version: 66.06
glider: 523
mission: 4
dive: 602
start: 6 30 113 10 11 10
data:
$ID,523
$MISSION,4
$DIVE,602
$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,-48057.117
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,100459,2102.098,-15743.036,36,0.8,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.6
$GPS2,101053,2102.116,-15743.021,14,1.0,14,9.8
$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,226.9,14155,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.50,0.000,6,0.000,0.000,26,1973,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-5.6,13,118,9.60,2.33,0.00,0.000,4,0.222,0.054,2392,532,3397,0,0,0,0,0,0
$GC,356,-0.74,-146.0,47.2,-12.7,60,363,0.00,2.25,0.00,0.000,6,0.000,0.038,2383,1961,3398,0,0,0,0,0,0
$GC,693,-0.74,-146.0,85.6,-12.8,117,697,0.00,2.33,0.00,0.000,4,0.000,0.057,2383,536,3399,0,0,0,0,0,0
$GC,942,-0.74,-146.0,118.4,-13.1,139,949,0.00,2.22,0.00,0.000,6,0.000,0.037,2374,1959,3399,0,0,0,0,0,0
$GC,1270,-0.74,-146.0,151.2,-8.2,170,1274,0.00,2.33,0.00,0.000,4,0.000,0.057,2374,544,3401,0,0,0,0,0,0
$GC,1438,-0.74,-146.0,164.9,-7.4,185,1445,0.12,2.20,0.00,0.000,6,0.161,0.038,2396,1969,3401,0,0,0,0,0,0
$GC,1774,-0.74,-146.0,185.8,-6.5,216,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1969,3402,0,0,0,0,0,0
$GC,2106,-0.74,-146.0,206.6,-6.5,243,2111,0.00,2.35,0.00,0.000,4,0.000,0.056,2397,534,3402,0,0,0,0,0,0
$GC,2365,-0.74,-146.0,227.0,-8.3,254,2370,0.00,2.20,0.00,0.000,6,0.000,0.038,2389,1956,3402,0,0,0,0,0,0
$GC,2684,-0.74,-146.0,255.2,-8.6,270,2688,0.00,2.33,0.00,0.000,4,0.000,0.057,2389,540,3402,0,0,0,0,0,0
$GC,2885,-0.74,-146.0,269.8,-5.6,279,2889,0.00,2.20,0.00,0.000,6,0.000,0.038,2379,1961,3402,0,0,0,0,0,0
$GC,3213,-0.74,-146.0,291.2,-5.7,295,3217,0.00,2.33,0.00,0.000,4,0.000,0.056,2379,542,3401,0,0,0,0,0,0
$GC,3346,-0.74,-146.0,299.5,-7.0,301,3351,0.12,2.20,0.00,0.000,6,0.158,0.040,2404,1960,3402,0,0,0,0,0,0
$GC,3697,-0.74,-146.0,320.6,-5.7,310,3701,0.00,2.22,0.00,0.000,4,0.000,0.058,2394,3367,3401,0,0,0,0,0,0
$GC,3759,-0.74,-146.0,324.7,-6.4,311,3763,0.00,2.28,0.00,0.000,6,0.000,0.044,2394,1944,3401,0,0,0,0,0,0
$GC,4103,-0.74,-146.0,349.4,-8.3,320,4107,0.00,2.28,0.00,0.000,4,0.000,0.061,2395,546,3398,0,0,0,0,0,0
$GC,4263,-0.74,-146.0,363.2,-7.1,323,4267,0.00,2.20,0.00,0.000,6,0.000,0.038,2385,1963,3397,0,0,0,0,0,0
$GC,4600,-0.74,-146.0,386.5,-6.3,332,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1963,3395,0,0,0,0,0,0
$GC,4925,-0.74,-146.0,396.2,-0.0,340,4929,0.00,2.33,0.00,0.000,4,0.000,0.059,2385,546,3394,0,0,0,0,0,0
$STATE,5045,end dive,NO_VERTICAL_VELOCITY
$STATE,5045,begin apogee
$GC,5056,-0.17,0.0,396.2,0.0,342,5182,0.52,0.00,121.65,0.712,6,0.070,0.000,2583,1981,2800,0,0,0,0,0,0
$STATE,5183,end apogee,CONTROL_FINISHED_OK
$STATE,5183,begin climb
$GC,5186,0.74,146.0,394.6,0.0,346,5324,0.82,2.45,126.15,0.686,4,0.064,0.060,2881,3389,2203,0,0,0,0,0,0
