version: 66.06
glider: 523
mission: 4
dive: 365
start: 6 2 113 14 14 53
data:
$ID,523
$MISSION,4
$DIVE,365
$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,285
$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,-43065.879
$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,2660
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,140835,2059.718,-15745.524,34,1.2,34,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.7
$GPS2,141436,2059.748,-15745.478,16,0.9,16,9.8
$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,236.1,8302,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,89,0.00,0.00,-68.93,0.000,2,0.000,0.000,28,1977,3392,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.6,-5.5,11,114,9.65,2.25,-2.15,0.000,4,0.229,0.064,2405,3361,3499,0,0,0,0,0,0
$GC,319,-0.74,-146.0,50.2,-17.2,52,326,0.00,2.22,0.00,0.000,6,0.000,0.041,2405,1963,3501,0,0,0,0,0,0
$GC,658,-0.74,-146.0,97.6,-13.0,101,662,0.00,2.25,0.00,0.000,4,0.000,0.054,2405,544,3502,0,0,0,0,0,0
$GC,711,-0.74,-146.0,104.8,-13.1,105,718,0.00,2.17,0.00,0.000,6,0.000,0.035,2395,1973,3502,0,0,0,0,0,0
$GC,1046,-0.74,-146.0,149.0,-13.1,136,1053,0.00,2.15,0.00,0.000,4,0.000,0.053,2385,3356,3503,0,0,0,0,0,0
$GC,1083,-0.74,-146.0,153.6,-12.5,139,1088,0.12,2.20,0.00,0.000,6,0.153,0.042,2418,1943,3503,0,0,0,0,0,0
$GC,1410,-0.74,-146.0,186.7,-9.2,169,1414,0.00,2.20,0.00,0.000,4,0.000,0.051,2418,544,3505,0,0,0,0,0,0
$GC,1652,-0.74,-146.0,211.2,-9.0,186,1656,0.00,2.15,0.00,0.000,6,0.000,0.034,2410,1968,3504,0,0,0,0,0,0
$GC,1975,-0.74,-146.0,237.9,-8.6,202,1979,0.00,2.28,0.00,0.000,4,0.000,0.051,2410,548,3505,0,0,0,0,0,0
$GC,2100,-0.74,-146.0,250.3,-10.8,207,2106,0.00,2.15,0.00,0.000,6,0.000,0.035,2401,1962,3504,0,0,0,0,0,0
$GC,2419,-0.74,-146.0,280.5,-9.3,223,2423,0.00,2.25,0.00,0.000,4,0.000,0.053,2401,544,3504,0,0,0,0,0,0
$GC,2543,-0.74,-146.0,291.6,-8.6,228,2549,0.12,2.15,0.00,0.000,6,0.156,0.036,2426,1962,3504,0,0,0,0,0,0
$GC,2860,-0.74,-146.0,311.7,-6.5,240,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1963,3504,0,0,0,0,0,0
$GC,3182,-0.74,-146.0,338.2,-8.4,248,3186,0.00,2.30,0.00,0.000,4,0.000,0.057,2426,543,3502,0,0,0,0,0,0
$GC,3295,-0.74,-146.0,348.2,-8.6,250,3299,0.00,2.17,0.00,0.000,6,0.000,0.038,2419,1962,3501,0,0,0,0,0,0
$GC,3642,-0.74,-146.0,376.1,-8.2,259,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1963,3500,0,0,0,0,0,0
$GC,3963,-0.74,-146.0,403.4,-8.2,267,3967,0.00,2.33,0.00,0.000,4,0.000,0.058,2418,550,3498,0,0,0,0,0,0
$GC,4193,-0.74,-146.0,422.7,-7.8,272,4197,0.00,2.17,0.00,0.000,6,0.000,0.040,2409,1957,3496,0,0,0,0,0,0
$GC,4512,-0.74,-146.0,441.3,-4.5,280,4516,0.00,2.22,0.00,0.000,4,0.000,0.061,2404,3360,3494,0,0,0,0,0,0
$STATE,4651,end dive,NO_VERTICAL_VELOCITY
$STATE,4651,begin apogee
$GC,4660,-0.17,0.0,441.3,0.0,283,4782,0.55,0.00,118.88,0.765,6,0.074,0.000,2606,1975,2899,0,0,0,0,0,0
$STATE,4783,end apogee,CONTROL_FINISHED_OK
$STATE,4783,begin climb
