version: 66.06
glider: 523
mission: 4
dive: 567
start: 6 26 113 4 46 52
data:
$ID,523
$MISSION,4
$DIVE,567
$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,-47324.391
$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,20
$R_STBD_OVSHOOT,33
$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
$GPS1,043658,2058.461,-15747.332,36,1.0,36,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.8
$GPS2,044635,2058.496,-15747.321,18,1.2,18,9.8
$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,246.5,4520,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-75.68,0.000,2,0.000,0.000,37,1972,3376,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.3,12,113,9.57,2.20,-0.40,0.000,4,0.222,0.060,2385,3360,3396,0,0,0,0,0,0
$GC,257,-0.74,-146.0,32.0,-14.1,41,262,0.00,2.22,0.00,0.000,6,0.000,0.044,2386,1953,3397,0,0,0,0,0,0
$GC,587,-0.74,-146.0,72.2,-9.1,102,594,0.00,2.28,0.00,0.000,4,0.000,0.057,2386,541,3398,0,0,0,0,0,0
$GC,736,-0.74,-146.0,88.1,-10.8,122,740,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1962,3399,0,0,0,0,0,0
$GC,1063,-0.74,-146.0,124.0,-10.7,152,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1963,3399,0,0,0,0,0,0
$GC,1381,-0.74,-146.0,157.9,-10.8,182,1385,0.00,2.25,0.00,0.000,4,0.000,0.053,2376,547,3401,0,0,0,0,0,0
$GC,1585,-0.74,-146.0,180.5,-10.4,200,1590,0.12,2.15,0.00,0.000,6,0.164,0.035,2398,1964,3401,0,0,0,0,0,0
$GC,1911,-0.74,-146.0,209.0,-7.1,225,1916,0.00,2.28,0.00,0.000,4,0.000,0.054,2399,547,3401,0,0,0,0,0,0
$GC,2074,-0.74,-146.0,222.6,-9.4,232,2078,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1964,3401,0,0,0,0,0,0
$GC,2389,-0.74,-146.0,252.8,-9.2,247,2393,0.00,2.28,0.00,0.000,4,0.000,0.054,2391,547,3401,0,0,0,0,0,0
$GC,2647,-0.74,-146.0,271.4,-6.6,258,2652,0.00,2.17,0.00,0.000,6,0.000,0.036,2381,1960,3400,0,0,0,0,0,0
$GC,2965,-0.74,-146.0,293.9,-8.7,274,2969,0.00,2.30,0.00,0.000,4,0.000,0.055,2381,541,3400,0,0,0,0,0,0
$GC,3090,-0.74,-146.0,305.9,-9.1,278,3096,0.12,2.15,0.00,0.000,6,0.160,0.036,2405,1958,3400,0,0,0,0,0,0
$GC,3423,-0.74,-146.0,327.1,-5.6,287,3427,0.00,2.30,0.00,0.000,4,0.000,0.057,2405,543,3400,0,0,0,0,0,0
$GC,3682,-0.74,-146.0,346.0,-8.4,292,3686,0.00,2.17,0.00,0.000,6,0.000,0.036,2398,1955,3398,0,0,0,0,0,0
$GC,4014,-0.74,-146.0,368.8,-6.5,300,4018,0.00,2.30,0.00,0.000,4,0.000,0.058,2398,548,3397,0,0,0,0,0,0
$GC,4104,-0.74,-146.0,375.6,-7.9,302,4107,0.00,2.15,0.00,0.000,6,0.000,0.038,2388,1957,3396,0,0,0,0,0,0
$GC,4425,-0.74,-146.0,395.6,-6.3,310,4429,0.00,2.35,0.00,0.000,4,0.000,0.058,2388,538,3394,0,0,0,0,0,0
$GC,4682,-0.74,-146.0,414.1,-6.6,315,4688,0.00,2.20,0.00,0.000,6,0.000,0.038,2378,1957,3393,0,0,0,0,0,0
$GC,5014,-0.74,-146.0,435.7,-6.5,324,5018,0.00,2.35,0.00,0.000,4,0.000,0.061,2378,540,3390,0,0,0,0,0,0
$GC,5093,-0.74,-146.0,441.7,-7.9,325,5099,0.12,2.22,0.00,0.000,6,0.163,0.041,2402,1964,3390,0,0,0,0,0,0
$STATE,5218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5218,begin apogee
$GC,5225,-0.17,0.0,451.2,7.4,329,5350,0.55,0.00,122.05,0.752,6,0.111,0.000,2583,1964,2800,0,0,0,0,0,0
