version: 66.06
glider: 523
mission: 4
dive: 87
start: 5 4 113 6 23 5
data:
$ID,523
$MISSION,4
$DIVE,87
$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,-37590.441
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,061722,2104.438,-15744.326,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-75.4
$GPS2,062248,2104.405,-15744.290,13,1.3,13,9.8
$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,208.9,15399,-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,-77.22,0.000,6,0.000,0.000,31,1981,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.2,13,118,9.43,2.17,0.00,0.000,4,0.232,0.043,2383,3369,3397,0,0,0,0,0,0
$GC,209,-0.74,-146.0,31.0,-17.6,32,217,0.00,2.25,0.00,0.000,6,0.000,0.044,2383,1970,3399,0,0,0,0,0,0
$GC,550,-0.74,-146.0,85.2,-14.2,91,554,0.00,2.22,0.00,0.000,4,0.000,0.053,2374,3372,3399,0,0,0,0,0,0
$GC,601,-0.74,-146.0,92.7,-14.8,95,605,0.00,2.22,0.00,0.000,6,0.000,0.044,2374,1955,3399,0,0,0,0,0,0
$GC,927,-0.74,-146.0,139.8,-12.1,125,934,0.00,2.20,0.00,0.000,4,0.000,0.052,2364,3363,3401,0,0,0,0,0,0
$GC,945,-0.74,-146.0,142.3,-12.4,126,953,0.10,2.20,0.00,0.000,6,0.137,0.042,2396,1956,3401,0,0,0,0,0,0
$GC,1273,-0.74,-146.0,175.9,-9.7,157,1277,0.00,2.20,0.00,0.000,4,0.000,0.054,2396,555,3401,0,0,0,0,0,0
$GC,1380,-0.74,-146.0,188.1,-11.6,166,1384,0.00,2.12,0.00,0.000,6,0.000,0.035,2388,1965,3401,0,0,0,0,0,0
$GC,1708,-0.74,-146.0,227.0,-10.3,186,1712,0.00,2.30,0.00,0.000,4,0.000,0.054,2389,548,3402,0,0,0,0,0,0
$GC,1965,-0.74,-146.0,252.6,-9.8,197,1969,0.00,2.12,0.00,0.000,6,0.000,0.038,2378,1957,3402,0,0,0,0,0,0
$GC,2285,-0.74,-146.0,280.4,-8.1,212,2289,0.00,2.25,0.00,0.000,4,0.000,0.056,2378,550,3401,0,0,0,0,0,0
$GC,2325,-0.74,-146.0,284.6,-9.0,214,2330,0.12,2.15,0.00,0.000,6,0.170,0.041,2403,1957,3401,0,0,0,0,0,0
$GC,2677,-0.74,-146.0,315.0,-9.1,227,2681,0.00,2.22,0.00,0.000,4,0.000,0.058,2394,3370,3401,0,0,0,0,0,0
$GC,2719,-0.74,-146.0,319.4,-9.4,228,2723,0.00,2.20,0.00,0.000,6,0.000,0.044,2394,1963,3401,0,0,0,0,0,0
$GC,3051,-0.74,-146.0,350.0,-8.5,236,3055,0.00,2.25,0.00,0.000,4,0.000,0.061,2394,553,3400,0,0,0,0,0,0
$GC,3201,-0.74,-146.0,364.5,-9.2,239,3206,0.00,2.17,0.00,0.000,6,0.000,0.043,2384,1964,3399,0,0,0,0,0,0
$GC,3547,-0.74,-146.0,391.2,-7.5,248,3551,0.00,2.22,0.00,0.000,4,0.000,0.062,2374,3368,3398,0,0,0,0,0,0
$GC,3591,-0.74,-146.0,394.9,-7.4,249,3598,0.00,2.20,0.00,0.000,6,0.000,0.045,2374,1961,3398,0,0,0,0,0,0
$GC,3920,-0.74,-146.0,421.2,-9.1,257,3924,0.00,2.25,0.00,0.000,4,0.000,0.065,2374,540,3395,0,0,0,0,0,0
$GC,4026,-0.74,-146.0,431.5,-9.8,259,4031,0.15,2.20,0.00,0.000,6,0.161,0.044,2405,1971,3394,0,0,0,0,0,0
$STATE,4291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4291,begin apogee
$GC,4297,-0.17,0.0,450.0,6.9,266,4419,0.55,0.00,118.30,0.778,6,0.120,0.000,2588,1972,2799,0,0,0,0,0,0
$STATE,4419,end apogee,CONTROL_FINISHED_OK
$STATE,4419,begin climb
$GC,4422,0.74,146.0,451.2,0.0,269,4557,0.82,2.45,125.10,0.748,4,0.077,0.063,2884,569,2202,0,0,0,0,0,0
