version: 66.06
glider: 523
mission: 4
dive: 604
start: 6 30 113 14 40 13
data:
$ID,523
$MISSION,4
$DIVE,604
$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,-48098.367
$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,21
$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
$GPS1,143053,2101.139,-15743.216,15,1.1,15,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.6
$GPS2,143955,2101.113,-15743.189,21,0.7,21,9.8
$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,233.0,12966,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.43,0.000,2,0.000,0.000,26,1966,3348,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.3,12,113,9.52,2.28,-1.10,0.000,4,0.218,0.065,2384,3369,3398,0,0,0,0,0,0
$GC,226,-0.74,-146.0,25.4,-13.7,35,233,0.00,2.28,0.00,0.000,6,0.000,0.042,2383,1953,3400,0,0,0,0,0,0
$GC,397,-0.74,-146.0,50.5,-16.3,66,405,0.00,2.28,0.00,0.000,4,0.000,0.058,2384,552,3400,0,0,0,0,0,0
$GC,548,-0.74,-146.0,71.1,-12.3,93,554,0.00,2.17,0.00,0.000,6,0.000,0.035,2374,1967,3400,0,0,0,0,0,0
$GC,884,-0.74,-146.0,110.8,-11.8,131,888,0.00,2.33,0.00,0.000,4,0.000,0.055,2374,539,3400,0,0,0,0,0,0
$GC,1122,-0.74,-146.0,138.2,-9.8,152,1127,0.12,2.17,0.00,0.000,6,0.160,0.035,2397,1959,3401,0,0,0,0,0,0
$GC,1450,-0.74,-146.0,160.0,-6.6,182,1454,0.00,2.28,0.00,0.000,4,0.000,0.054,2398,546,3401,0,0,0,0,0,0
$GC,1525,-0.74,-146.0,165.4,-8.4,188,1529,0.00,2.17,0.00,0.000,6,0.000,0.035,2389,1966,3401,0,0,0,0,0,0
$GC,1853,-0.74,-146.0,188.5,-9.7,218,1857,0.00,2.30,0.00,0.000,4,0.000,0.055,2389,542,3402,0,0,0,0,0,0
$GC,1996,-0.74,-146.0,203.3,-9.8,229,2001,0.00,2.17,0.00,0.000,6,0.000,0.036,2380,1961,3401,0,0,0,0,0,0
$GC,2314,-0.74,-146.0,230.4,-6.0,245,2318,0.00,2.28,0.00,0.000,4,0.000,0.055,2380,545,3401,0,0,0,0,0,0
$GC,2410,-0.74,-146.0,235.4,-5.6,249,2415,0.12,2.15,0.00,0.000,6,0.158,0.036,2404,1958,3401,0,0,0,0,0,0
$GC,2739,-0.74,-146.0,258.8,-7.6,265,2743,0.00,2.28,0.00,0.000,4,0.000,0.055,2404,537,3401,0,0,0,0,0,0
$GC,2876,-0.74,-146.0,269.9,-7.4,271,2883,0.00,2.17,0.00,0.000,6,0.000,0.037,2396,1958,3401,0,0,0,0,0,0
$GC,3207,-0.74,-146.0,286.1,-3.9,287,3211,0.00,2.20,0.00,0.000,4,0.000,0.058,2385,3364,3400,0,0,0,0,0,0
$GC,3279,-0.74,-146.0,291.8,-8.8,290,3283,0.00,2.25,0.00,0.000,6,0.000,0.044,2385,1949,3400,0,0,0,0,0,0
$GC,3592,-0.74,-146.0,320.5,-9.4,300,3596,0.00,2.30,0.00,0.000,4,0.000,0.060,2385,538,3399,0,0,0,0,0,0
$GC,3822,-0.74,-146.0,338.6,-7.3,305,3826,0.00,2.20,0.00,0.000,6,0.000,0.038,2376,1964,3396,0,0,0,0,0,0
$GC,4136,-0.74,-146.0,361.0,-7.4,313,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1964,3395,0,0,0,0,0,0
$GC,4460,-0.74,-146.0,377.7,-1.6,321,4464,0.00,2.30,0.00,0.000,4,0.000,0.058,2377,548,3394,0,0,0,0,0,0
$STATE,4587,end dive,NO_VERTICAL_VELOCITY
$STATE,4589,begin apogee
$GC,4599,-0.17,0.0,377.6,0.0,324,4723,0.57,0.00,121.12,0.681,6,0.056,0.000,2600,1980,2799,0,0,0,0,0,0
$STATE,4724,end apogee,CONTROL_FINISHED_OK
