version: 66.06
glider: 523
mission: 4
dive: 359
start: 6 1 113 23 1 10
data:
$ID,523
$MISSION,4
$DIVE,359
$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,285
$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,-42933.328
$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,2660
$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,29
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,224704,2105.104,-15743.319,41,0.9,41,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.1
$GPS2,230053,2105.193,-15743.223,17,0.9,17,9.8
$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,210.6,17700,-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,16,-0.74,-146.0,0.0,0.0,0,88,0.00,0.00,-69.70,0.000,2,0.000,0.000,38,1978,3412,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.4,-5.3,11,113,9.57,2.30,-1.75,0.000,4,0.228,0.067,2411,553,3499,0,0,0,0,0,0
$GC,294,-0.74,-146.0,47.0,-17.3,47,300,0.00,2.17,0.00,0.000,6,0.000,0.038,2403,1963,3499,0,0,0,0,0,0
$GC,625,-0.74,-146.0,93.4,-11.3,98,629,0.00,2.17,0.00,0.000,4,0.000,0.053,2392,3360,3501,0,0,0,0,0,0
$GC,700,-0.74,-146.0,102.0,-11.7,104,704,0.00,2.22,0.00,0.000,6,0.000,0.045,2392,1952,3501,0,0,0,0,0,0
$GC,1027,-0.74,-146.0,143.7,-13.9,134,1032,0.10,2.25,0.00,0.000,4,0.179,0.053,2418,537,3502,0,0,0,0,0,0
$GC,1276,-0.74,-146.0,174.6,-10.4,156,1285,0.00,2.17,0.00,0.000,6,0.000,0.034,2410,1964,3502,0,0,0,0,0,0
$GC,1600,-0.74,-146.0,206.4,-10.2,184,1604,0.00,2.22,0.00,0.000,4,0.000,0.051,2410,548,3502,0,0,0,0,0,0
$GC,1857,-0.74,-146.0,233.7,-10.8,195,1863,0.00,2.10,0.00,0.000,6,0.000,0.034,2400,1954,3502,0,0,0,0,0,0
$GC,2177,-0.74,-146.0,265.5,-9.7,211,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1954,3502,0,0,0,0,0,0
$GC,2483,-0.74,-146.0,295.2,-9.5,226,2487,0.00,2.28,0.00,0.000,4,0.000,0.056,2400,549,3502,0,0,0,0,0,0
$GC,2639,-0.74,-146.0,310.8,-10.2,231,2644,0.12,2.15,0.00,0.000,6,0.158,0.038,2426,1955,3502,0,0,0,0,0,0
$GC,2978,-0.74,-146.0,332.4,-5.8,240,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1955,3500,0,0,0,0,0,0
$GC,3304,-0.74,-146.0,352.4,-6.6,248,3308,0.00,2.30,0.00,0.000,4,0.000,0.060,2426,541,3499,0,0,0,0,0,0
$GC,3419,-0.74,-146.0,360.3,-6.2,250,3423,0.00,2.20,0.00,0.000,6,0.000,0.041,2418,1961,3498,0,0,0,0,0,0
$GC,3758,-0.74,-146.0,380.9,-6.2,259,3762,0.00,2.28,0.00,0.000,4,0.000,0.061,2418,548,3495,0,0,0,0,0,0
$GC,3853,-0.74,-146.0,387.5,-6.5,261,3857,0.00,2.20,0.00,0.000,6,0.000,0.044,2409,1965,3494,0,0,0,0,0,0
$GC,4166,-0.74,-146.0,408.5,-7.0,269,4170,0.00,2.22,0.00,0.000,4,0.000,0.054,2399,3373,3492,0,0,0,0,0,0
$GC,4206,-0.74,-146.0,411.5,-7.3,270,4210,0.00,2.25,0.00,0.000,6,0.000,0.045,2399,1952,3492,0,0,0,0,0,0
$GC,4533,-0.74,-146.0,437.3,-7.6,278,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1952,3489,0,0,0,0,0,0
$STATE,4731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4731,begin apogee
