version: 66.06
glider: 523
mission: 4
dive: 681
start: 7 9 113 20 25 25
data:
$ID,523
$MISSION,4
$DIVE,681
$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,-49702.508
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,201831,2058.501,-15748.843,19,0.8,19,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.2
$GPS2,202507,2058.504,-15748.878,19,0.8,19,9.8
$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,227.6,2016,-21.4,-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,-0.82,-90.8,0.0,0.0,0,93,0.00,0.00,-70.18,0.000,6,0.000,0.000,34,1946,3170,0,0,0,0,0,0
$GC,97,-0.89,-146.0,3.0,-3.3,12,119,9.25,2.28,-5.43,0.000,4,0.216,0.071,2340,551,3396,0,0,0,0,0,0
$GC,356,-0.89,-146.0,46.0,-17.3,59,361,0.00,2.20,0.00,0.000,6,0.000,0.041,2332,1953,3398,0,0,0,0,0,0
$GC,689,-0.89,-146.0,86.0,-10.3,115,693,0.00,2.30,0.00,0.000,4,0.000,0.059,2332,550,3399,0,0,0,0,0,0
$GC,940,-0.89,-146.0,112.0,-10.4,137,947,0.00,2.20,0.00,0.000,6,0.000,0.040,2322,1954,3400,0,0,0,0,0,0
$GC,1268,-0.89,-146.0,145.3,-9.7,168,1273,0.10,2.28,0.00,0.000,4,0.179,0.062,2338,3364,3401,0,0,0,0,0,0
$GC,1439,-0.89,-146.0,160.8,-9.2,183,1444,0.00,2.25,0.00,0.000,6,0.000,0.046,2338,1960,3402,0,0,0,0,0,0
$GC,1767,-0.89,-146.0,189.7,-10.3,213,1771,0.00,2.33,0.00,0.000,4,0.000,0.065,2338,544,3402,0,0,0,0,0,0
$GC,2021,-0.89,-146.0,215.3,-8.2,229,2025,0.00,2.17,0.00,0.000,6,0.000,0.040,2329,1960,3402,0,0,0,0,0,0
$GC,2341,-0.89,-146.0,241.9,-7.7,244,2345,0.00,2.30,0.00,0.000,4,0.000,0.060,2328,544,3402,0,0,0,0,0,0
$GC,2486,-0.89,-146.0,252.7,-6.5,250,2492,0.12,2.20,0.00,0.000,6,0.163,0.041,2350,1957,3402,0,0,0,0,0,0
$GC,2807,-0.89,-146.0,271.3,-7.2,266,2811,0.00,2.33,0.00,0.000,4,0.000,0.060,2350,542,3402,0,0,0,0,0,0
$GC,2988,-0.89,-146.0,286.8,-8.0,274,2992,0.00,2.22,0.00,0.000,6,0.000,0.042,2342,1965,3402,0,0,0,0,0,0
$GC,3309,-0.89,-146.0,307.5,-5.8,287,3313,0.00,2.30,0.00,0.000,4,0.000,0.060,2342,548,3402,0,0,0,0,0,0
$GC,3404,-0.89,-146.0,314.2,-7.4,289,3409,0.00,2.22,0.00,0.000,6,0.000,0.042,2333,1967,3401,0,0,0,0,0,0
$GC,3722,-0.89,-146.0,336.0,-7.4,297,3726,0.00,2.33,0.00,0.000,4,0.000,0.061,2333,547,3401,0,0,0,0,0,0
$GC,3935,-0.89,-146.0,352.5,-7.0,301,3940,0.00,2.22,0.00,0.000,6,0.000,0.042,2323,1966,3400,0,0,0,0,0,0
$GC,4269,-0.89,-146.0,377.1,-7.4,310,4273,0.00,2.30,0.00,0.000,4,0.000,0.067,2312,3364,3398,0,0,0,0,0,0
$GC,4309,-0.89,-146.0,380.6,-7.8,311,4314,0.15,2.28,0.00,0.000,6,0.150,0.049,2352,1953,3398,0,0,0,0,0,0
$GC,4638,-0.89,-146.0,401.6,-6.3,319,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1953,3396,0,0,0,0,0,0
$GC,4960,-0.89,-146.0,422.4,-6.6,327,4964,0.00,2.28,0.00,0.000,4,0.000,0.064,2352,545,3395,0,0,0,0,0,0
$GC,5218,-0.89,-146.0,438.8,-6.0,332,5223,0.00,2.22,0.00,0.000,6,0.000,0.041,2344,1969,3393,0,0,0,0,0,0
$STATE,5424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5424,begin apogee
$GC,5431,-0.17,0.0,450.6,5.8,338,5558,0.77,0.00,123.55,0.753,6,0.123,0.000,2585,1969,2799,0,0,0,0,0,0
$STATE,5558,end apogee,CONTROL_FINISHED_OK
