version: 66.06
glider: 523
mission: 4
dive: 320
start: 5 28 113 19 58 18
data:
$ID,523
$MISSION,4
$DIVE,320
$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,-42157.09
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,194847,2100.699,-15746.061,28,0.8,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.1
$GPS2,195800,2100.726,-15746.058,19,0.9,19,9.8
$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,221.9,8384,-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,-75.85,0.000,2,0.000,0.000,42,1979,3381,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-4.9,12,113,9.48,2.30,-0.28,0.000,4,0.228,0.061,2395,549,3396,0,0,0,0,0,0
$GC,352,-0.74,-146.0,56.9,-16.8,59,357,0.00,2.17,0.00,0.000,6,0.000,0.034,2386,1974,3397,0,0,0,0,0,0
$GC,688,-0.74,-146.0,100.6,-8.6,105,692,0.00,2.28,0.00,0.000,4,0.000,0.051,2387,550,3398,0,0,0,0,0,0
$GC,720,-0.74,-146.0,104.5,-11.0,107,728,0.00,2.15,0.00,0.000,6,0.000,0.033,2377,1957,3399,0,0,0,0,0,0
$GC,1048,-0.74,-146.0,145.7,-13.7,138,1052,0.00,2.25,0.00,0.000,4,0.000,0.051,2377,544,3400,0,0,0,0,0,0
$GC,1153,-0.74,-146.0,159.9,-12.6,147,1161,0.12,2.15,0.00,0.000,6,0.168,0.032,2399,1975,3400,0,0,0,0,0,0
$GC,1488,-0.74,-146.0,197.1,-10.0,178,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1976,3400,0,0,0,0,0,0
$GC,1810,-0.74,-146.0,225.5,-7.6,195,1814,0.00,2.28,0.00,0.000,4,0.000,0.051,2400,544,3401,0,0,0,0,0,0
$GC,2064,-0.74,-146.0,248.7,-11.1,206,2068,0.00,2.12,0.00,0.000,6,0.000,0.035,2392,1955,3400,0,0,0,0,0,0
$GC,2387,-0.74,-146.0,274.9,-7.7,222,2392,0.00,2.25,0.00,0.000,4,0.000,0.052,2392,544,3400,0,0,0,0,0,0
$GC,2448,-0.74,-146.0,280.6,-8.6,224,2454,0.00,2.15,0.00,0.000,6,0.000,0.036,2382,1964,3400,0,0,0,0,0,0
$GC,2788,-0.74,-146.0,307.1,-7.2,239,2792,0.00,2.22,0.00,0.000,4,0.000,0.054,2372,3369,3400,0,0,0,0,0,0
$GC,2945,-0.74,-146.0,316.6,-6.0,242,2950,0.12,2.22,0.00,0.000,6,0.150,0.041,2405,1947,3399,0,0,0,0,0,0
$GC,3282,-0.74,-146.0,331.7,-5.2,251,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1947,3398,0,0,0,0,0,0
$GC,3608,-0.74,-146.0,354.5,-6.6,259,3612,0.00,2.25,0.00,0.000,4,0.000,0.060,2406,550,3396,0,0,0,0,0,0
$GC,3734,-0.74,-146.0,364.3,-8.8,261,3739,0.00,2.15,0.00,0.000,6,0.000,0.039,2398,1959,3394,0,0,0,0,0,0
$GC,4066,-0.74,-146.0,392.6,-8.5,270,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1960,3393,0,0,0,0,0,0
$GC,4393,-0.74,-146.0,416.7,-6.8,278,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1960,3391,0,0,0,0,0,0
$GC,4715,-0.74,-146.0,435.6,-5.3,286,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1960,3389,0,0,0,0,0,0
$STATE,4956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4956,begin apogee
$GC,4963,-0.17,0.0,450.4,6.3,292,5084,0.57,0.00,118.50,0.780,6,0.121,0.000,2582,1960,2799,0,0,0,0,0,0
$STATE,5085,end apogee,CONTROL_FINISHED_OK
$STATE,5085,begin climb
$GC,5088,0.74,146.0,451.1,0.0,295,5225,0.85,2.40,125.80,0.748,4,0.076,0.053,2877,3376,2203,0,0,0,0,0,0
