version: 66.06
glider: 523
mission: 4
dive: 363
start: 6 2 113 9 8 29
data:
$ID,523
$MISSION,4
$DIVE,363
$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,-43028.918
$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,24
$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,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
$GPS1,085833,2101.415,-15744.223,21,1.3,39,9.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.1
$GPS2,090811,2101.441,-15744.203,19,1.3,19,9.8
$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,226.5,11760,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,93,0.00,0.00,-73.10,0.000,6,0.000,0.000,46,1988,3496,0,0,0,0,0,0
$GC,97,-0.74,-146.0,4.3,-6.5,12,111,9.60,2.33,0.00,0.000,4,0.229,0.048,2415,538,3497,0,0,0,0,0,0
$GC,291,-0.74,-146.0,47.5,-17.3,47,297,0.00,2.17,0.00,0.000,6,0.000,0.036,2406,1960,3499,0,0,0,0,0,0
$GC,620,-0.74,-146.0,98.6,-13.4,97,624,0.00,2.28,0.00,0.000,4,0.000,0.051,2406,546,3500,0,0,0,0,0,0
$GC,672,-0.74,-146.0,105.9,-14.9,101,676,0.00,2.15,0.00,0.000,6,0.000,0.035,2396,1969,3500,0,0,0,0,0,0
$GC,1004,-0.74,-146.0,149.0,-12.7,132,1008,0.00,2.20,0.00,0.000,4,0.000,0.054,2386,3362,3501,0,0,0,0,0,0
$GC,1045,-0.74,-146.0,153.4,-10.7,135,1050,0.12,2.20,0.00,0.000,6,0.150,0.041,2420,1948,3501,0,0,0,0,0,0
$GC,1372,-0.74,-146.0,188.6,-10.1,165,1376,0.00,2.20,0.00,0.000,4,0.000,0.051,2421,544,3502,0,0,0,0,0,0
$GC,1545,-0.74,-146.0,205.3,-9.2,178,1549,0.00,2.15,0.00,0.000,6,0.000,0.034,2412,1969,3502,0,0,0,0,0,0
$GC,1874,-0.74,-146.0,229.4,-6.9,194,1879,0.00,2.25,0.00,0.000,4,0.000,0.051,2412,544,3502,0,0,0,0,0,0
$GC,1958,-0.74,-146.0,236.2,-7.7,197,1964,0.00,2.15,0.00,0.000,6,0.000,0.035,2404,1959,3502,0,0,0,0,0,0
$GC,2277,-0.74,-146.0,261.2,-8.3,213,2281,0.00,2.25,0.00,0.000,4,0.000,0.052,2403,541,3501,0,0,0,0,0,0
$GC,2378,-0.74,-146.0,270.5,-8.9,217,2384,0.00,2.15,0.00,0.000,6,0.000,0.036,2393,1962,3502,0,0,0,0,0,0
$GC,2696,-0.74,-146.0,300.2,-9.4,233,2700,0.00,2.28,0.00,0.000,4,0.000,0.054,2393,546,3501,0,0,0,0,0,0
$GC,2866,-0.74,-146.0,319.2,-11.6,236,2870,0.12,2.17,0.00,0.000,6,0.160,0.038,2418,1965,3501,0,0,0,0,0,0
$GC,3200,-0.74,-146.0,346.5,-7.8,244,3204,0.00,2.30,0.00,0.000,4,0.000,0.056,2419,537,3499,0,0,0,0,0,0
$GC,3250,-0.74,-146.0,350.9,-8.1,245,3254,0.00,2.17,0.00,0.000,6,0.000,0.039,2411,1955,3498,0,0,0,0,0,0
$GC,3566,-0.74,-146.0,376.3,-8.2,253,3570,0.00,2.28,0.00,0.000,4,0.000,0.058,2411,547,3496,0,0,0,0,0,0
$GC,3656,-0.74,-146.0,384.0,-8.8,255,3660,0.00,2.20,0.00,0.000,6,0.000,0.041,2401,1964,3495,0,0,0,0,0,0
$GC,3977,-0.74,-146.0,408.7,-7.7,263,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1964,3493,0,0,0,0,0,0
$GC,4300,-0.74,-146.0,432.3,-7.1,271,4304,0.00,2.30,0.00,0.000,4,0.000,0.060,2401,544,3491,0,0,0,0,0,0
$GC,4355,-0.74,-146.0,436.9,-9.4,272,4360,0.10,2.20,0.00,0.000,6,0.173,0.043,2419,1961,3491,0,0,0,0,0,0
