version: 66.06
glider: 523
mission: 4
dive: 517
start: 6 20 113 3 30 25
data:
$ID,523
$MISSION,4
$DIVE,517
$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,-46305.645
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,031243,2058.841,-15748.427,20,0.8,21,9.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.1
$GPS2,033005,2058.938,-15748.517,18,0.8,18,9.8
$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,221.1,2995,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-79.45,0.000,6,0.000,0.000,50,1991,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.6,13,118,9.52,2.17,0.00,0.000,4,0.223,0.046,2385,3375,3396,0,0,0,0,0,0
$GC,309,-0.74,-146.0,44.7,-15.9,51,314,0.00,2.25,0.00,0.000,6,0.000,0.042,2385,1945,3396,0,0,0,0,0,0
$GC,641,-0.74,-146.0,88.1,-11.5,106,645,0.00,2.20,0.00,0.000,4,0.000,0.054,2385,535,3397,0,0,0,0,0,0
$GC,718,-0.74,-146.0,96.5,-11.1,112,722,0.00,2.17,0.00,0.000,6,0.000,0.033,2376,1970,3397,0,0,0,0,0,0
$GC,1049,-0.74,-146.0,134.9,-9.6,143,1054,0.00,2.25,0.00,0.000,4,0.000,0.051,2375,544,3398,0,0,0,0,0,0
$GC,1262,-0.74,-146.0,158.1,-10.7,162,1268,0.10,2.17,0.00,0.000,6,0.140,0.034,2398,1960,3398,0,0,0,0,0,0
$GC,1590,-0.74,-146.0,182.3,-5.6,193,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1959,3398,0,0,0,0,0,0
$GC,1924,-0.74,-146.0,204.2,-6.7,222,1928,0.00,2.28,0.00,0.000,4,0.000,0.051,2398,540,3398,0,0,0,0,0,0
$GC,1980,-0.74,-146.0,208.8,-8.1,224,1985,0.00,2.17,0.00,0.000,6,0.000,0.035,2390,1961,3398,0,0,0,0,0,0
$GC,2298,-0.74,-146.0,232.9,-7.3,240,2302,0.00,2.28,0.00,0.000,4,0.000,0.051,2390,534,3398,0,0,0,0,0,0
$GC,2481,-0.74,-146.0,247.0,-8.9,248,2485,0.00,2.17,0.00,0.000,6,0.000,0.035,2380,1965,3398,0,0,0,0,0,0
$GC,2799,-0.74,-146.0,273.0,-6.3,263,2803,0.00,2.25,0.00,0.000,4,0.000,0.056,2370,3363,3398,0,0,0,0,0,0
$GC,2829,-0.74,-146.0,275.0,-6.5,264,2833,0.12,2.22,0.00,0.000,6,0.151,0.041,2402,1950,3398,0,0,0,0,0,0
$GC,3146,-0.74,-146.0,297.6,-7.6,279,3150,0.00,2.25,0.00,0.000,4,0.000,0.057,2403,545,3396,0,0,0,0,0,0
$GC,3404,-0.74,-146.0,316.8,-7.8,285,3409,0.00,2.15,0.00,0.000,6,0.000,0.036,2395,1961,3395,0,0,0,0,0,0
$GC,3736,-0.74,-146.0,339.7,-6.7,294,3741,0.00,2.28,0.00,0.000,4,0.000,0.055,2395,547,3393,0,0,0,0,0,0
$GC,3920,-0.74,-146.0,353.4,-7.7,298,3924,0.00,2.17,0.00,0.000,6,0.000,0.038,2384,1954,3391,0,0,0,0,0,0
$GC,4242,-0.74,-146.0,382.2,-9.6,306,4246,0.00,2.28,0.00,0.000,4,0.000,0.057,2385,548,3389,0,0,0,0,0,0
$GC,4411,-0.74,-146.0,397.3,-7.4,309,4416,0.00,2.20,0.00,0.000,6,0.000,0.039,2376,1966,3388,0,0,0,0,0,0
$GC,4743,-0.74,-146.0,416.8,-5.4,318,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1966,3386,0,0,0,0,0,0
$GC,5070,-0.74,-146.0,436.0,-6.4,326,5074,0.00,2.30,0.00,0.000,4,0.000,0.059,2376,550,3384,0,0,0,0,0,0
$GC,5235,-0.74,-146.0,447.5,-6.8,329,5240,0.12,2.20,0.00,0.000,6,0.156,0.041,2400,1959,3383,0,0,0,0,0,0
$STATE,5284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5284,begin apogee
$GC,5291,-0.17,0.0,450.7,5.9,331,5414,0.57,0.00,120.47,0.757,6,0.116,0.000,2586,1959,2799,0,0,0,0,0,0