$GC,5294,0.74,146.0,425.6,14.8,299,5300,0.00,2.30,0.00,0.000,6,0.000,0.047,2885,1980,2199,0,0,0,0,0,0
$GC,5625,0.74,146.0,378.1,14.8,308,5629,0.00,2.28,0.00,0.000,4,0.000,0.059,2896,564,2195,0,0,0,0,0,0
$GC,5676,0.74,146.0,370.4,14.6,309,5680,0.00,2.22,0.00,0.000,6,0.000,0.044,2896,1969,2194,0,0,0,0,0,0
$GC,5989,0.74,146.0,327.0,14.4,317,5993,0.00,2.22,0.00,0.000,4,0.000,0.052,2896,3389,2193,0,0,0,0,0,0
$GC,6061,0.74,146.0,314.7,17.3,318,6065,0.00,2.22,0.00,0.000,6,0.000,0.041,2906,1973,2192,0,0,0,0,0,0
$GC,6375,0.74,146.0,267.4,14.0,330,6379,0.00,2.22,0.00,0.000,4,0.000,0.051,2906,3386,2190,0,0,0,0,0,0
$GC,6397,0.74,146.0,264.3,13.9,331,6402,0.15,2.22,0.00,0.000,6,0.148,0.041,2874,1966,2190,0,0,0,0,0,0
$GC,6724,0.74,146.0,230.3,9.9,347,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1966,2189,0,0,0,0,0,0
$GC,7037,0.74,146.0,194.5,10.5,364,7041,0.00,2.20,0.00,0.000,4,0.000,0.060,2882,569,2187,0,0,0,0,0,0
$GC,7142,0.74,146.0,183.8,9.5,373,7146,0.00,2.17,0.00,0.000,6,0.000,0.038,2883,1984,2187,0,0,0,0,0,0
$GC,7470,0.74,146.0,144.4,12.6,403,7474,0.00,2.15,0.00,0.000,4,0.000,0.050,2882,3388,2187,0,0,0,0,0,0
$GC,7586,0.74,146.0,130.3,11.7,413,7590,0.00,2.20,0.00,0.000,6,0.000,0.038,2892,1966,2186,0,0,0,0,0,0
$GC,7913,0.74,146.0,98.7,9.9,443,7917,0.00,2.20,0.00,0.000,4,0.000,0.057,2902,558,2186,0,0,0,0,0,0
$GC,8018,0.74,146.0,88.0,9.6,452,8022,0.00,2.17,0.00,0.000,6,0.000,0.037,2902,1979,2186,0,0,0,0,0,0
$GC,8351,0.74,151.8,54.7,8.8,505,8356,0.00,2.17,0.00,0.000,4,0.000,0.051,2902,3386,2186,0,0,0,0,0,0
$GC,8497,0.74,151.8,41.3,9.4,531,8503,0.12,2.20,0.00,0.000,6,0.146,0.038,2876,1966,2187,0,0,0,0,0,0
$GC,8825,0.81,209.4,16.8,6.6,592,8884,0.00,2.28,50.47,0.466,4,0.000,0.058,2885,568,1944,0,0,0,0,0,0
$GC,8913,0.86,242.5,10.4,7.7,606,8948,0.00,2.20,28.75,0.446,6,0.000,0.035,2885,1972,1810,0,0,0,0,0,0
$STATE,9012,end climb,SURFACE_DEPTH_REACHED
$STATE,9012,begin surface coast
$FINISH,0.6,1.023046
$STATE,9057,end surface coast,CONTROL_FINISHED_OK
$STATE,9057,begin surface
$SM_CCo,9075,29.27,0.430,0,0,1575,300.24
$SM_GC,1.19,0.00,0.00,29.27,0.000,0.000,0.430,40,1973,1575,-8.13,0.37,300.24
$IRIDIUM_FIX,2047.91,-15738.07,220802,202042
$TT8_MAMPS,0.028379
$HUMID,63.27
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,416.7,56.8
$24V_AH,24.7,26.251
$10V_AH,10.4,28.784
$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,18.775,71.000,323.525,29.275,0.000,66.027,70.990,212.452,17.500,0.000,19.471,1126.348,5534.403,371.604,2030.664,594.720,0.000,1094.727,0.000,1984.829,0.000,109.427,0.000
$DEVICE_MAMPS,227.799,60.593,780.039,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,428.410,360.212,1232.619,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,35005,631
$CAP_FILE_SIZE,97317,0
$CFSIZE,260165632,239968256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280513,223123,2100.408,-15746.371,41,0.8,41,9.8