$STATE,5350,end apogee,CONTROL_FINISHED_OK
$STATE,5351,begin climb
$GC,5354,0.74,146.0,452.8,0.0,332,5492,0.85,2.42,127.50,0.729,4,0.074,0.058,2873,3385,2203,0,0,0,0,0,0
$GC,5565,0.74,146.0,431.2,13.3,337,5569,0.00,2.28,0.00,0.000,6,0.000,0.043,2882,1977,2199,0,0,0,0,0,0
$GC,5913,0.74,146.0,388.2,12.1,346,5917,0.00,2.30,0.00,0.000,4,0.000,0.057,2882,3399,2196,0,0,0,0,0,0
$GC,5940,0.74,146.0,384.2,14.3,346,5944,0.00,2.28,0.00,0.000,6,0.000,0.049,2892,1979,2195,0,0,0,0,0,0
$GC,6271,0.74,146.0,335.8,14.6,354,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1979,2194,0,0,0,0,0,0
$GC,6577,0.74,146.0,296.6,12.5,362,6581,0.00,2.25,0.00,0.000,4,0.000,0.059,2902,569,2192,0,0,0,0,0,0
$GC,6632,0.74,146.0,289.1,13.3,364,6637,0.00,2.22,0.00,0.000,6,0.000,0.040,2902,1992,2191,0,0,0,0,0,0
$GC,6947,0.74,146.0,245.5,13.8,380,6951,0.00,2.20,0.00,0.000,4,0.000,0.053,2902,3389,2191,0,0,0,0,0,0
$GC,7060,0.74,146.0,229.2,14.0,385,7065,0.12,2.22,0.00,0.000,6,0.152,0.046,2876,1979,2190,0,0,0,0,0,0
$GC,7381,0.79,186.1,201.0,7.4,401,7425,0.00,2.33,33.17,0.610,4,0.000,0.058,2885,569,2040,0,0,0,0,0,0
$GC,7441,0.79,190.3,195.7,8.9,405,7452,0.00,2.25,5.53,0.470,6,0.000,0.039,2886,1983,2023,0,0,0,0,0,0
$GC,7780,0.79,190.3,160.9,10.6,437,7784,0.00,2.25,0.00,0.000,4,0.000,0.051,2885,3395,2020,0,0,0,0,0,0
$GC,7842,0.79,190.3,154.3,11.4,442,7846,0.00,2.25,0.00,0.000,6,0.000,0.045,2893,1979,2019,0,0,0,0,0,0
$GC,8169,0.79,190.3,120.5,10.4,472,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1979,2019,0,0,0,0,0,0
$GC,8490,0.81,208.5,91.0,8.3,502,8514,0.00,2.28,16.40,0.499,4,0.000,0.058,2893,571,1949,0,0,0,0,0,0
$GC,8540,0.83,221.2,86.5,8.5,506,8557,0.00,2.20,12.45,0.475,6,0.000,0.038,2893,1984,1898,0,0,0,0,0,0
$GC,8881,0.92,293.6,60.9,6.0,561,8952,0.12,2.25,62.67,0.486,4,0.073,0.050,2984,3394,1602,0,0,0,0,0,0
$GC,9033,0.92,293.6,40.5,14.8,588,9041,0.17,2.30,0.00,0.000,6,0.114,0.044,2936,1979,1600,0,0,0,0,0,0
$GC,9361,1.00,359.2,6.7,6.3,649,9395,0.00,0.00,31.40,0.433,2,0.000,0.000,2937,1979,1454,0,0,0,0,0,0
$STATE,9395,end climb,SURFACE_DEPTH_REACHED
$STATE,9396,begin surface coast
$FINISH,0.5,1.023250
$STATE,9423,end surface coast,CONTROL_FINISHED_OK
$STATE,9423,begin surface
$SM_CCo,9501,0.00,0.000,0,0,1450,331.15
$SM_GC,1.37,7.43,0.00,0.00,0.025,0.000,0.000,45,1964,1450,-7.99,0.23,331.15
$IRIDIUM_FIX,2054.83,-15749.62,200902,040450
$TT8_MAMPS,0.027612
$HUMID,65.71
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,410.1,58.8
$24V_AH,24.4,48.359
$10V_AH,10.2,52.774
$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,19.200,80.925,411.175,0.000,0.000,53.161,70.548,244.373,17.500,0.000,18.599,1199.001,5564.884,415.444,2257.441,633.909,0.000,1235.475,0.000,2204.683,0.000,109.853,0.000
$DEVICE_MAMPS,221.663,61.360,751.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,446.151,377.844,1295.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,34977,659
$CAP_FILE_SIZE,106681,0
$CFSIZE,260165632,227606528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260613,072611,2058.041,-15748.389,21,0.9,21,9.8