version: 66.06
glider: 523
mission: 4
dive: 515
start: 6 19 113 21 39 55
data:
$ID,523
$MISSION,4
$DIVE,515
$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,-46269.977
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,29
$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
$GPS1,212759,2100.483,-15747.404,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-62.4
$GPS2,213936,2100.510,-15747.456,14,1.2,14,9.8
$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,211.1,6350,-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,-146.0,0.0,0.0,0,144,0.00,0.00,-122.75,0.000,6,0.000,0.000,49,1944,3395,0,0,0,0,0,0
$GC,150,-0.74,-146.0,3.5,-5.2,20,164,9.48,2.25,0.00,0.000,4,0.223,0.051,2392,538,3396,0,0,0,0,0,0
$GC,409,-0.74,-146.0,52.2,-13.6,67,414,0.00,2.17,0.00,0.000,6,0.000,0.033,2383,1962,3397,0,0,0,0,0,0
$GC,738,-0.74,-146.0,92.0,-10.7,118,742,0.00,2.28,0.00,0.000,4,0.000,0.051,2383,542,3397,0,0,0,0,0,0
$GC,874,-0.74,-146.0,107.7,-11.2,130,878,0.00,2.15,0.00,0.000,6,0.000,0.031,2374,1963,3397,0,0,0,0,0,0
$GC,1202,-0.74,-146.0,140.1,-10.1,160,1206,0.00,2.17,0.00,0.000,4,0.000,0.051,2364,3358,3397,0,0,0,0,0,0
$GC,1267,-0.74,-146.0,147.4,-10.8,165,1275,0.10,2.22,0.00,0.000,6,0.128,0.042,2396,1952,3397,0,0,0,0,0,0
$GC,1594,-0.74,-146.0,177.8,-8.4,196,1598,0.00,2.20,0.00,0.000,4,0.000,0.051,2397,548,3397,0,0,0,0,0,0
$GC,1799,-0.74,-146.0,195.0,-8.1,214,1803,0.00,2.12,0.00,0.000,6,0.000,0.033,2388,1960,3397,0,0,0,0,0,0
$GC,2135,-0.74,-146.0,219.5,-7.9,233,2140,0.00,2.25,0.00,0.000,4,0.000,0.050,2388,550,3397,0,0,0,0,0,0
$GC,2236,-0.74,-146.0,231.7,-11.8,237,2241,0.00,2.15,0.00,0.000,6,0.000,0.033,2378,1962,3396,0,0,0,0,0,0
$GC,2554,-0.74,-146.0,259.4,-5.7,252,2558,0.00,2.25,0.00,0.000,4,0.000,0.051,2379,547,3396,0,0,0,0,0,0
$GC,2813,-0.74,-146.0,273.6,-6.7,263,2819,0.12,2.12,0.00,0.000,6,0.166,0.035,2401,1960,3395,0,0,0,0,0,0
$GC,3131,-0.74,-146.0,294.9,-7.6,279,3136,0.00,2.25,0.00,0.000,4,0.000,0.054,2402,549,3394,0,0,0,0,0,0
$GC,3339,-0.74,-146.0,311.0,-8.1,285,3343,0.00,2.15,0.00,0.000,6,0.000,0.035,2394,1958,3393,0,0,0,0,0,0
$GC,3676,-0.74,-146.0,339.2,-8.4,294,3680,0.00,2.28,0.00,0.000,4,0.000,0.056,2394,547,3391,0,0,0,0,0,0
$GC,3785,-0.74,-146.0,347.6,-7.5,296,3789,0.00,2.15,0.00,0.000,6,0.000,0.036,2384,1960,3390,0,0,0,0,0,0
$GC,4133,-0.74,-146.0,374.8,-8.1,305,4140,0.00,2.25,0.00,0.000,4,0.000,0.057,2384,548,3388,0,0,0,0,0,0
$GC,4168,-0.74,-146.0,378.4,-9.9,305,4172,0.00,2.17,0.00,0.000,6,0.000,0.037,2375,1960,3387,0,0,0,0,0,0
$GC,4500,-0.74,-146.0,404.7,-7.5,313,4505,0.00,2.20,0.00,0.000,4,0.000,0.058,2365,3361,3386,0,0,0,0,0,0
$GC,4533,-0.74,-146.0,407.2,-6.9,313,4538,0.12,2.22,0.00,0.000,6,0.148,0.045,2397,1954,3386,0,0,0,0,0,0
$GC,4865,-0.74,-146.0,428.1,-6.1,321,4869,0.00,2.25,0.00,0.000,4,0.000,0.062,2398,547,3383,0,0,0,0,0,0
$GC,5005,-0.74,-146.0,436.5,-5.5,324,5009,0.00,2.17,0.00,0.000,6,0.000,0.038,2390,1961,3382,0,0,0,0,0,0
$STATE,5280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5281,begin apogee
$GC,5287,-0.17,0.0,451.6,6.1,331,5410,0.60,0.00,119.75,0.755,6,0.121,0.000,2580,1961,2800,0,0,0,0,0,0
$STATE,5411,end apogee,CONTROL_FINISHED_OK
$STATE,5411,begin climb
