version: 66.06
glider: 523
mission: 4
dive: 90
start: 5 4 113 14 3 40
data:
$ID,523
$MISSION,4
$DIVE,90
$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,-37662.352
$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,26
$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
$GPS1,135411,2101.402,-15746.881,24,0.8,24,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-77.2
$GPS2,140322,2101.409,-15746.863,36,0.8,36,9.8
$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,208.9,8286,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.80,0.000,6,0.000,0.000,25,1979,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.7,-5.8,13,118,9.43,2.30,0.00,0.000,4,0.231,0.048,2393,550,3397,0,0,0,0,0,0
$GC,330,-0.74,-146.0,53.2,-16.8,55,336,0.00,2.20,0.00,0.000,6,0.000,0.038,2384,1976,3398,0,0,0,0,0,0
$GC,666,-0.74,-146.0,105.3,-13.6,101,670,0.00,2.33,0.00,0.000,4,0.000,0.053,2384,540,3400,0,0,0,0,0,0
$GC,772,-0.74,-146.0,120.7,-14.9,110,776,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1961,3400,0,0,0,0,0,0
$GC,1098,-0.74,-146.0,164.3,-11.1,140,1105,0.00,2.25,0.00,0.000,4,0.000,0.051,2374,540,3400,0,0,0,0,0,0
$GC,1147,-0.74,-146.0,170.8,-13.7,144,1152,0.12,2.17,0.00,0.000,6,0.170,0.035,2398,1978,3400,0,0,0,0,0,0
$GC,1474,-0.74,-146.0,199.9,-8.7,174,1479,0.00,2.12,0.00,0.000,4,0.000,0.054,2389,3357,3401,0,0,0,0,0,0
$GC,1618,-0.74,-146.0,212.8,-8.6,181,1622,0.00,2.17,0.00,0.000,6,0.000,0.042,2389,1952,3401,0,0,0,0,0,0
$GC,1943,-0.74,-146.0,236.1,-6.4,197,1946,0.00,2.22,0.00,0.000,4,0.000,0.054,2379,3356,3401,0,0,0,0,0,0
$GC,2015,-0.74,-146.0,242.0,-8.0,200,2019,0.00,2.17,0.00,0.000,6,0.000,0.044,2379,1954,3401,0,0,0,0,0,0
$GC,2335,-0.74,-146.0,268.5,-8.4,215,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1954,3401,0,0,0,0,0,0
$GC,2641,-0.74,-146.0,293.0,-8.8,230,2645,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,541,3401,0,0,0,0,0,0
$GC,2708,-0.74,-146.0,299.6,-9.7,233,2713,0.12,2.15,0.00,0.000,6,0.170,0.039,2403,1954,3401,0,0,0,0,0,0
$GC,3053,-0.74,-146.0,322.8,-6.1,242,3057,0.00,2.25,0.00,0.000,4,0.000,0.061,2403,554,3399,0,0,0,0,0,0
$GC,3173,-0.74,-146.0,330.1,-6.5,244,3177,0.00,2.17,0.00,0.000,6,0.000,0.044,2395,1965,3399,0,0,0,0,0,0
$GC,3513,-0.74,-146.0,355.1,-8.5,253,3517,0.00,2.17,0.00,0.000,4,0.000,0.056,2384,3370,3396,0,0,0,0,0,0
$GC,3569,-0.74,-146.0,359.7,-8.2,254,3573,0.00,2.20,0.00,0.000,6,0.000,0.045,2385,1963,3396,0,0,0,0,0,0
$GC,3921,-0.74,-146.0,381.1,-5.9,263,3925,0.00,2.22,0.00,0.000,4,0.000,0.060,2385,548,3393,0,0,0,0,0,0
$GC,4175,-0.74,-146.0,398.1,-6.6,268,4179,0.00,2.17,0.00,0.000,6,0.000,0.045,2375,1965,3391,0,0,0,0,0,0
$GC,4506,-0.74,-146.0,418.2,-6.5,276,4510,0.00,2.20,0.00,0.000,4,0.000,0.058,2365,3366,3389,0,0,0,0,0,0
$GC,4561,-0.74,-146.0,422.2,-7.2,277,4566,0.12,2.20,0.00,0.000,6,0.150,0.046,2399,1952,3389,0,0,0,0,0,0
$GC,4879,-0.74,-146.0,442.3,-6.6,285,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1952,3387,0,0,0,0,0,0