$STATE,4724,begin climb
$GC,4726,0.74,146.0,377.7,0.0,327,4863,0.77,2.40,125.53,0.663,4,0.067,0.054,2879,3393,2202,0,0,0,0,0,0
$GC,5049,0.74,146.0,345.8,12.7,334,5053,0.00,2.28,0.00,0.000,6,0.000,0.046,2889,1980,2197,0,0,0,0,0,0
$GC,5391,0.74,146.0,307.1,10.9,343,5395,0.00,2.28,0.00,0.000,4,0.000,0.055,2889,3388,2195,0,0,0,0,0,0
$GC,5565,0.76,166.0,290.8,8.2,349,5589,0.00,2.25,17.23,0.601,6,0.000,0.047,2898,1980,2122,0,0,0,0,0,0
$GC,5920,0.76,166.0,254.0,10.8,366,5924,0.00,2.30,0.00,0.000,4,0.000,0.059,2898,3388,2118,0,0,0,0,0,0
$GC,6055,0.76,166.0,235.3,13.7,372,6059,0.00,2.28,0.00,0.000,6,0.000,0.050,2907,1972,2117,0,0,0,0,0,0
$GC,6373,0.76,166.0,198.0,11.8,388,6377,0.00,2.30,0.00,0.000,4,0.000,0.059,2907,3386,2117,0,0,0,0,0,0
$GC,6506,0.76,166.0,183.6,11.8,400,6510,0.00,2.28,0.00,0.000,6,0.000,0.052,2911,1977,2116,0,0,0,0,0,0
$GC,6834,0.77,171.3,152.2,8.8,430,6847,0.00,2.30,5.30,0.429,4,0.000,0.059,2910,3379,2100,0,0,0,0,0,0
$GC,6872,0.77,171.3,148.6,9.3,433,6877,0.12,2.25,0.00,0.000,6,0.141,0.052,2884,1980,2099,0,0,0,0,0,0
$GC,7199,0.83,218.7,123.2,7.1,463,7247,0.00,2.30,41.62,0.525,4,0.000,0.058,2884,3389,1907,0,0,0,0,0,0
$GC,7337,0.83,225.4,112.0,8.8,475,7350,0.00,2.28,6.93,0.433,6,0.000,0.050,2890,1973,1880,0,0,0,0,0,0
$GC,7670,0.92,295.8,86.9,6.1,506,7740,0.12,2.30,61.30,0.494,4,0.073,0.058,2989,574,1593,0,0,0,0,0,0
$GC,7759,0.92,295.8,78.0,10.5,514,7768,0.15,2.28,0.00,0.000,6,0.104,0.042,2938,1986,1593,0,0,0,0,0,0
$GC,8098,0.92,295.8,43.5,10.4,575,8103,0.00,2.33,0.00,0.000,4,0.000,0.063,2946,566,1592,0,0,0,0,0,0
$GC,8230,0.94,312.5,31.2,8.3,599,8255,0.00,2.22,15.77,0.428,6,0.000,0.042,2946,1979,1524,0,0,0,0,0,0
$GC,8413,0.94,312.5,15.2,10.2,633,8420,0.00,2.25,0.00,0.000,4,0.000,0.055,2946,3389,1522,0,0,0,0,0,0
$GC,8490,0.94,312.5,7.0,10.3,647,8497,0.00,2.28,0.00,0.000,6,0.000,0.049,2954,1980,1523,0,0,0,0,0,0
$STATE,8529,end climb,SURFACE_DEPTH_REACHED
$STATE,8529,begin surface coast
$FINISH,0.5,1.002542
$STATE,8557,end surface coast,CONTROL_FINISHED_OK
$STATE,8557,begin surface
$SM_CCo,8635,0.00,0.000,0,0,1519,314.22
$SM_GC,1.47,7.43,0.00,0.00,0.028,0.000,0.000,48,1976,1519,-7.99,0.62,314.22
$IRIDIUM_FIX,2050.21,-15745.35,240902,141444
$TT8_MAMPS,0.027612
$HUMID,66.22
$INTERNAL_PRESSURE,9.42144
$TCM_TEMP,24.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,313.6,52.6
$24V_AH,24.6,51.641
$10V_AH,10.2,56.574
$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,18.950,85.950,394.800,0.000,0.000,47.319,70.747,214.230,12.250,0.000,22.137,1180.157,4685.165,407.811,2288.640,613.228,0.000,1227.965,0.000,2252.490,0.000,78.914,0.000
$DEVICE_MAMPS,217.828,65.195,681.096,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,446.653,409.570,1390.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,37976,659
$CAP_FILE_SIZE,102437,0
$CFSIZE,260165632,225665024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300613,170523,2100.734,-15743.657,38,0.9,38,9.8