$GC,4591,0.74,146.0,433.3,13.9,273,4595,0.00,2.28,0.00,0.000,6,0.000,0.044,2884,1976,2200,0,0,0,0,0,0
$GC,4909,0.74,146.0,386.2,15.4,281,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1976,2196,0,0,0,0,0,0
$GC,5234,0.74,146.0,341.0,14.3,289,5238,0.00,2.22,0.00,0.000,4,0.000,0.054,2884,3391,2193,0,0,0,0,0,0
$GC,5255,0.74,146.0,337.5,15.6,289,5259,0.00,2.25,0.00,0.000,6,0.000,0.044,2893,1967,2192,0,0,0,0,0,0
$GC,5578,0.74,146.0,293.9,12.9,298,5582,0.00,2.22,0.00,0.000,4,0.000,0.059,2903,566,2191,0,0,0,0,0,0
$GC,5623,0.74,146.0,288.4,12.7,300,5627,0.00,2.17,0.00,0.000,6,0.000,0.039,2903,1982,2191,0,0,0,0,0,0
$GC,5955,0.74,146.0,244.2,13.5,316,5959,0.00,2.15,0.00,0.000,4,0.000,0.052,2903,3380,2189,0,0,0,0,0,0
$GC,6016,0.74,146.0,235.4,14.5,318,6022,0.12,2.20,0.00,0.000,6,0.161,0.040,2879,1959,2189,0,0,0,0,0,0
$GC,6332,0.74,146.0,197.8,11.0,334,6336,0.00,2.17,0.00,0.000,4,0.000,0.058,2887,564,2188,0,0,0,0,0,0
$GC,6418,0.74,146.0,189.0,10.8,341,6425,0.00,2.17,0.00,0.000,6,0.000,0.039,2888,1975,2187,0,0,0,0,0,0
$GC,6745,0.74,146.0,152.4,12.2,372,6749,0.00,2.15,0.00,0.000,4,0.000,0.051,2887,3383,2187,0,0,0,0,0,0
$GC,6904,0.74,146.0,134.2,10.1,386,6908,0.00,2.17,0.00,0.000,6,0.000,0.040,2896,1977,2186,0,0,0,0,0,0
$GC,7232,0.74,146.0,102.4,10.5,416,7236,0.00,2.20,0.00,0.000,4,0.000,0.056,2907,564,2186,0,0,0,0,0,0
$GC,7272,0.74,146.0,97.7,11.9,419,7277,0.00,2.15,0.00,0.000,6,0.000,0.037,2907,1991,2186,0,0,0,0,0,0
$GC,7598,0.74,146.0,62.7,11.7,464,7606,0.00,2.15,0.00,0.000,4,0.000,0.051,2907,3374,2186,0,0,0,0,0,0
$GC,7631,0.74,146.0,59.2,11.2,469,7637,0.12,2.15,0.00,0.000,6,0.148,0.038,2879,1974,2186,0,0,0,0,0,0
$GC,7962,0.74,146.0,32.4,9.2,530,7970,0.00,2.22,0.00,0.000,4,0.000,0.055,2886,577,2187,0,0,0,0,0,0
$GC,8036,0.75,159.8,26.1,8.5,543,8051,0.00,2.15,10.27,0.441,6,0.000,0.039,2886,1969,2147,0,0,0,0,0,0
$GC,8212,0.77,176.2,11.2,8.4,575,8232,0.00,2.17,15.32,0.445,4,0.000,0.049,2886,3381,2080,0,0,0,0,0,0
$GC,8251,0.77,176.2,7.6,9.3,581,8259,0.00,2.22,0.00,0.000,6,0.000,0.044,2894,1986,2079,0,0,0,0,0,0
$STATE,8305,end climb,SURFACE_DEPTH_REACHED
$STATE,8305,begin surface coast
$FINISH,0.5,1.014149
$STATE,8343,end surface coast,CONTROL_FINISHED_OK
$STATE,8343,begin surface
$SM_CCo,8361,56.30,0.447,0,0,1575,300.24
$SM_GC,1.45,0.00,0.00,56.30,0.000,0.000,0.447,29,1981,1575,-8.16,0.59,300.24
$IRIDIUM_FIX,2054.83,-15739.33,290702,030339
$TT8_MAMPS,0.027612
$HUMID,59.92
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.6,7.498
$10V_AH,10.5,8.204
$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,18.700,88.200,269.000,56.300,0.000,32.226,39.893,134.923,19.250,0.000,14.460,1113.581,4836.916,383.450,1976.062,434.763,0.000,1094.906,0.000,1931.129,0.000,119.287,0.000
$DEVICE_MAMPS,231.634,65.195,777.738,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.283,343.954,1188.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,31848,598
$CAP_FILE_SIZE,96508,0
$CFSIZE,260165632,250994688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,084419,2103.282,-15745.141,17,1.4,17,9.8