version: 66.06
glider: 523
mission: 4
dive: 85
start: 5 4 113 1 20 52
data:
$ID,523
$MISSION,4
$DIVE,85
$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,-37555.531
$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,28
$R_STBD_OVSHOOT,39
$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
$GPS1,011504,2106.065,-15743.511,38,0.8,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.4
$GPS2,012035,2106.111,-15743.486,17,0.8,17,9.8
$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,206.2,18754,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.35,0.000,6,0.000,0.000,51,1975,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-6.9,13,118,9.35,2.28,0.00,0.000,4,0.232,0.048,2394,544,3397,0,0,0,0,0,0
$GC,133,-0.74,-146.0,15.4,-35.0,17,140,0.00,2.22,0.00,0.000,6,0.000,0.040,2386,1955,3398,0,0,0,0,0,0
$GC,301,-0.74,-146.0,45.6,-15.9,48,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1955,3400,0,0,0,0,0,0
$GC,631,-0.74,-146.0,94.7,-15.2,100,638,0.00,2.25,0.00,0.000,4,0.000,0.058,2375,3372,3401,0,0,0,0,0,0
$GC,691,-0.74,-146.0,103.1,-13.7,105,695,0.00,2.20,0.00,0.000,6,0.000,0.044,2375,1958,3401,0,0,0,0,0,0
$GC,1018,-0.74,-146.0,148.0,-13.9,135,1022,0.00,2.20,0.00,0.000,4,0.000,0.054,2375,550,3402,0,0,0,0,0,0
$GC,1081,-0.74,-146.0,155.9,-11.6,140,1085,0.12,2.12,0.00,0.000,6,0.171,0.036,2398,1969,3402,0,0,0,0,0,0
$GC,1413,-0.74,-146.0,189.6,-9.9,171,1420,0.00,2.28,0.00,0.000,4,0.000,0.054,2399,553,3402,0,0,0,0,0,0
$GC,1473,-0.74,-146.0,196.4,-10.9,176,1480,0.00,2.15,0.00,0.000,6,0.000,0.037,2391,1956,3402,0,0,0,0,0,0
$GC,1800,-0.74,-146.0,229.1,-8.9,194,1804,0.00,2.22,0.00,0.000,4,0.000,0.054,2391,547,3402,0,0,0,0,0,0
$GC,1989,-0.74,-146.0,247.1,-8.3,202,1995,0.00,2.15,0.00,0.000,6,0.000,0.037,2380,1969,3402,0,0,0,0,0,0
$GC,2307,-0.74,-146.0,273.6,-8.5,218,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1969,3402,0,0,0,0,0,0
$GC,2615,-0.74,-146.0,299.9,-8.5,233,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1968,3402,0,0,0,0,0,0
$GC,2920,-0.74,-146.0,324.4,-7.8,241,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1969,3402,0,0,0,0,0,0
$GC,3245,-0.74,-146.0,350.0,-8.4,249,3249,0.00,2.20,0.00,0.000,4,0.000,0.059,2371,3360,3400,0,0,0,0,0,0
$GC,3312,-0.74,-146.0,356.6,-9.5,250,3317,0.12,2.20,0.00,0.000,6,0.150,0.043,2404,1946,3400,0,0,0,0,0,0
$GC,3652,-0.74,-146.0,382.0,-7.2,259,3656,0.00,2.22,0.00,0.000,4,0.000,0.061,2405,553,3398,0,0,0,0,0,0
$GC,3764,-0.74,-146.0,391.7,-8.2,261,3768,0.00,2.15,0.00,0.000,6,0.000,0.043,2397,1952,3397,0,0,0,0,0,0
$GC,4111,-0.74,-146.0,417.7,-7.5,270,4114,0.00,2.20,0.00,0.000,4,0.000,0.060,2387,3363,3394,0,0,0,0,0,0
$GC,4236,-0.74,-146.0,428.2,-7.9,272,4241,0.00,2.17,0.00,0.000,6,0.000,0.044,2387,1964,3394,0,0,0,0,0,0
$STATE,4524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4524,begin apogee
$GC,4531,-0.17,0.0,450.6,8.0,280,4653,0.60,0.00,118.88,0.791,6,0.121,0.000,2583,1964,2800,0,0,0,0,0,0
$STATE,4654,end apogee,CONTROL_FINISHED_OK
$STATE,4654,begin climb
$GC,4656,0.74,146.0,453.3,0.0,283,4793,0.82,2.45,125.35,0.759,4,0.077,0.053,2869,3380,2202,0,0,0,0,0,0
