version: 66.06
glider: 523
mission: 4
dive: 516
start: 6 20 113 0 30 54
data:
$ID,523
$MISSION,4
$DIVE,516
$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,-46286.422
$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,21
$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,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
$GPS1,002304,2059.524,-15747.911,25,1.0,25,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.7
$GPS2,003035,2059.511,-15747.947,15,1.2,15,9.8
$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,218.5,4434,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,101,0.00,0.00,-77.62,0.000,6,0.000,0.000,37,1981,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,4.1,-6.3,13,119,9.57,2.17,0.00,0.000,4,0.223,0.047,2383,3367,3397,0,0,0,0,0,0
$GC,359,-0.74,-146.0,49.2,-13.0,60,366,0.00,2.25,0.00,0.000,6,0.000,0.045,2384,1958,3399,0,0,0,0,0,0
$GC,699,-0.74,-146.0,93.7,-13.7,113,703,0.00,2.22,0.00,0.000,4,0.000,0.055,2384,540,3400,0,0,0,0,0,0
$GC,806,-0.74,-146.0,108.5,-13.7,122,810,0.00,2.15,0.00,0.000,6,0.000,0.034,2374,1966,3400,0,0,0,0,0,0
$GC,1133,-0.74,-146.0,147.4,-11.3,152,1137,0.00,2.25,0.00,0.000,4,0.000,0.051,2374,538,3401,0,0,0,0,0,0
$GC,1228,-0.74,-146.0,157.8,-11.1,160,1233,0.12,2.15,0.00,0.000,6,0.169,0.033,2397,1969,3401,0,0,0,0,0,0
$GC,1555,-0.74,-146.0,186.2,-7.3,190,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1970,3402,0,0,0,0,0,0
$GC,1879,-0.74,-146.0,209.2,-8.3,216,1883,0.00,2.33,0.00,0.000,4,0.000,0.051,2397,536,3402,0,0,0,0,0,0
$GC,1999,-0.74,-146.0,218.3,-6.7,221,2003,0.00,2.15,0.00,0.000,6,0.000,0.033,2389,1963,3402,0,0,0,0,0,0
$GC,2323,-0.74,-146.0,241.9,-9.6,237,2327,0.00,2.28,0.00,0.000,4,0.000,0.051,2389,536,3402,0,0,0,0,0,0
$GC,2467,-0.74,-146.0,256.2,-9.4,243,2473,0.00,2.17,0.00,0.000,6,0.000,0.035,2380,1961,3402,0,0,0,0,0,0
$GC,2786,-0.74,-146.0,281.8,-8.4,259,2790,0.00,2.28,0.00,0.000,4,0.000,0.053,2379,537,3402,0,0,0,0,0,0
$GC,2961,-0.74,-146.0,300.2,-11.3,267,2966,0.12,2.17,0.00,0.000,6,0.162,0.036,2403,1961,3401,0,0,0,0,0,0
$GC,3290,-0.74,-146.0,321.3,-5.0,275,3294,0.00,2.28,0.00,0.000,4,0.000,0.054,2403,541,3400,0,0,0,0,0,0
$GC,3515,-0.74,-146.0,335.6,-6.3,280,3519,0.00,2.17,0.00,0.000,6,0.000,0.037,2396,1957,3398,0,0,0,0,0,0
$GC,3835,-0.74,-146.0,357.6,-7.3,288,3839,0.00,2.25,0.00,0.000,4,0.000,0.058,2385,3358,3397,0,0,0,0,0,0
$GC,3897,-0.74,-146.0,362.5,-8.0,289,3901,0.00,2.22,0.00,0.000,6,0.000,0.044,2385,1952,3397,0,0,0,0,0,0
$GC,4239,-0.74,-146.0,384.0,-6.1,298,4243,0.00,2.25,0.00,0.000,4,0.000,0.060,2385,538,3395,0,0,0,0,0,0
$GC,4492,-0.74,-146.0,403.3,-8.3,303,4496,0.00,2.20,0.00,0.000,6,0.000,0.038,2375,1962,3393,0,0,0,0,0,0
$GC,4824,-0.74,-146.0,428.3,-7.7,311,4828,0.00,2.28,0.00,0.000,4,0.000,0.058,2375,545,3391,0,0,0,0,0,0
$GC,4909,-0.74,-146.0,434.7,-7.3,313,4914,0.12,2.20,0.00,0.000,6,0.161,0.041,2397,1966,3391,0,0,0,0,0,0
$STATE,5154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5154,begin apogee
$GC,5161,-0.17,0.0,451.2,6.5,319,5286,0.57,0.00,121.82,0.759,6,0.117,0.000,2583,1967,2799,0,0,0,0,0,0
$STATE,5287,end apogee,CONTROL_FINISHED_OK
$STATE,5287,begin climb
