dive: 319
start: 5 28 113 17 21 18
data:
$ID,523
$MISSION,4
$DIVE,319
$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,-42136.988
$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,28
$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
$GPS1,171153,2101.707,-15745.365,36,0.7,36,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.5
$GPS2,172100,2101.739,-15745.375,20,0.8,20,9.8
$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,217.8,10500,-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,-75.90,0.000,2,0.000,0.000,49,1973,3378,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.4,12,113,9.45,2.30,-0.38,0.000,4,0.229,0.062,2393,540,3396,0,0,0,0,0,0
$GC,234,-0.74,-146.0,34.8,-17.9,37,240,0.00,2.20,0.00,0.000,6,0.000,0.035,2384,1976,3397,0,0,0,0,0,0
$GC,570,-0.74,-146.0,90.7,-13.9,92,574,0.00,2.28,0.00,0.000,4,0.000,0.053,2384,550,3398,0,0,0,0,0,0
$GC,679,-0.74,-146.0,108.6,-17.3,101,686,0.00,2.17,0.00,0.000,6,0.000,0.034,2375,1966,3398,0,0,0,0,0,0
$GC,1006,-0.74,-146.0,154.0,-13.9,132,1011,0.00,2.25,0.00,0.000,4,0.000,0.051,2375,545,3399,0,0,0,0,0,0
$GC,1122,-0.74,-146.0,170.5,-14.5,142,1130,0.10,2.17,0.00,0.000,6,0.143,0.034,2397,1970,3399,0,0,0,0,0,0
$GC,1446,-0.74,-146.0,206.6,-10.4,170,1450,0.00,2.17,0.00,0.000,4,0.000,0.054,2388,3360,3400,0,0,0,0,0,0
$GC,1496,-0.74,-146.0,212.2,-10.8,172,1500,0.00,2.22,0.00,0.000,6,0.000,0.044,2388,1948,3400,0,0,0,0,0,0
$GC,1817,-0.74,-146.0,243.3,-8.7,188,1821,0.00,2.17,0.00,0.000,4,0.000,0.050,2388,548,3400,0,0,0,0,0,0
$GC,2074,-0.74,-146.0,265.0,-6.4,199,2083,0.00,2.12,0.00,0.000,6,0.000,0.033,2378,1962,3400,0,0,0,0,0,0
$GC,2392,-0.74,-146.0,287.7,-8.2,215,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1962,3400,0,0,0,0,0,0
$GC,2719,-0.74,-146.0,315.8,-8.9,227,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1963,3400,0,0,0,0,0,0
$GC,3042,-0.74,-146.0,345.0,-9.3,235,3047,0.00,2.28,0.00,0.000,4,0.000,0.054,2379,543,3399,0,0,0,0,0,0
$GC,3295,-0.74,-146.0,365.2,-7.9,240,3300,0.12,2.15,0.00,0.000,6,0.169,0.038,2401,1961,3397,0,0,0,0,0,0
$GC,3637,-0.74,-146.0,389.4,-9.4,249,3641,0.00,2.28,0.00,0.000,4,0.000,0.057,2402,548,3395,0,0,0,0,0,0
$GC,3845,-0.74,-146.0,405.7,-8.1,253,3849,0.00,2.17,0.00,0.000,6,0.000,0.041,2394,1961,3394,0,0,0,0,0,0
$GC,4183,-0.74,-146.0,425.5,-5.7,262,4187,0.00,2.20,0.00,0.000,4,0.000,0.056,2383,3370,3393,0,0,0,0,0,0
$GC,4320,-0.74,-146.0,433.9,-4.9,265,4324,0.00,2.25,0.00,0.000,6,0.000,0.048,2383,1952,3392,0,0,0,0,0,0
$STATE,4597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4597,begin apogee
$GC,4606,-0.17,0.0,452.0,6.4,272,4727,0.62,0.00,118.55,0.774,6,0.129,0.000,2581,1952,2799,0,0,0,0,0,0
$STATE,4728,end apogee,CONTROL_FINISHED_OK
$STATE,4728,begin climb
$GC,4731,0.74,146.0,454.9,0.0,275,4868,0.82,2.50,125.22,0.746,4,0.073,0.055,2871,3388,2203,0,0,0,0,0,0
$GC,4879,0.74,146.0,437.8,16.2,278,4883,0.00,2.33,0.00,0.000,6,0.000,0.047,2880,1977,2202,0,0,0,0,0,0