$GC,4804,0.74,146.0,440.6,11.6,286,4809,0.00,2.35,0.00,0.000,6,0.000,0.049,2878,1976,2200,0,0,0,0,0,0
$GC,5141,0.74,146.0,399.9,11.8,295,5145,0.00,2.28,0.00,0.000,4,0.000,0.061,2890,561,2195,0,0,0,0,0,0
$GC,5174,0.74,146.0,395.7,12.8,295,5180,0.00,2.22,0.00,0.000,6,0.000,0.044,2889,1975,2194,0,0,0,0,0,0
$GC,5506,0.74,146.0,352.4,13.2,304,5509,0.00,2.17,0.00,0.000,4,0.000,0.053,2889,3380,2192,0,0,0,0,0,0
$GC,5551,0.74,146.0,345.9,14.8,305,5555,0.00,2.22,0.00,0.000,6,0.000,0.044,2898,1964,2191,0,0,0,0,0,0
$GC,5875,0.74,146.0,301.5,13.7,313,5879,0.00,2.20,0.00,0.000,4,0.000,0.061,2908,568,2190,0,0,0,0,0,0
$GC,5943,0.74,146.0,291.7,14.0,315,5947,0.12,2.17,0.00,0.000,6,0.157,0.040,2876,1977,2189,0,0,0,0,0,0
$GC,6269,0.74,146.0,254.1,11.0,331,6273,0.00,2.17,0.00,0.000,4,0.000,0.054,2876,3378,2188,0,0,0,0,0,0
$GC,6318,0.74,146.0,248.3,12.1,333,6322,0.00,2.17,0.00,0.000,6,0.000,0.042,2884,1974,2187,0,0,0,0,0,0
$GC,6634,0.74,146.0,208.3,11.8,348,6638,0.00,2.22,0.00,0.000,4,0.000,0.060,2894,561,2187,0,0,0,0,0,0
$GC,6711,0.74,146.0,199.8,10.8,351,6717,0.00,2.17,0.00,0.000,6,0.000,0.039,2894,1979,2187,0,0,0,0,0,0
$GC,7038,0.74,146.0,165.2,10.4,382,7042,0.00,2.25,0.00,0.000,4,0.000,0.057,2904,561,2186,0,0,0,0,0,0
$GC,7101,0.74,146.0,157.9,12.3,387,7105,0.00,2.15,0.00,0.000,6,0.000,0.039,2904,1980,2185,0,0,0,0,0,0
$GC,7428,0.74,146.0,118.5,11.2,417,7432,0.00,2.12,0.00,0.000,4,0.000,0.052,2904,3378,2186,0,0,0,0,0,0
$GC,7618,0.74,146.0,96.7,11.3,434,7623,0.12,2.17,0.00,0.000,6,0.157,0.040,2879,1961,2186,0,0,0,0,0,0
$GC,7946,0.74,146.0,65.2,9.4,478,7953,0.00,2.17,0.00,0.000,4,0.000,0.058,2886,578,2185,0,0,0,0,0,0
$GC,8003,0.74,146.0,59.6,9.4,488,8010,0.00,2.15,0.00,0.000,6,0.000,0.037,2886,1978,2185,0,0,0,0,0,0
$GC,8336,0.77,170.7,29.4,8.0,549,8364,0.00,2.17,19.12,0.474,4,0.000,0.049,2886,3371,2102,0,0,0,0,0,0
$GC,8390,0.77,170.7,24.6,9.6,557,8397,0.00,2.17,0.00,0.000,6,0.000,0.039,2895,1979,2101,0,0,0,0,0,0
$GC,8561,0.77,170.7,9.4,9.2,588,8568,0.00,2.25,0.00,0.000,4,0.000,0.054,2906,570,2101,0,0,0,0,0,0
$GC,8623,0.77,170.7,3.5,9.3,599,8630,0.00,2.17,0.00,0.000,6,0.000,0.037,2906,1979,2100,0,0,0,0,0,0
$STATE,8636,end climb,SURFACE_DEPTH_REACHED
$STATE,8636,begin surface coast
$FINISH,0.4,1.021059
$STATE,8668,end surface coast,CONTROL_FINISHED_OK
$STATE,8668,begin surface
$SM_CCo,8686,58.12,0.453,0,0,1575,300.24
$SM_GC,1.22,0.00,0.00,58.12,0.000,0.000,0.453,30,1989,1575,-8.16,0.82,300.24
$IRIDIUM_FIX,2052.52,-15842.34,280702,222219
$TT8_MAMPS,0.028379
$HUMID,61.93
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.6,7.343
$10V_AH,10.5,8.026
$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,18.525,83.850,263.350,58.125,0.000,26.502,36.781,144.711,19.000,0.000,17.584,1112.601,5179.767,389.958,1960.434,434.144,0.000,1094.969,0.000,1911.262,0.000,117.240,0.000
$DEVICE_MAMPS,231.634,61.360,790.777,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,413.532,337.745,1173.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34977,607
$CAP_FILE_SIZE,95835,0
$CFSIZE,260165632,251084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,034736,2105.368,-15743.771,21,1.2,21,9.8