version: 66.06
glider: 523
mission: 4
dive: 323
start: 5 29 113 3 44 16
data:
$ID,523
$MISSION,4
$DIVE,323
$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,-42222.012
$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,30
$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
$GPS1,033804,2059.263,-15747.334,32,0.9,32,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.5
$GPS2,034359,2059.295,-15747.329,15,1.3,15,9.8
$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,230.0,5066,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.95,0.000,6,0.000,0.000,33,1976,3397,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.7,-6.3,12,112,9.45,2.33,0.00,0.000,4,0.227,0.045,2389,540,3398,0,0,0,0,0,0
$GC,358,-0.74,-146.0,57.5,-16.0,59,363,0.00,2.17,0.00,0.000,6,0.000,0.035,2381,1963,3400,0,0,0,0,0,0
$GC,692,-0.74,-146.0,96.7,-11.3,107,696,0.00,2.30,0.00,0.000,4,0.000,0.053,2381,548,3402,0,0,0,0,0,0
$GC,812,-0.74,-146.0,111.6,-11.7,117,817,0.10,2.15,0.00,0.000,6,0.176,0.034,2397,1965,3402,0,0,0,0,0,0
$GC,1140,-0.74,-146.0,145.8,-10.8,147,1144,0.00,2.25,0.00,0.000,4,0.000,0.051,2398,544,3403,0,0,0,0,0,0
$GC,1302,-0.74,-146.0,166.5,-13.0,161,1306,0.00,2.15,0.00,0.000,6,0.000,0.034,2390,1967,3403,0,0,0,0,0,0
$GC,1637,-0.74,-146.0,202.2,-10.1,191,1641,0.00,2.30,0.00,0.000,4,0.000,0.051,2390,546,3404,0,0,0,0,0,0
$GC,1743,-0.74,-146.0,212.2,-9.8,196,1747,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1964,3404,0,0,0,0,0,0
$GC,2071,-0.74,-146.0,245.9,-9.1,212,2075,0.00,2.25,0.00,0.000,4,0.000,0.051,2379,550,3403,0,0,0,0,0,0
$GC,2329,-0.74,-146.0,272.5,-11.1,223,2335,0.12,2.15,0.00,0.000,6,0.170,0.035,2402,1964,3403,0,0,0,0,0,0
$GC,2645,-0.74,-146.0,299.4,-7.3,239,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1965,3404,0,0,0,0,0,0
$GC,2950,-0.74,-146.0,323.2,-7.8,247,2954,0.00,2.17,0.00,0.000,4,0.000,0.056,2393,3365,3403,0,0,0,0,0,0
$GC,3076,-0.74,-146.0,333.8,-8.2,249,3082,0.00,2.22,0.00,0.000,6,0.000,0.042,2393,1947,3403,0,0,0,0,0,0
$GC,3408,-0.74,-146.0,358.2,-6.9,258,3412,0.00,2.22,0.00,0.000,4,0.000,0.057,2393,548,3402,0,0,0,0,0,0
$GC,3667,-0.74,-146.0,378.6,-7.5,263,3671,0.00,2.15,0.00,0.000,6,0.000,0.038,2384,1961,3400,0,0,0,0,0,0
$GC,4003,-0.74,-146.0,404.6,-7.9,272,4010,0.00,2.25,0.00,0.000,4,0.000,0.056,2384,547,3398,0,0,0,0,0,0
$GC,4168,-0.74,-146.0,420.0,-9.3,275,4171,0.00,2.17,0.00,0.000,6,0.000,0.040,2374,1961,3397,0,0,0,0,0,0
$GC,4505,-0.74,-146.0,442.2,-6.2,284,4509,0.00,2.22,0.00,0.000,4,0.000,0.059,2364,3370,3395,0,0,0,0,0,0
$STATE,4625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4625,begin apogee
$GC,4635,-0.17,0.0,450.2,6.4,286,4761,0.68,0.00,119.60,0.765,6,0.127,0.000,2582,1969,2799,0,0,0,0,0,0
$STATE,4761,end apogee,CONTROL_FINISHED_OK
$STATE,4761,begin climb
$GC,4764,0.74,146.0,449.6,0.0,290,4896,0.85,0.00,125.35,0.737,6,0.081,0.000,2872,1968,2204,0,0,0,0,0,0