$STATE,4995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4995,begin apogee
$GC,5001,-0.17,0.0,450.3,6.6,288,5122,0.55,0.00,117.62,0.799,6,0.122,0.000,2580,1952,2800,0,0,0,0,0,0
$STATE,5123,end apogee,CONTROL_FINISHED_OK
$STATE,5123,begin climb
$GC,5126,0.74,146.0,451.2,0.0,291,5260,0.85,2.40,124.85,0.762,4,0.078,0.058,2876,3375,2204,0,0,0,0,0,0
$GC,5277,0.74,146.0,434.4,14.0,294,5281,0.00,2.35,0.00,0.000,6,0.000,0.051,2884,1975,2202,0,0,0,0,0,0
$GC,5608,0.74,146.0,389.1,13.5,302,5612,0.00,2.30,0.00,0.000,4,0.000,0.063,2895,553,2197,0,0,0,0,0,0
$GC,5670,0.74,146.0,381.1,12.7,303,5674,0.00,2.22,0.00,0.000,6,0.000,0.042,2895,1971,2196,0,0,0,0,0,0
$GC,6012,0.74,146.0,332.6,15.3,312,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1972,2194,0,0,0,0,0,0
$GC,6318,0.74,146.0,290.1,12.9,321,6322,0.00,2.25,0.00,0.000,4,0.000,0.061,2905,556,2193,0,0,0,0,0,0
$GC,6458,0.74,146.0,273.0,12.6,327,6462,0.00,2.20,0.00,0.000,6,0.000,0.041,2905,1978,2192,0,0,0,0,0,0
$GC,6773,0.74,146.0,230.3,13.9,342,6777,0.00,2.17,0.00,0.000,4,0.000,0.056,2905,3387,2191,0,0,0,0,0,0
$GC,6863,0.74,146.0,215.4,17.0,346,6868,0.12,2.25,0.00,0.000,6,0.160,0.050,2878,1964,2190,0,0,0,0,0,0
$GC,7192,0.74,146.0,175.1,9.4,372,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1965,2189,0,0,0,0,0,0
$GC,7512,0.74,146.0,146.0,9.6,402,7516,0.00,2.20,0.00,0.000,4,0.000,0.061,2885,555,2188,0,0,0,0,0,0
$GC,7555,0.77,173.2,142.0,7.9,405,7586,0.00,2.20,21.73,0.598,6,0.000,0.042,2885,1971,2092,0,0,0,0,0,0
$GC,7905,0.77,173.2,107.2,10.5,438,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1971,2090,0,0,0,0,0,0
$GC,8226,0.77,173.2,73.4,12.0,473,8231,0.00,2.25,0.00,0.000,4,0.000,0.061,2895,567,2090,0,0,0,0,0,0
$GC,8272,0.77,173.2,68.7,10.2,481,8277,0.00,2.17,0.00,0.000,6,0.000,0.041,2895,1969,2090,0,0,0,0,0,0
$GC,8601,0.77,173.2,36.6,9.8,542,8608,0.00,2.22,0.00,0.000,4,0.000,0.053,2894,3380,2090,0,0,0,0,0,0
$GC,8625,0.77,173.2,33.9,11.2,546,8633,0.00,2.20,0.00,0.000,6,0.000,0.041,2903,1977,2090,0,0,0,0,0,0
$STATE,8943,end climb,SURFACE_DEPTH_REACHED
$STATE,8943,begin surface coast
$FINISH,0.5,0.998107
$STATE,8978,end surface coast,CONTROL_FINISHED_OK
$STATE,8978,begin surface
$SM_CCo,8995,56.53,0.454,0,0,1576,300.24
$SM_GC,1.40,0.00,0.00,56.53,0.000,0.000,0.454,40,1974,1576,-8.13,0.40,300.24
$IRIDIUM_FIX,2054.83,-15741.46,290702,141449
$TT8_MAMPS,0.027612
$HUMID,61.81
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.6,7.746
$10V_AH,10.5,8.476
$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,18.600,75.450,264.200,56.525,0.000,53.711,67.597,214.498,19.500,0.000,36.874,1126.223,5485.578,375.311,2041.112,576.828,0.000,1074.829,0.000,1970.700,0.000,124.995,0.000
$DEVICE_MAMPS,230.867,62.894,799.214,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,416.972,344.539,1196.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34979,612
$CAP_FILE_SIZE,98646,0
$CFSIZE,260165632,250839040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,163524,2100.764,-15747.521,13,1.5,13,9.8