version: 66.06
glider: 523
mission: 4
dive: 607
start: 6 30 113 21 46 26
data:
$ID,523
$MISSION,4
$DIVE,607
$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,-48154.984
$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,19
$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
$GPS1,213600,2059.250,-15744.088,17,2.0,17,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.2
$GPS2,214606,2059.183,-15744.121,16,0.9,16,9.8
$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,246.9,10199,-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,-77.70,0.000,6,0.000,0.000,37,1973,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.3,13,118,9.55,2.20,0.00,0.000,4,0.221,0.048,2381,3378,3397,0,0,0,0,0,0
$GC,289,-0.74,-146.0,38.0,-15.0,47,294,0.00,2.28,0.00,0.000,6,0.000,0.043,2381,1944,3399,0,0,0,0,0,0
$GC,626,-0.74,-146.0,81.4,-10.6,108,629,0.00,2.22,0.00,0.000,4,0.000,0.058,2381,535,3399,0,0,0,0,0,0
$GC,881,-0.74,-146.0,108.9,-12.1,131,886,0.12,2.20,0.00,0.000,6,0.163,0.036,2403,1968,3399,0,0,0,0,0,0
$GC,1208,-0.74,-146.0,134.9,-8.5,161,1215,0.00,2.28,0.00,0.000,4,0.000,0.054,2404,534,3400,0,0,0,0,0,0
$GC,1465,-0.74,-146.0,158.6,-9.2,184,1469,0.00,2.20,0.00,0.000,6,0.000,0.036,2396,1965,3400,0,0,0,0,0,0
$GC,1792,-0.74,-146.0,187.1,-8.1,214,1796,0.00,2.30,0.00,0.000,4,0.000,0.054,2396,545,3400,0,0,0,0,0,0
$GC,1943,-0.74,-146.0,197.9,-6.5,227,1947,0.00,2.15,0.00,0.000,6,0.000,0.036,2386,1961,3400,0,0,0,0,0,0
$GC,2274,-0.74,-146.0,219.3,-7.9,244,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1962,3401,0,0,0,0,0,0
$GC,2582,-0.74,-146.0,247.0,-7.6,259,2586,0.00,2.30,0.00,0.000,4,0.000,0.054,2386,539,3400,0,0,0,0,0,0
$GC,2728,-0.74,-146.0,259.0,-8.9,265,2733,0.00,2.20,0.00,0.000,6,0.000,0.037,2377,1968,3400,0,0,0,0,0,0
$GC,3047,-0.74,-146.0,285.5,-8.1,281,3051,0.00,2.33,0.00,0.000,4,0.000,0.055,2376,541,3400,0,0,0,0,0,0
$GC,3119,-0.74,-146.0,291.2,-6.6,284,3124,0.12,2.20,0.00,0.000,6,0.160,0.038,2399,1966,3400,0,0,0,0,0,0
$GC,3433,-0.74,-146.0,311.5,-6.7,295,3438,0.00,2.35,0.00,0.000,4,0.000,0.056,2400,536,3399,0,0,0,0,0,0
$GC,3692,-0.74,-146.0,328.9,-5.9,300,3697,0.00,2.20,0.00,0.000,6,0.000,0.038,2392,1957,3398,0,0,0,0,0,0
$GC,4024,-0.74,-146.0,345.5,-4.7,309,4028,0.00,2.33,0.00,0.000,4,0.000,0.058,2391,540,3396,0,0,0,0,0,0
$STATE,4164,end dive,NO_VERTICAL_VELOCITY
$STATE,4164,begin apogee
$GC,4173,-0.17,0.0,345.6,0.0,312,4297,0.52,0.00,120.30,0.659,6,0.082,0.000,2581,1987,2800,0,0,0,0,0,0
$STATE,4298,end apogee,CONTROL_FINISHED_OK
$STATE,4298,begin climb
$GC,4301,0.74,146.0,344.4,0.0,315,4430,0.82,0.00,125.03,0.640,6,0.076,0.000,2874,1987,2204,0,0,0,0,0,0