$STATE,5559,begin climb
$GC,5561,0.89,146.0,450.7,0.0,341,5700,0.98,2.38,127.97,0.727,4,0.074,0.061,2922,3388,2202,0,0,0,0,0,0
$GC,5769,0.89,146.0,426.0,13.8,345,5774,0.00,2.28,0.00,0.000,6,0.000,0.042,2932,1977,2199,0,0,0,0,0,0
$GC,6100,0.89,146.0,381.9,13.3,354,6104,0.00,2.28,0.00,0.000,4,0.000,0.057,2932,3390,2196,0,0,0,0,0,0
$GC,6260,0.89,146.0,360.9,12.5,357,6265,0.00,2.25,0.00,0.000,6,0.000,0.045,2941,1980,2194,0,0,0,0,0,0
$GC,6597,0.89,146.0,314.4,14.3,366,6601,0.00,2.25,0.00,0.000,4,0.000,0.058,2941,3387,2194,0,0,0,0,0,0
$GC,6665,0.89,146.0,304.8,14.1,367,6669,0.00,2.25,0.00,0.000,6,0.000,0.046,2951,1976,2193,0,0,0,0,0,0
$GC,6985,0.89,146.0,265.9,12.6,382,6989,0.00,2.30,0.00,0.000,4,0.000,0.059,2951,3391,2192,0,0,0,0,0,0
$GC,7096,0.89,146.0,250.7,13.5,387,7101,0.12,2.25,0.00,0.000,6,0.150,0.048,2927,1981,2191,0,0,0,0,0,0
$GC,7417,0.89,146.0,220.2,9.7,403,7422,0.00,2.30,0.00,0.000,4,0.000,0.061,2927,3391,2190,0,0,0,0,0,0
$GC,7557,0.89,146.0,204.8,10.9,409,7562,0.00,2.28,0.00,0.000,6,0.000,0.051,2934,1979,2190,0,0,0,0,0,0
$GC,7883,0.89,146.0,173.3,10.0,436,7887,0.00,2.28,0.00,0.000,4,0.000,0.062,2935,3386,2190,0,0,0,0,0,0
$GC,8024,0.89,146.0,158.6,11.0,448,8028,0.00,2.28,0.00,0.000,6,0.000,0.052,2944,1975,2190,0,0,0,0,0,0
$GC,8351,0.89,146.0,125.9,10.1,478,8355,0.00,2.30,0.00,0.000,4,0.000,0.062,2944,3385,2189,0,0,0,0,0,0
$GC,8478,0.89,146.0,112.0,10.8,489,8482,0.00,2.28,0.00,0.000,6,0.000,0.053,2953,1978,2188,0,0,0,0,0,0
$GC,8805,0.92,166.1,82.6,7.7,519,8827,0.00,2.33,16.27,0.498,4,0.000,0.062,2953,3384,2121,0,0,0,0,0,0
$GC,8862,0.92,166.1,77.3,10.0,526,8869,0.00,2.30,0.00,0.000,6,0.000,0.054,2962,1979,2119,0,0,0,0,0,0
$GC,9196,0.94,187.8,44.3,7.6,587,9221,0.00,2.35,19.75,0.470,4,0.000,0.059,2962,3400,2032,0,0,0,0,0,0
$GC,9317,0.96,201.2,34.1,8.1,608,9336,0.00,2.30,12.85,0.439,6,0.000,0.050,2972,1978,1978,0,0,0,0,0,0
$GC,9658,0.96,201.2,3.5,11.3,671,9665,0.00,2.28,0.00,0.000,4,0.000,0.054,2972,3385,1976,0,0,0,0,0,0
$STATE,9671,end climb,SURFACE_DEPTH_REACHED
$STATE,9671,begin surface coast
$FINISH,0.6,1.023209
$STATE,9699,end surface coast,CONTROL_FINISHED_OK
$STATE,9699,begin surface
$SM_CCo,9721,47.38,0.433,0,0,1575,300.24
$SM_GC,1.39,0.00,0.00,47.38,0.000,0.000,0.433,30,1955,1575,-8.16,-0.06,300.24
$IRIDIUM_FIX,2047.91,-15748.36,031002,171710
$TT8_MAMPS,0.028379
$HUMID,68.58
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.0,59.7
$24V_AH,24.3,58.544
$10V_AH,10.0,64.674
$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,19.050,91.025,300.400,47.375,0.000,23.797,37.861,180.483,18.250,0.000,20.207,1277.112,5551.166,401.245,2394.061,536.821,0.000,1240.916,0.000,2343.174,0.000,112.549,0.000
$DEVICE_MAMPS,216.294,71.331,753.194,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,461.357,394.170,1338.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38108,678
$CAP_FILE_SIZE,107876,0
$CFSIZE,260165632,221429760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090713,231002,2057.970,-15748.973,69,0.8,69,9.8