version: 66.06
glider: 523
mission: 4
dive: 40
start: 4 29 113 8 6 39
data:
$ID,523
$MISSION,4
$DIVE,40
$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,-36681.539
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,29
$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
$GPS1,080104,2100.660,-15747.016,28,1.3,28,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.0
$GPS2,080623,2100.705,-15746.975,19,1.6,19,9.8
$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,214.2,7180,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.50,0.000,2,0.000,0.000,52,1965,3371,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-5.0,12,113,9.40,2.25,-0.52,0.000,4,0.235,0.063,2393,546,3396,0,0,0,0,0,0
$GC,152,-0.74,-146.0,18.5,-20.0,21,159,0.00,2.22,0.00,0.000,6,0.000,0.041,2385,1960,3397,0,0,0,0,0,0
$GC,321,-0.74,-146.0,50.3,-18.0,52,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1961,3398,0,0,0,0,0,0
$GC,653,-0.74,-146.0,101.3,-15.2,100,657,0.00,2.20,0.00,0.000,4,0.000,0.054,2375,3372,3399,0,0,0,0,0,0
$GC,781,-0.74,-146.0,122.0,-15.0,111,789,0.00,2.25,0.00,0.000,6,0.000,0.045,2375,1958,3400,0,0,0,0,0,0
$GC,1108,-0.74,-146.0,164.3,-11.8,142,1115,0.00,2.20,0.00,0.000,4,0.000,0.053,2375,536,3401,0,0,0,0,0,0
$GC,1125,-0.74,-146.0,167.0,-12.9,143,1133,0.10,2.20,0.00,0.000,6,0.150,0.035,2397,1977,3401,0,0,0,0,0,0
$GC,1453,-0.74,-146.0,199.2,-7.5,174,1457,0.00,2.25,0.00,0.000,4,0.000,0.052,2398,542,3402,0,0,0,0,0,0
$GC,1537,-0.74,-146.0,206.1,-8.0,178,1542,0.00,2.15,0.00,0.000,6,0.000,0.035,2389,1968,3402,0,0,0,0,0,0
$GC,1864,-0.74,-146.0,232.4,-9.3,194,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1969,3402,0,0,0,0,0,0
$GC,2176,-0.74,-146.0,262.2,-8.5,209,2180,0.00,2.30,0.00,0.000,4,0.000,0.054,2389,540,3402,0,0,0,0,0,0
$GC,2203,-0.74,-146.0,264.6,-7.7,210,2207,0.00,2.15,0.00,0.000,6,0.000,0.038,2379,1959,3402,0,0,0,0,0,0
$GC,2521,-0.74,-146.0,292.1,-8.7,225,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1960,3401,0,0,0,0,0,0
$GC,2826,-0.74,-146.0,317.4,-7.9,235,2830,0.00,2.28,0.00,0.000,4,0.000,0.058,2379,539,3401,0,0,0,0,0,0
$GC,2922,-0.74,-146.0,326.9,-8.7,237,2927,0.12,2.15,0.00,0.000,6,0.169,0.041,2404,1956,3401,0,0,0,0,0,0
$GC,3248,-0.74,-146.0,347.3,-6.4,245,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1956,3398,0,0,0,0,0,0
$GC,3573,-0.74,-146.0,371.0,-7.5,253,3577,0.00,2.25,0.00,0.000,4,0.000,0.061,2404,550,3397,0,0,0,0,0,0
$GC,3757,-0.74,-146.0,386.6,-9.6,257,3761,0.00,2.17,0.00,0.000,6,0.000,0.044,2396,1962,3396,0,0,0,0,0,0
$GC,4074,-0.74,-146.0,412.3,-8.7,265,4078,0.00,2.28,0.00,0.000,4,0.000,0.063,2396,543,3394,0,0,0,0,0,0
$GC,4208,-0.74,-146.0,424.2,-8.6,268,4212,0.00,2.20,0.00,0.000,6,0.000,0.047,2386,1962,3393,0,0,0,0,0,0
$GC,4527,-0.74,-146.0,447.1,-7.3,276,4530,0.00,2.22,0.00,0.000,4,0.000,0.063,2377,3367,3390,0,0,0,0,0,0
$STATE,4564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4564,begin apogee
$GC,4572,-0.17,0.0,450.3,8.3,277,4693,0.62,0.00,117.85,0.796,6,0.123,0.000,2580,1968,2800,0,0,0,0,0,0