$GC,4786,0.74,146.0,440.9,0.0,286,4920,0.80,2.38,125.15,0.736,4,0.055,0.055,2901,3382,2304,0,0,0,0,0,0
$GC,4959,0.74,146.0,422.9,15.5,290,4964,0.00,2.30,0.00,0.000,6,0.000,0.048,2910,1984,2301,0,0,0,0,0,0
$GC,5272,0.74,146.0,374.1,15.4,298,5276,0.00,2.35,0.00,0.000,4,0.000,0.070,2921,569,2297,0,0,0,0,0,0
$GC,5305,0.74,146.0,368.7,15.5,298,5311,0.00,2.22,0.00,0.000,6,0.000,0.043,2921,1974,2296,0,0,0,0,0,0
$GC,5637,0.74,146.0,318.0,15.1,307,5641,0.00,2.28,0.00,0.000,4,0.000,0.063,2921,3398,2295,0,0,0,0,0,0
$GC,5804,0.74,146.0,292.3,14.5,311,5811,0.12,2.22,0.00,0.000,6,0.163,0.041,2897,1975,2293,0,0,0,0,0,0
$GC,6120,0.74,146.0,255.1,11.1,327,6124,0.00,2.20,0.00,0.000,4,0.000,0.056,2906,569,2292,0,0,0,0,0,0
$GC,6165,0.74,146.0,249.6,12.3,329,6169,0.00,2.17,0.00,0.000,6,0.000,0.036,2907,1986,2291,0,0,0,0,0,0
$GC,6486,0.74,146.0,211.3,11.9,345,6490,0.00,2.17,0.00,0.000,4,0.000,0.053,2906,3393,2290,0,0,0,0,0,0
$GC,6607,0.74,146.0,195.9,13.0,351,6611,0.00,2.25,0.00,0.000,6,0.000,0.051,2915,1976,2290,0,0,0,0,0,0
$GC,6933,0.74,146.0,157.1,13.5,381,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1977,2289,0,0,0,0,0,0
$GC,7254,0.74,146.0,120.8,10.9,411,7258,0.00,2.20,0.00,0.000,4,0.000,0.050,2915,3390,2289,0,0,0,0,0,0
$GC,7381,0.74,146.0,107.4,9.8,422,7385,0.00,2.20,0.00,0.000,6,0.000,0.040,2925,1971,2289,0,0,0,0,0,0
$GC,7710,0.78,183.4,84.1,7.5,452,7746,0.00,2.22,30.17,0.519,4,0.000,0.054,2935,566,2151,0,0,0,0,0,0
$GC,7962,0.78,183.4,59.6,10.3,494,7970,0.00,2.20,0.00,0.000,6,0.000,0.037,2935,1978,2149,0,0,0,0,0,0
$GC,8299,0.78,183.4,27.4,10.4,555,8306,0.00,2.22,0.00,0.000,4,0.000,0.051,2935,3382,2149,0,0,0,0,0,0
$GC,8372,0.78,183.4,19.9,9.9,568,8380,0.10,2.22,0.00,0.000,6,0.117,0.048,2910,1988,2149,0,0,0,0,0,0
$GC,8539,0.78,183.4,3.0,9.9,599,8546,0.00,2.25,0.00,0.000,4,0.000,0.057,2918,574,2149,0,0,0,0,0,0
$STATE,8552,end climb,SURFACE_DEPTH_REACHED
$STATE,8552,begin surface coast
$FINISH,0.7,1.022930
$STATE,8571,end surface coast,CONTROL_FINISHED_OK
$STATE,8571,begin surface
$SM_CCo,8591,46.10,0.435,0,0,1737,285.03
$SM_GC,1.31,0.00,0.00,46.10,0.000,0.000,0.435,38,1975,1737,-8.20,0.51,285.03
$IRIDIUM_FIX,2057.14,-15744.48,270802,111126
$TT8_MAMPS,0.027612
$HUMID,63.23
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,25.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,410.3,30.7
$24V_AH,24.6,29.905
$10V_AH,10.4,32.829
$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,18.850,80.100,274.200,46.100,0.000,30.233,37.480,164.202,17.750,0.000,16.559,1117.365,4994.109,380.354,2035.047,471.973,0.000,1091.914,0.000,1985.719,0.000,112.604,0.000
$DEVICE_MAMPS,228.566,69.797,764.699,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,411.062,352.396,1183.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,34919,604
$CAP_FILE_SIZE,94803,0
$CFSIZE,260165632,237826048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020613,164014,2059.234,-15746.156,43,0.9,43,9.8