$GC,5290,0.74,146.0,452.3,0.0,322,5421,0.88,0.00,127.40,0.733,6,0.089,0.000,2877,1966,2204,0,0,0,0,0,0
$GC,5724,0.74,146.0,399.7,13.3,333,5729,0.00,2.30,0.00,0.000,4,0.000,0.058,2878,3392,2196,0,0,0,0,0,0
$GC,5848,0.74,146.0,383.6,11.4,335,5854,0.00,2.28,0.00,0.000,6,0.000,0.047,2887,1983,2195,0,0,0,0,0,0
$GC,6179,0.74,146.0,352.4,9.3,344,6183,0.00,2.30,0.00,0.000,4,0.000,0.058,2887,3390,2194,0,0,0,0,0,0
$GC,6235,0.74,146.0,345.3,13.2,345,6239,0.00,2.28,0.00,0.000,6,0.000,0.050,2895,1980,2192,0,0,0,0,0,0
$GC,6583,0.74,146.0,296.7,14.0,354,6587,0.00,2.30,0.00,0.000,4,0.000,0.065,2906,569,2191,0,0,0,0,0,0
$GC,6622,0.74,146.0,291.3,13.6,356,6626,0.00,2.22,0.00,0.000,6,0.000,0.041,2906,1992,2190,0,0,0,0,0,0
$GC,6949,0.74,146.0,251.2,12.0,372,6953,0.00,2.25,0.00,0.000,4,0.000,0.063,2906,3388,2190,0,0,0,0,0,0
$GC,6972,0.74,146.0,248.4,12.1,373,6977,0.15,2.22,0.00,0.000,6,0.143,0.041,2874,1975,2190,0,0,0,0,0,0
$GC,7293,0.74,146.0,215.7,10.0,389,7297,0.00,2.25,0.00,0.000,4,0.000,0.061,2882,573,2189,0,0,0,0,0,0
$GC,7361,0.74,146.0,207.8,12.5,392,7365,0.00,2.20,0.00,0.000,6,0.000,0.041,2882,1991,2188,0,0,0,0,0,0
$GC,7692,0.78,184.5,173.5,7.4,420,7728,0.00,2.28,31.30,0.595,4,0.000,0.052,2882,3396,2046,0,0,0,0,0,0
$GC,7831,0.78,184.5,161.1,9.1,432,7835,0.00,2.22,0.00,0.000,6,0.000,0.041,2892,1979,2044,0,0,0,0,0,0
$GC,8163,0.80,195.1,129.3,8.6,463,8179,0.00,2.30,10.12,0.507,4,0.000,0.059,2892,3382,2003,0,0,0,0,0,0
$GC,8201,0.80,195.1,125.4,10.3,466,8209,0.00,2.25,0.00,0.000,6,0.000,0.048,2900,1980,2002,0,0,0,0,0,0
$GC,8528,0.80,195.1,92.3,9.2,497,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1981,2001,0,0,0,0,0,0
$GC,8849,0.84,227.7,65.1,7.7,543,8885,0.00,2.30,28.48,0.495,4,0.000,0.056,2900,3385,1870,0,0,0,0,0,0
$GC,8903,0.85,238.2,60.6,8.6,552,8923,0.00,2.28,10.62,0.449,6,0.000,0.048,2906,1977,1827,0,0,0,0,0,0
$GC,9257,0.85,238.2,30.6,9.9,615,9262,0.00,2.25,0.00,0.000,4,0.000,0.056,2907,563,1825,0,0,0,0,0,0
$GC,9302,0.85,238.2,26.0,10.1,623,9310,0.00,2.25,0.00,0.000,6,0.000,0.040,2907,1982,1825,0,0,0,0,0,0
$GC,9473,0.97,332.8,11.7,5.1,654,9546,0.12,0.00,69.85,0.448,2,0.073,0.000,2996,1983,1490,0,0,0,0,0,0
$STATE,9547,end climb,SURFACE_DEPTH_REACHED
$STATE,9547,begin surface coast
$FINISH,0.5,1.023038
$STATE,9573,end surface coast,CONTROL_FINISHED_OK
$STATE,9573,begin surface
$SM_CCo,9652,0.00,0.000,0,0,1485,322.56
$SM_GC,1.37,7.72,0.00,0.00,0.028,0.000,0.000,52,1994,1485,-7.99,1.05,322.56
$IRIDIUM_FIX,2047.91,-15747.49,130902,212157
$TT8_MAMPS,0.028379
$HUMID,67.12
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,422.3,57.6
$24V_AH,24.5,43.749
$10V_AH,10.3,47.581
$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,19.400,85.150,399.600,0.000,0.000,28.468,40.920,248.762,18.250,0.000,15.818,1211.885,5635.832,417.844,2239.744,593.419,0.000,1232.415,0.000,2199.512,0.000,115.527,0.000
$DEVICE_MAMPS,223.197,65.195,759.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,453.964,376.350,1305.052,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,38126,669
$CAP_FILE_SIZE,104750,0
$CFSIZE,260165632,230268928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200613,031243,2058.841,-15748.427,20,0.8,21,9.8