$STATE,4700,end dive,NO_VERTICAL_VELOCITY
$STATE,4700,begin apogee
$GC,4706,-0.17,0.0,443.1,0.0,281,4827,0.50,0.00,118.05,0.770,6,0.062,0.000,2610,1962,2900,0,0,0,0,0,0
$STATE,4828,end apogee,CONTROL_FINISHED_OK
$STATE,4828,begin climb
$GC,4831,0.74,146.0,442.7,0.0,284,4966,0.80,2.38,124.85,0.740,4,0.066,0.059,2897,3385,2303,0,0,0,0,0,0
$GC,5062,0.74,146.0,415.1,14.4,289,5066,0.00,2.30,0.00,0.000,6,0.000,0.047,2907,1982,2299,0,0,0,0,0,0
$GC,5404,0.74,146.0,365.8,14.0,298,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1982,2295,0,0,0,0,0,0
$GC,5728,0.74,146.0,318.3,14.6,306,5732,0.00,2.22,0.00,0.000,4,0.000,0.053,2907,3396,2293,0,0,0,0,0,0
$GC,5796,0.74,146.0,308.8,13.7,307,5800,0.00,2.25,0.00,0.000,6,0.000,0.046,2915,1973,2291,0,0,0,0,0,0
$GC,6115,0.74,146.0,264.3,14.0,321,6119,0.00,2.20,0.00,0.000,4,0.000,0.059,2926,571,2291,0,0,0,0,0,0
$GC,6154,0.74,146.0,258.0,15.8,323,6158,0.00,2.20,0.00,0.000,6,0.000,0.039,2925,1992,2290,0,0,0,0,0,0
$GC,6481,0.74,146.0,207.7,15.5,339,6485,0.00,2.15,0.00,0.000,4,0.000,0.053,2925,3387,2290,0,0,0,0,0,0
$GC,6600,0.74,146.0,190.8,13.0,347,6605,0.15,2.20,0.00,0.000,6,0.155,0.041,2894,1967,2289,0,0,0,0,0,0
$GC,6927,0.74,146.0,156.8,10.1,377,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1968,2288,0,0,0,0,0,0
$GC,7247,0.74,146.0,123.7,11.3,407,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1968,2288,0,0,0,0,0,0
$GC,7577,0.75,158.4,93.0,8.5,438,7590,0.00,2.25,8.90,0.483,4,0.000,0.056,2903,568,2253,0,0,0,0,0,0
$GC,7715,0.81,208.6,82.3,7.0,450,7766,0.00,2.17,42.97,0.522,6,0.000,0.036,2903,1986,2050,0,0,0,0,0,0
$GC,8092,0.83,222.9,50.0,8.4,516,8110,0.00,2.17,13.15,0.457,4,0.000,0.050,2903,3385,1991,0,0,0,0,0,0
$GC,8312,0.83,222.9,30.5,9.7,556,8320,0.00,2.22,0.00,0.000,6,0.000,0.041,2912,1983,1990,0,0,0,0,0,0
$STATE,8631,end climb,SURFACE_DEPTH_REACHED
$STATE,8631,begin surface coast
$FINISH,0.6,1.023002
$STATE,8670,end surface coast,CONTROL_FINISHED_OK
$STATE,8670,begin surface
$SM_CCo,8688,28.17,0.428,0,0,1737,285.03
$SM_GC,1.59,0.00,0.00,28.17,0.000,0.000,0.428,31,1968,1737,-8.22,0.31,285.03
$IRIDIUM_FIX,2057.14,-15743.60,270802,090926
$TT8_MAMPS,0.028379
$HUMID,64.33
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,402.2,48.1
$24V_AH,24.6,29.748
$10V_AH,10.4,32.650
$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,18.675,71.100,307.925,28.175,0.000,54.986,70.414,243.524,16.500,0.000,20.371,1120.893,5137.290,366.595,2043.737,626.938,0.000,1072.331,0.000,1999.690,0.000,111.159,0.000
$DEVICE_MAMPS,229.333,59.826,770.068,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,423.783,350.538,1234.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,35027,623
$CAP_FILE_SIZE,95806,0
$CFSIZE,260165632,237924352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020613,113441,2100.381,-15744.943,15,1.0,15,9.8