$GC,5414,0.74,146.0,452.7,0.0,334,5550,0.88,2.38,126.43,0.729,4,0.078,0.055,2876,3389,2203,0,0,0,0,0,0
$GC,5608,0.74,146.0,431.0,14.0,339,5612,0.00,2.30,0.00,0.000,6,0.000,0.043,2885,1973,2199,0,0,0,0,0,0
$GC,5938,0.74,146.0,387.8,12.5,347,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1974,2195,0,0,0,0,0,0
$GC,6263,0.74,146.0,343.8,15.1,355,6267,0.00,2.28,0.00,0.000,4,0.000,0.054,2886,3390,2193,0,0,0,0,0,0
$GC,6353,0.74,146.0,330.6,14.2,357,6357,0.00,2.25,0.00,0.000,6,0.000,0.045,2895,1973,2193,0,0,0,0,0,0
$GC,6672,0.74,146.0,293.1,11.0,366,6676,0.00,2.28,0.00,0.000,4,0.000,0.064,2905,563,2191,0,0,0,0,0,0
$GC,6705,0.74,146.0,289.3,11.8,367,6711,0.00,2.20,0.00,0.000,6,0.000,0.040,2905,1976,2191,0,0,0,0,0,0
$GC,7021,0.74,146.0,244.4,13.4,383,7025,0.00,2.22,0.00,0.000,4,0.000,0.058,2905,3388,2190,0,0,0,0,0,0
$GC,7043,0.74,146.0,241.2,14.0,384,7047,0.12,2.22,0.00,0.000,6,0.146,0.046,2879,1981,2190,0,0,0,0,0,0
$GC,7369,0.74,146.0,208.0,10.2,400,7373,0.00,2.28,0.00,0.000,4,0.000,0.064,2887,568,2189,0,0,0,0,0,0
$GC,7437,0.74,146.0,200.2,11.6,403,7441,0.00,2.20,0.00,0.000,6,0.000,0.039,2887,1981,2188,0,0,0,0,0,0
$GC,7765,0.74,146.0,168.1,10.4,433,7769,0.00,2.22,0.00,0.000,4,0.000,0.058,2887,3393,2187,0,0,0,0,0,0
$GC,7807,0.74,146.0,163.5,11.8,436,7811,0.00,2.25,0.00,0.000,6,0.000,0.045,2895,1977,2187,0,0,0,0,0,0
$GC,8134,0.74,146.0,129.9,9.6,466,8138,0.00,2.28,0.00,0.000,4,0.000,0.065,2906,562,2187,0,0,0,0,0,0
$GC,8207,0.74,146.0,122.9,9.5,472,8211,0.00,2.22,0.00,0.000,6,0.000,0.040,2906,1991,2187,0,0,0,0,0,0
$GC,8535,0.75,159.1,92.4,8.5,502,8551,0.00,2.25,9.68,0.472,4,0.000,0.059,2906,3388,2151,0,0,0,0,0,0
$GC,8615,0.75,159.1,84.9,9.9,509,8619,0.12,2.20,0.00,0.000,6,0.140,0.045,2878,1980,2149,0,0,0,0,0,0
$GC,8947,0.81,209.2,60.5,7.0,564,9000,0.00,2.33,42.83,0.491,4,0.000,0.059,2886,562,1944,0,0,0,0,0,0
$GC,9112,0.85,235.7,48.1,7.9,593,9141,0.00,2.22,23.25,0.462,6,0.000,0.036,2886,1988,1838,0,0,0,0,0,0
$GC,9469,0.93,299.7,19.9,6.4,658,9529,0.15,2.25,54.58,0.449,4,0.066,0.058,2985,3386,1577,0,0,0,0,0,0
$GC,9557,0.93,299.7,11.4,12.0,671,9565,0.15,2.28,0.00,0.000,6,0.115,0.045,2944,1984,1576,0,0,0,0,0,0
$STATE,9619,end climb,SURFACE_DEPTH_REACHED
$STATE,9619,begin surface coast
$FINISH,0.6,1.011561
$STATE,9650,end surface coast,CONTROL_FINISHED_OK
$STATE,9650,begin surface
$SM_CCo,9728,0.00,0.000,0,0,1573,301.22
$SM_GC,1.48,7.45,0.00,0.00,0.025,0.000,0.000,40,1982,1573,-8.00,0.74,301.22
$IRIDIUM_FIX,2050.21,-15750.49,130902,181836
$TT8_MAMPS,0.027612
$HUMID,67.79
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,435.2,46.4
$24V_AH,24.5,43.654
$10V_AH,10.4,47.482
$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,19.300,93.550,376.500,0.000,0.000,31.257,33.164,496.523,18.750,0.000,14.997,1233.160,5630.591,409.373,2290.815,855.354,0.000,1263.735,0.000,2256.127,0.000,120.537,0.000
$DEVICE_MAMPS,223.197,65.195,754.728,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,465.334,398.619,1354.502,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,38244,687
$CAP_FILE_SIZE,112367,0
$CFSIZE,260165632,230309888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200613,002304,2059.524,-15747.911,25,1.0,25,9.8