version: 66.06
glider: 523
mission: 4
dive: 324
start: 5 29 113 6 15 16
data:
$ID,523
$MISSION,4
$DIVE,324
$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,-42238.602
$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,32
$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
$GPS1,060925,2058.425,-15748.145,18,1.2,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.0
$GPS2,061459,2058.451,-15748.098,15,1.1,15,9.8
$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,242.3,3205,-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,-76.10,0.000,2,0.000,0.000,52,1969,3364,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.0,-3.5,12,113,9.45,2.20,-0.73,0.000,4,0.230,0.061,2382,3373,3396,0,0,0,0,0,0
$GC,354,-0.74,-146.0,56.5,-17.1,59,359,0.00,2.25,0.00,0.000,6,0.000,0.042,2382,1949,3398,0,0,0,0,0,0
$GC,689,-0.74,-146.0,103.1,-13.8,104,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1949,3400,0,0,0,0,0,0
$GC,1008,-0.74,-146.0,140.8,-12.1,134,1012,0.00,2.20,0.00,0.000,4,0.000,0.054,2382,544,3401,0,0,0,0,0,0
$GC,1169,-0.74,-146.0,161.9,-14.2,148,1173,0.00,2.12,0.00,0.000,6,0.000,0.033,2373,1968,3401,0,0,0,0,0,0
$GC,1509,-0.74,-146.0,202.7,-10.8,179,1513,0.00,2.25,0.00,0.000,4,0.000,0.051,2373,545,3402,0,0,0,0,0,0
$GC,1564,-0.74,-146.0,209.4,-11.7,181,1569,0.15,2.15,0.00,0.000,6,0.160,0.034,2403,1971,3402,0,0,0,0,0,0
$GC,1880,-0.74,-146.0,237.0,-7.9,196,1884,0.00,2.17,0.00,0.000,4,0.000,0.054,2395,3360,3403,0,0,0,0,0,0
$GC,1925,-0.74,-146.0,240.1,-7.1,198,1929,0.00,2.20,0.00,0.000,6,0.000,0.042,2394,1959,3402,0,0,0,0,0,0
$GC,2249,-0.74,-146.0,264.8,-9.1,214,2254,0.00,2.22,0.00,0.000,4,0.000,0.054,2394,550,3402,0,0,0,0,0,0
$GC,2507,-0.74,-146.0,290.2,-9.6,225,2511,0.00,2.15,0.00,0.000,6,0.000,0.036,2385,1965,3402,0,0,0,0,0,0
$GC,2819,-0.74,-146.0,319.9,-9.8,235,2826,0.00,2.28,0.00,0.000,4,0.000,0.054,2385,551,3402,0,0,0,0,0,0
$GC,3073,-0.74,-146.0,343.5,-7.7,240,3077,0.00,2.15,0.00,0.000,6,0.000,0.038,2375,1958,3402,0,0,0,0,0,0
$GC,3416,-0.74,-146.0,366.0,-7.2,249,3420,0.00,2.28,0.00,0.000,4,0.000,0.056,2375,549,3401,0,0,0,0,0,0
$GC,3624,-0.74,-146.0,382.8,-7.8,253,3629,0.12,2.17,0.00,0.000,6,0.164,0.041,2398,1963,3398,0,0,0,0,0,0
$GC,3957,-0.74,-146.0,402.5,-5.6,261,3961,0.00,2.22,0.00,0.000,4,0.000,0.058,2389,3370,3397,0,0,0,0,0,0
$GC,4030,-0.74,-146.0,407.4,-6.7,262,4034,0.00,2.22,0.00,0.000,6,0.000,0.044,2389,1958,3397,0,0,0,0,0,0
$GC,4363,-0.74,-146.0,427.7,-5.8,270,4367,0.00,2.25,0.00,0.000,4,0.000,0.057,2379,3376,3395,0,0,0,0,0,0
$GC,4523,-0.74,-146.0,438.1,-6.9,273,4527,0.00,2.22,0.00,0.000,6,0.000,0.045,2379,1961,3395,0,0,0,0,0,0
$STATE,4694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4694,begin apogee
$GC,4701,-0.17,0.0,450.7,7.2,278,4824,0.65,0.00,119.60,0.774,6,0.123,0.000,2587,1961,2800,0,0,0,0,0,0
$STATE,4825,end apogee,CONTROL_FINISHED_OK
$STATE,4825,begin climb
$GC,4827,0.74,146.0,451.9,0.0,281,4960,0.82,0.00,125.88,0.746,6,0.077,0.000,2876,1961,2204,0,0,0,0,0,0