$GC,4748,0.74,146.0,298.5,9.8,326,4752,0.00,2.28,0.00,0.000,4,0.000,0.060,2874,3388,2197,0,0,0,0,0,0
$GC,4922,0.74,146.0,277.7,12.4,334,4926,0.00,2.25,0.00,0.000,6,0.000,0.042,2882,1975,2195,0,0,0,0,0,0
$GC,5254,0.74,146.0,243.3,9.4,350,5258,0.00,2.25,0.00,0.000,4,0.000,0.055,2883,3384,2194,0,0,0,0,0,0
$GC,5282,0.74,146.0,240.3,11.2,351,5286,0.00,2.25,0.00,0.000,6,0.000,0.046,2892,1980,2193,0,0,0,0,0,0
$GC,5603,0.74,146.0,207.2,9.1,367,5607,0.00,2.28,0.00,0.000,4,0.000,0.057,2891,3385,2192,0,0,0,0,0,0
$GC,5712,0.74,146.0,196.8,9.7,373,5716,0.00,2.25,0.00,0.000,6,0.000,0.046,2900,1971,2191,0,0,0,0,0,0
$GC,6040,0.74,146.0,164.0,9.7,403,6044,0.00,2.25,0.00,0.000,4,0.000,0.057,2900,3385,2191,0,0,0,0,0,0
$GC,6288,0.74,146.0,136.8,10.2,425,6295,0.08,2.25,0.00,0.000,6,0.121,0.046,2881,1986,2189,0,0,0,0,0,0
$GC,6616,0.75,155.9,108.9,8.6,456,6629,0.00,2.28,7.28,0.448,4,0.000,0.058,2880,3388,2163,0,0,0,0,0,0
$GC,6719,0.75,155.9,99.1,9.4,465,6723,0.00,2.22,0.00,0.000,6,0.000,0.048,2888,1978,2163,0,0,0,0,0,0
$GC,7047,0.82,211.3,75.5,6.7,500,7101,0.00,2.30,47.88,0.495,4,0.000,0.058,2888,3385,1938,0,0,0,0,0,0
$GC,7161,0.84,229.2,67.5,8.3,519,7186,0.00,2.28,16.98,0.459,6,0.000,0.048,2893,1976,1864,0,0,0,0,0,0
$GC,7518,0.91,286.1,40.7,6.7,583,7577,0.10,2.33,49.45,0.459,4,0.088,0.059,2977,3372,1631,0,0,0,0,0,0
$GC,7642,0.91,286.1,28.0,12.4,604,7650,0.15,2.28,0.00,0.000,6,0.103,0.049,2935,1984,1629,0,0,0,0,0,0
$GC,7810,0.91,286.1,13.0,9.4,635,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1984,1630,0,0,0,0,0,0
$STATE,7931,end climb,SURFACE_DEPTH_REACHED
$STATE,7932,begin surface coast
$FINISH,0.5,1.023176
$STATE,7976,end surface coast,CONTROL_FINISHED_OK
$STATE,7976,begin surface
$SM_CCo,7994,7.82,0.375,0,0,1574,300.24
$SM_GC,1.31,0.00,0.00,7.82,0.000,0.000,0.375,25,1977,1574,-8.18,0.59,300.24
$IRIDIUM_FIX,2050.21,-15756.91,240902,212101
$TT8_MAMPS,0.028379
$HUMID,68.42
$INTERNAL_PRESSURE,9.42144
$TCM_TEMP,24.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,280.5,57.8
$24V_AH,24.6,51.894
$10V_AH,10.2,56.878
$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,18.875,67.725,366.900,7.825,0.000,55.907,88.376,257.233,11.250,0.000,16.809,1164.059,4121.390,390.707,2261.092,672.168,0.000,1158.078,0.000,2235.948,0.000,67.630,0.000
$DEVICE_MAMPS,220.896,59.826,658.853,375.063,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,450.463,409.014,1435.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,38154,666
$CAP_FILE_SIZE,94301,0
$CFSIZE,260165632,225529856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010713,000106,2058.584,-15744.748,37,0.9,37,9.8