$GC,5211,0.74,146.0,390.8,13.0,301,5215,0.00,2.30,0.00,0.000,4,0.000,0.057,2872,3375,2197,0,0,0,0,0,0
$GC,5266,0.74,146.0,383.3,13.1,302,5270,0.00,2.28,0.00,0.000,6,0.000,0.049,2882,1973,2195,0,0,0,0,0,0
$GC,5615,0.74,146.0,340.4,12.2,311,5619,0.00,2.28,0.00,0.000,4,0.000,0.061,2881,3379,2193,0,0,0,0,0,0
$GC,5654,0.74,146.0,335.5,12.2,312,5658,0.00,2.28,0.00,0.000,6,0.000,0.051,2891,1971,2193,0,0,0,0,0,0
$GC,5979,0.74,146.0,292.2,14.5,321,5983,0.00,2.28,0.00,0.000,4,0.000,0.059,2902,555,2191,0,0,0,0,0,0
$GC,6007,0.74,146.0,288.2,14.0,322,6011,0.00,2.20,0.00,0.000,6,0.000,0.038,2902,1977,2191,0,0,0,0,0,0
$GC,6323,0.74,146.0,242.4,13.9,337,6327,0.00,2.20,0.00,0.000,4,0.000,0.051,2902,3390,2190,0,0,0,0,0,0
$GC,6363,0.74,146.0,236.2,15.4,339,6368,0.12,2.28,0.00,0.000,6,0.156,0.049,2876,1967,2189,0,0,0,0,0,0
$GC,6685,0.74,146.0,193.5,11.6,357,6689,0.00,2.22,0.00,0.000,4,0.000,0.059,2885,561,2188,0,0,0,0,0,0
$GC,6747,0.74,146.0,186.5,11.2,362,6751,0.00,2.20,0.00,0.000,6,0.000,0.043,2886,1979,2187,0,0,0,0,0,0
$GC,7074,0.76,164.7,155.2,8.3,392,7095,0.00,0.00,14.35,0.565,6,0.000,0.000,2885,1979,2128,0,0,0,0,0,0
$GC,7414,0.76,164.7,120.0,10.4,424,7418,0.00,2.20,0.00,0.000,4,0.000,0.051,2885,3382,2126,0,0,0,0,0,0
$GC,7466,0.76,164.7,114.6,10.9,428,7470,0.00,2.20,0.00,0.000,6,0.000,0.038,2894,1972,2126,0,0,0,0,0,0
$GC,7794,0.76,164.7,81.1,11.6,458,7798,0.00,2.22,0.00,0.000,4,0.000,0.056,2904,564,2126,0,0,0,0,0,0
$GC,7860,0.76,164.7,72.5,13.1,468,7868,0.00,2.20,0.00,0.000,6,0.000,0.037,2904,1981,2126,0,0,0,0,0,0
$GC,8196,0.76,164.7,36.0,9.7,529,8201,0.00,2.17,0.00,0.000,4,0.000,0.051,2904,3387,2126,0,0,0,0,0,0
$GC,8327,0.76,164.7,23.9,9.2,553,8334,0.00,2.22,0.00,0.000,6,0.000,0.038,2913,1971,2126,0,0,0,0,0,0
$GC,8494,0.76,164.7,9.0,9.5,584,8501,0.00,2.22,0.00,0.000,4,0.000,0.055,2923,573,2126,0,0,0,0,0,0
$STATE,8557,end climb,SURFACE_DEPTH_REACHED
$STATE,8558,begin surface coast
$FINISH,2.2,1.023030
$STATE,8566,end surface coast,CONTROL_FINISHED_OK
$STATE,8566,begin surface
$SM_CCo,8586,65.57,0.446,0,0,1575,300.24
$SM_GC,1.36,0.00,0.00,65.57,0.000,0.000,0.446,53,1970,1575,-8.09,0.25,300.24
$IRIDIUM_FIX,2047.91,-15747.49,230802,010122
$TT8_MAMPS,0.027612
$HUMID,63.34
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,410.4,58.4
$24V_AH,24.7,26.490
$10V_AH,10.5,29.053
$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,18.750,79.975,259.300,65.575,0.000,27.335,37.301,158.824,17.250,0.000,16.078,1115.117,5004.960,389.982,2031.854,464.707,0.000,1096.311,0.000,1992.881,0.000,109.821,0.000
$DEVICE_MAMPS,227.032,60.593,765.466,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.164,350.154,1196.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31833,597
$CAP_FILE_SIZE,93939,0
$CFSIZE,260165632,239828992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290513,060925,2058.425,-15748.145,18,1.2,18,9.8