$GC,4737,-0.17,0.0,450.8,6.6,283,4859,0.62,0.00,118.28,0.775,6,0.116,0.000,2601,1952,2899,0,0,0,0,0,0
$STATE,4860,end apogee,CONTROL_FINISHED_OK
$STATE,4860,begin climb
$GC,4863,0.74,146.0,451.4,0.0,286,4997,0.82,2.47,125.60,0.747,4,0.070,0.049,2892,3390,2302,0,0,0,0,0,0
$GC,5019,0.74,146.0,434.6,14.2,289,5025,0.00,2.30,0.00,0.000,6,0.000,0.039,2902,1978,2301,0,0,0,0,0,0
$GC,5350,0.74,146.0,384.8,15.2,298,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1978,2296,0,0,0,0,0,0
$GC,5675,0.74,146.0,334.0,15.4,306,5679,0.00,2.25,0.00,0.000,4,0.000,0.059,2913,573,2293,0,0,0,0,0,0
$GC,5733,0.74,146.0,326.2,13.7,307,5737,0.00,2.22,0.00,0.000,6,0.000,0.044,2913,1990,2292,0,0,0,0,0,0
$GC,6047,0.74,146.0,282.2,14.1,318,6051,0.00,2.17,0.00,0.000,4,0.000,0.051,2913,3392,2291,0,0,0,0,0,0
$GC,6110,0.74,146.0,272.9,15.0,321,6114,0.00,2.22,0.00,0.000,6,0.000,0.041,2923,1972,2290,0,0,0,0,0,0
$GC,6437,0.74,146.0,227.8,13.7,337,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1972,2290,0,0,0,0,0,0
$GC,6750,0.74,146.0,186.7,14.4,356,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1972,2289,0,0,0,0,0,0
$GC,7071,0.74,146.0,144.5,11.8,386,7075,0.00,2.22,0.00,0.000,4,0.000,0.058,2933,573,2288,0,0,0,0,0,0
$GC,7122,0.74,146.0,137.8,13.5,390,7127,0.12,2.20,0.00,0.000,6,0.149,0.041,2899,1993,2287,0,0,0,0,0,0
$GC,7449,0.74,146.0,103.1,9.2,420,7453,0.00,2.15,0.00,0.000,4,0.000,0.051,2899,3389,2287,0,0,0,0,0,0
$GC,7699,0.74,146.0,78.3,9.4,444,7706,0.00,2.22,0.00,0.000,6,0.000,0.038,2906,1975,2287,0,0,0,0,0,0
$GC,8032,0.83,222.8,50.1,5.8,505,8102,0.00,2.33,61.92,0.499,4,0.000,0.053,2906,3390,1989,0,0,0,0,0,0
$GC,8264,0.83,222.8,28.2,11.1,546,8272,0.00,2.25,0.00,0.000,6,0.000,0.041,2907,1980,1986,0,0,0,0,0,0
$GC,8433,0.86,245.8,12.5,8.1,577,8460,0.00,2.28,19.85,0.446,4,0.000,0.055,2907,578,1897,0,0,0,0,0,0
$GC,8520,0.86,245.8,4.5,10.6,592,8528,0.00,2.17,0.00,0.000,6,0.000,0.032,2907,1983,1896,0,0,0,0,0,0
$STATE,8533,end climb,SURFACE_DEPTH_REACHED
$STATE,8534,begin surface coast
$FINISH,1.2,1.022921
$STATE,8561,end surface coast,CONTROL_FINISHED_OK
$STATE,8561,begin surface
$SM_CCo,8580,20.95,0.430,0,0,1737,285.03
$SM_GC,1.42,0.00,0.00,20.95,0.000,0.000,0.430,23,1985,1737,-8.24,0.79,285.03
$IRIDIUM_FIX,2052.52,-15747.49,260802,232345
$TT8_MAMPS,0.028379
$HUMID,65.94
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.6,29.417
$10V_AH,10.4,32.286
$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,18.975,66.975,325.650,20.950,0.000,87.508,118.346,349.947,19.000,0.000,17.900,1084.488,5203.698,390.407,1948.374,802.203,0.000,1073.001,0.000,1900.860,0.000,119.169,0.000
$DEVICE_MAMPS,227.799,66.729,774.670,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,406.610,330.636,1160.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,31775,599
$CAP_FILE_SIZE,96561,0
$CFSIZE,260165632,238120960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020613,012534,2104.260,-15743.360,20,1.0,23,9.8