$STATE,4694,end apogee,CONTROL_FINISHED_OK
$STATE,4694,begin climb
$GC,4697,0.74,146.0,451.3,0.0,280,4831,0.85,2.40,124.85,0.763,4,0.077,0.066,2886,565,2204,0,0,0,0,0,0
$GC,4865,0.74,146.0,433.4,15.1,284,4869,0.00,2.30,0.00,0.000,6,0.000,0.042,2886,1981,2201,0,0,0,0,0,0
$GC,5183,0.74,146.0,386.8,14.7,292,5187,0.00,2.30,0.00,0.000,4,0.000,0.061,2896,570,2197,0,0,0,0,0,0
$GC,5204,0.74,146.0,383.8,13.8,292,5208,0.00,2.25,0.00,0.000,6,0.000,0.047,2896,1989,2196,0,0,0,0,0,0
$GC,5541,0.74,146.0,331.6,15.7,301,5545,0.00,2.33,0.00,0.000,4,0.000,0.069,2906,571,2194,0,0,0,0,0,0
$GC,5569,0.74,146.0,326.8,17.2,301,5573,0.00,2.22,0.00,0.000,6,0.000,0.049,2906,1974,2193,0,0,0,0,0,0
$GC,5882,0.74,146.0,278.0,14.3,312,5886,0.00,2.20,0.00,0.000,4,0.000,0.058,2906,3391,2192,0,0,0,0,0,0
$GC,5948,0.74,146.0,267.0,16.0,315,5953,0.15,2.22,0.00,0.000,6,0.154,0.044,2873,1965,2192,0,0,0,0,0,0
$GC,6269,0.74,146.0,225.6,12.5,331,6273,0.00,2.20,0.00,0.000,4,0.000,0.063,2882,561,2191,0,0,0,0,0,0
$GC,6403,0.74,146.0,211.9,10.2,337,6407,0.00,2.20,0.00,0.000,6,0.000,0.042,2882,1984,2189,0,0,0,0,0,0
$GC,6734,0.74,146.0,176.3,9.9,363,6738,0.00,2.28,0.00,0.000,4,0.000,0.066,2892,568,2189,0,0,0,0,0,0
$GC,6787,0.74,146.0,169.9,11.9,367,6794,0.00,2.22,0.00,0.000,6,0.000,0.047,2892,1976,2189,0,0,0,0,0,0
$GC,7114,0.74,146.0,130.2,10.3,398,7118,0.00,2.25,0.00,0.000,4,0.000,0.065,2901,569,2188,0,0,0,0,0,0
$GC,7154,0.74,146.0,126.4,9.2,401,7159,0.00,2.17,0.00,0.000,6,0.000,0.046,2901,1983,2188,0,0,0,0,0,0
$GC,7481,0.74,146.0,94.2,10.7,431,7485,0.00,2.17,0.00,0.000,4,0.000,0.059,2901,3389,2188,0,0,0,0,0,0
$GC,7646,0.74,146.0,76.5,10.5,448,7654,0.08,2.22,0.00,0.000,6,0.130,0.044,2882,1974,2188,0,0,0,0,0,0
$GC,7979,0.74,146.0,47.7,9.2,509,7985,0.00,2.20,0.00,0.000,4,0.000,0.056,2892,565,2188,0,0,0,0,0,0
$GC,8026,0.74,146.0,43.3,9.8,517,8031,0.00,2.15,0.00,0.000,6,0.000,0.039,2891,1983,2188,0,0,0,0,0,0
$GC,8351,0.74,146.0,13.8,9.1,578,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1984,2189,0,0,0,0,0,0
$STATE,8482,end climb,SURFACE_DEPTH_REACHED
$STATE,8482,begin surface coast
$FINISH,0.3,1.008610
$STATE,8517,end surface coast,CONTROL_FINISHED_OK
$STATE,8517,begin surface
$SM_CCo,8534,67.07,0.459,0,0,1575,300.24
$SM_GC,1.27,0.00,0.00,67.07,0.000,0.000,0.459,46,1991,1575,-8.11,0.88,300.24
$IRIDIUM_FIX,2054.83,-15739.33,240702,050548
$TT8_MAMPS,0.028379
$HUMID,60.98
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,420.3,59.2
$24V_AH,24.6,3.764
$10V_AH,10.6,4.078
$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,18.425,80.250,242.700,67.075,0.000,28.640,31.445,134.647,17.750,0.000,20.007,1118.583,5000.305,380.798,2001.580,419.593,0.000,1073.916,0.000,1950.605,0.000,112.856,0.000
$DEVICE_MAMPS,234.702,69.030,796.146,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,414.773,347.081,1199.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34986,609
$CAP_FILE_SIZE,95083,0
$CFSIZE,260165632,253190144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290413,103104,2059.901,-15747.429,24,1.3,24,9.8