$GC,5431,0.74,146.0,367.3,13.8,351,5436,0.00,2.30,0.00,0.000,6,0.000,0.044,2891,1979,2198,0,0,0,0,0,0
$GC,5763,0.74,146.0,328.1,11.7,359,5767,0.00,2.30,0.00,0.000,4,0.000,0.058,2891,3385,2196,0,0,0,0,0,0
$GC,5785,0.74,146.0,325.3,11.9,359,5789,0.00,2.25,0.00,0.000,6,0.000,0.046,2901,1979,2196,0,0,0,0,0,0
$GC,6102,0.74,146.0,290.1,11.4,369,6107,0.00,2.28,0.00,0.000,4,0.000,0.059,2901,3391,2194,0,0,0,0,0,0
$GC,6181,0.74,146.0,280.8,12.0,372,6187,0.12,2.28,0.00,0.000,6,0.147,0.050,2876,1979,2193,0,0,0,0,0,0
$GC,6496,0.78,178.5,253.0,7.7,388,6529,0.00,2.33,27.42,0.625,4,0.000,0.061,2876,3377,2071,0,0,0,0,0,0
$GC,6563,0.78,178.5,247.1,10.1,391,6567,0.00,2.28,0.00,0.000,6,0.000,0.051,2882,1979,2070,0,0,0,0,0,0
$GC,6885,0.86,242.3,217.8,6.4,407,6946,0.00,2.33,55.85,0.610,4,0.000,0.060,2882,3385,1810,0,0,0,0,0,0
$GC,7015,0.86,242.3,205.4,11.2,413,7019,0.00,2.30,0.00,0.000,6,0.000,0.050,2890,1980,1808,0,0,0,0,0,0
$GC,7341,0.86,242.3,173.4,10.1,441,7345,0.00,2.33,0.00,0.000,4,0.000,0.061,2890,3383,1808,0,0,0,0,0,0
$GC,7382,0.86,242.3,169.4,10.7,444,7386,0.00,2.22,0.00,0.000,6,0.000,0.040,2898,1968,1807,0,0,0,0,0,0
$GC,7711,0.89,269.0,137.2,7.9,474,7745,0.00,2.33,24.00,0.535,4,0.000,0.051,2899,3389,1701,0,0,0,0,0,0
$GC,7827,0.89,269.0,125.1,11.0,484,7831,0.00,2.22,0.00,0.000,6,0.000,0.039,2907,1976,1700,0,0,0,0,0,0
$GC,8155,0.89,269.0,90.8,10.2,514,8159,0.00,2.28,0.00,0.000,4,0.000,0.051,2906,3388,1700,0,0,0,0,0,0
$GC,8185,0.89,269.0,87.6,10.5,516,8189,0.00,2.22,0.00,0.000,6,0.000,0.041,2907,1978,1700,0,0,0,0,0,0
$GC,8512,0.89,269.0,56.7,9.3,568,8520,0.00,2.28,0.00,0.000,4,0.000,0.051,2907,3389,1700,0,0,0,0,0,0
$GC,8545,0.89,269.0,53.5,10.3,573,8550,0.00,2.28,0.00,0.000,6,0.000,0.053,2907,1980,1700,0,0,0,0,0,0
$GC,8876,0.95,316.9,28.8,7.0,634,8924,0.10,2.25,41.60,0.456,4,0.088,0.056,2995,567,1507,0,0,0,0,0,0
$GC,8976,0.95,316.9,18.4,11.5,650,8985,0.15,2.25,0.00,0.000,6,0.091,0.040,2943,1986,1505,0,0,0,0,0,0
$STATE,9135,end climb,SURFACE_DEPTH_REACHED
$STATE,9135,begin surface coast
$FINISH,0.6,1.011267
$STATE,9167,end surface coast,CONTROL_FINISHED_OK
$STATE,9167,begin surface
$SM_CCo,9246,0.00,0.000,0,0,1502,318.39
$SM_GC,1.38,7.43,0.00,0.00,0.025,0.000,0.000,46,1912,1502,-8.00,-1.27,318.39
$IRIDIUM_FIX,2057.14,-15746.61,240902,070712
$TT8_MAMPS,0.027612
$HUMID,66.46
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,342.7,54.4
$24V_AH,24.5,51.484
$10V_AH,10.2,56.382
$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,19.000,86.625,396.675,0.000,0.000,25.408,34.054,156.537,14.000,0.000,14.873,1229.264,5151.271,418.670,2308.720,483.865,0.000,1246.803,0.000,2271.254,0.000,88.144,0.000
$DEVICE_MAMPS,222.430,102.778,711.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,464.678,405.299,1374.239,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38115,685
$CAP_FILE_SIZE,101768,0
$CFSIZE,260165632,225763328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300613,124628,2101.379,-15743.179,35,1.0,35,9.8