$GC,5274,0.74,146.0,396.0,14.1,292,5278,0.00,2.30,0.00,0.000,4,0.000,0.058,2876,3386,2195,0,0,0,0,0,0
$GC,5302,0.74,146.0,391.9,14.5,292,5306,0.00,2.30,0.00,0.000,6,0.000,0.051,2885,1976,2195,0,0,0,0,0,0
$GC,5633,0.74,146.0,349.9,12.3,300,5637,0.00,2.30,0.00,0.000,4,0.000,0.071,2896,560,2193,0,0,0,0,0,0
$GC,5695,0.74,146.0,341.5,13.7,301,5699,0.00,2.25,0.00,0.000,6,0.000,0.045,2896,1981,2192,0,0,0,0,0,0
$GC,6018,0.74,146.0,290.1,16.0,311,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1981,2190,0,0,0,0,0,0
$GC,6327,0.74,146.0,244.9,14.0,326,6331,0.00,2.17,0.00,0.000,4,0.000,0.051,2896,3390,2190,0,0,0,0,0,0
$GC,6405,0.74,146.0,232.9,15.0,329,6411,0.00,2.25,0.00,0.000,6,0.000,0.042,2906,1962,2189,0,0,0,0,0,0
$GC,6726,0.74,146.0,190.9,12.2,348,6730,0.00,2.20,0.00,0.000,4,0.000,0.058,2914,568,2188,0,0,0,0,0,0
$GC,6780,0.74,146.0,184.5,11.9,352,6788,0.10,2.20,0.00,0.000,6,0.116,0.038,2879,1979,2187,0,0,0,0,0,0
$GC,7107,0.74,146.0,149.1,10.8,383,7111,0.00,2.17,0.00,0.000,4,0.000,0.051,2880,3390,2187,0,0,0,0,0,0
$GC,7138,0.74,146.0,145.4,11.6,385,7142,0.00,2.22,0.00,0.000,6,0.000,0.041,2887,1965,2186,0,0,0,0,0,0
$GC,7467,0.76,167.4,116.3,8.1,415,7491,0.00,2.25,16.35,0.539,4,0.000,0.056,2898,568,2117,0,0,0,0,0,0
$GC,7593,0.76,167.4,105.0,9.8,426,7597,0.00,2.17,0.00,0.000,6,0.000,0.037,2898,1980,2116,0,0,0,0,0,0
$GC,7921,0.77,172.3,71.4,8.8,464,7933,0.00,2.20,5.80,0.419,4,0.000,0.051,2898,3380,2096,0,0,0,0,0,0
$GC,8073,0.77,172.3,55.8,11.9,491,8078,0.00,2.20,0.00,0.000,6,0.000,0.039,2907,1967,2096,0,0,0,0,0,0
$GC,8406,0.77,173.1,26.7,9.0,552,8414,0.00,2.28,0.00,0.000,4,0.000,0.051,2907,3377,2096,0,0,0,0,0,0
$GC,8443,0.77,173.1,23.2,9.7,558,8451,0.00,2.20,0.00,0.000,6,0.000,0.039,2915,1979,2096,0,0,0,0,0,0
$GC,8612,0.77,173.1,7.4,9.5,589,8620,0.00,2.25,0.00,0.000,4,0.000,0.054,2925,562,2096,0,0,0,0,0,0
$STATE,8657,end climb,SURFACE_DEPTH_REACHED
$STATE,8657,begin surface coast
$FINISH,1.9,1.023003
$STATE,8668,end surface coast,CONTROL_FINISHED_OK
$STATE,8668,begin surface
$SM_CCo,8688,61.28,0.440,0,0,1575,300.24
$SM_GC,1.50,0.00,0.00,61.28,0.000,0.000,0.440,35,1973,1575,-8.14,0.40,300.24
$IRIDIUM_FIX,2054.83,-15751.76,230802,030350
$TT8_MAMPS,0.028379
$HUMID,63.19
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,430.0,50.7
$24V_AH,24.7,26.567
$10V_AH,10.4,29.142
$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,18.625,79.825,267.625,61.275,0.000,27.539,34.532,143.677,18.500,0.000,15.959,1119.834,5104.046,388.448,2027.452,444.122,0.000,1099.431,0.000,1983.553,0.000,115.982,0.000
$DEVICE_MAMPS,230.100,70.564,773.903,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.446,344.271,1186.437,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,31732,599
$CAP_FILE_SIZE,95165,0
$CFSIZE,260165632,239775744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290513,084223,2058.198,-15749.117,37,1.1,37,9.8