$GC,5216,0.74,146.0,381.9,16.2,287,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1977,2197,0,0,0,0,0,0
$GC,5541,0.74,146.0,335.0,15.0,295,5545,0.00,2.28,0.00,0.000,4,0.000,0.059,2890,558,2194,0,0,0,0,0,0
$GC,5568,0.74,146.0,330.3,17.1,295,5572,0.00,2.22,0.00,0.000,6,0.000,0.043,2891,1973,2194,0,0,0,0,0,0
$GC,5880,0.74,146.0,289.4,12.4,304,5884,0.00,2.20,0.00,0.000,4,0.000,0.053,2891,3385,2193,0,0,0,0,0,0
$GC,5930,0.74,146.0,280.1,16.7,306,5934,0.00,2.28,0.00,0.000,6,0.000,0.051,2900,1963,2192,0,0,0,0,0,0
$GC,6245,0.74,146.0,235.1,11.9,321,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1963,2190,0,0,0,0,0,0
$GC,6555,0.74,146.0,204.7,10.9,336,6559,0.00,2.22,0.00,0.000,4,0.000,0.060,2910,554,2189,0,0,0,0,0,0
$GC,6587,0.74,146.0,200.6,11.9,337,6592,0.12,2.22,0.00,0.000,6,0.142,0.043,2875,1983,2189,0,0,0,0,0,0
$GC,6916,0.74,146.0,169.0,9.8,367,6920,0.00,2.15,0.00,0.000,4,0.000,0.051,2875,3385,2189,0,0,0,0,0,0
$GC,7024,0.74,146.0,157.5,10.4,376,7032,0.00,2.22,0.00,0.000,6,0.000,0.041,2884,1970,2187,0,0,0,0,0,0
$GC,7352,0.74,146.0,126.6,10.6,407,7356,0.00,2.22,0.00,0.000,4,0.000,0.058,2894,562,2187,0,0,0,0,0,0
$GC,7393,0.74,146.0,122.1,10.7,410,7397,0.00,2.15,0.00,0.000,6,0.000,0.037,2894,1982,2187,0,0,0,0,0,0
$GC,7720,0.74,146.0,85.6,10.6,440,7724,0.00,2.12,0.00,0.000,4,0.000,0.050,2894,3376,2187,0,0,0,0,0,0
$GC,7741,0.74,146.0,82.8,11.9,441,7749,0.00,2.20,0.00,0.000,6,0.000,0.039,2902,1976,2188,0,0,0,0,0,0
$GC,8075,0.74,146.0,48.6,9.9,500,8082,0.00,2.25,0.00,0.000,4,0.000,0.058,2913,570,2188,0,0,0,0,0,0
$GC,8099,0.74,146.0,46.3,9.2,504,8107,0.10,2.17,0.00,0.000,6,0.106,0.037,2876,1975,2188,0,0,0,0,0,0
$GC,8433,0.80,198.7,24.2,6.8,565,8479,0.00,0.00,42.42,0.462,6,0.000,0.000,2876,1974,1987,0,0,0,0,0,0
$GC,8639,0.84,231.8,9.4,7.7,602,8674,0.10,0.00,28.40,0.439,6,0.088,0.000,2945,1975,1853,0,0,0,0,0,0
$STATE,8700,end climb,SURFACE_DEPTH_REACHED
$STATE,8700,begin surface coast
$FINISH,0.6,1.010695
$STATE,8730,end surface coast,CONTROL_FINISHED_OK
$STATE,8730,begin surface
$SM_CCo,8748,33.00,0.426,0,0,1575,300.24
$SM_GC,1.27,0.00,0.00,33.00,0.000,0.000,0.426,42,1979,1575,-8.12,0.57,300.24
$IRIDIUM_FIX,2050.21,-15740.20,220802,171737
$TT8_MAMPS,0.027612
$HUMID,62.44
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,452.0,43.4
$24V_AH,24.7,26.164
$10V_AH,10.4,28.691
$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,18.875,71.150,314.600,33.000,0.000,51.917,74.528,217.840,19.250,0.000,20.687,1126.026,5187.950,371.047,2044.184,598.964,0.000,1110.941,0.000,1992.057,0.000,131.241,0.000
$DEVICE_MAMPS,228.566,62.127,773.903,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,418.450,359.657,1216.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,34916,617
$CAP_FILE_SIZE,98041,0
$CFSIZE,260165632,240017408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280513,194847,2100.699,-15746.061,28,0.8,28,9.8