$STATE,5415,end apogee,CONTROL_FINISHED_OK
$STATE,5415,begin climb
$GC,5418,0.74,146.0,450.9,0.0,334,5549,0.85,0.00,127.93,0.732,6,0.070,0.000,2879,1959,2203,0,0,0,0,0,0
$GC,5852,0.74,146.0,399.2,13.4,345,5856,0.00,2.30,0.00,0.000,4,0.000,0.060,2880,3390,2196,0,0,0,0,0,0
$GC,5946,0.74,146.0,385.8,13.7,347,5951,0.00,2.28,0.00,0.000,6,0.000,0.047,2889,1982,2195,0,0,0,0,0,0
$GC,6260,0.74,146.0,346.8,12.8,355,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1982,2193,0,0,0,0,0,0
$GC,6584,0.74,146.0,306.8,11.5,363,6589,0.00,2.33,0.00,0.000,4,0.000,0.068,2899,562,2192,0,0,0,0,0,0
$GC,6606,0.74,146.0,304.2,11.6,363,6611,0.00,2.22,0.00,0.000,6,0.000,0.043,2899,1975,2192,0,0,0,0,0,0
$GC,6927,0.74,146.0,262.1,13.5,378,6932,0.00,2.25,0.00,0.000,4,0.000,0.061,2899,3390,2191,0,0,0,0,0,0
$GC,7023,0.74,146.0,248.3,13.7,382,7027,0.12,2.22,0.00,0.000,6,0.153,0.048,2874,1981,2190,0,0,0,0,0,0
$GC,7339,0.74,146.0,215.5,10.2,397,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1981,2189,0,0,0,0,0,0
$GC,7654,0.76,167.0,186.5,8.2,419,7679,0.00,2.30,16.62,0.588,4,0.000,0.058,2874,3388,2118,0,0,0,0,0,0
$GC,7737,0.79,190.8,179.8,8.0,426,7763,0.00,2.25,21.38,0.586,6,0.000,0.048,2881,1980,2024,0,0,0,0,0,0
$GC,8092,0.80,195.4,147.7,8.8,459,8101,0.00,0.00,5.38,0.450,6,0.000,0.000,2881,1980,2002,0,0,0,0,0,0
$GC,8422,0.80,197.9,116.9,8.9,490,8426,0.00,2.28,0.00,0.000,4,0.000,0.058,2881,3386,2000,0,0,0,0,0,0
$GC,8452,0.80,197.9,113.9,9.6,492,8456,0.00,2.25,0.00,0.000,6,0.000,0.047,2889,1970,2000,0,0,0,0,0,0
$GC,8779,0.80,197.9,84.3,9.3,522,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1970,2000,0,0,0,0,0,0
$GC,9104,0.89,267.2,57.9,6.2,577,9175,0.10,2.33,61.72,0.491,4,0.086,0.056,2970,3379,1709,0,0,0,0,0,0
$GC,9191,0.89,267.2,48.7,12.6,591,9197,0.20,2.25,0.00,0.000,6,0.125,0.048,2921,1981,1709,0,0,0,0,0,0
$GC,9520,0.90,279.6,16.8,8.5,652,9534,0.00,0.00,11.73,0.420,6,0.000,0.000,2921,1981,1658,0,0,0,0,0,0
$STATE,9683,end climb,SURFACE_DEPTH_REACHED
$STATE,9683,begin surface coast
$FINISH,0.8,1.023071
$STATE,9716,end surface coast,CONTROL_FINISHED_OK
$STATE,9716,begin surface
$SM_CCo,9734,13.73,0.411,0,0,1575,300.24
$SM_GC,1.05,0.00,0.00,13.73,0.000,0.000,0.411,32,1977,1575,-8.15,0.57,300.24
$IRIDIUM_FIX,2057.14,-15748.75,140902,030331
$TT8_MAMPS,0.028379
$HUMID,68.15
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,436.0,46.3
$24V_AH,24.5,43.858
$10V_AH,10.3,47.688
$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,19.150,71.675,365.225,13.725,0.000,118.186,181.287,396.258,18.500,0.000,18.593,1235.380,5866.603,426.441,2267.760,995.002,0.000,1198.388,0.000,2224.066,0.000,120.068,0.000
$DEVICE_MAMPS,223.197,68.263,757.029,411.112,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,467.255,407.728,1386.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355792
$DATA_FILE_SIZE,38109,688
$CAP_FILE_SIZE,109131,0
$CFSIZE,260165632,230215680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200613,061435,2058.145,-15748.916,62,0.9,62,9.8