version: 66.06
glider: 523
mission: 4
dive: 408
start: 6 7 113 8 20 19
data:
$ID,523
$MISSION,4
$DIVE,408
$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,-44070.27
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,31
$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
$GPS1,080258,2106.210,-15743.156,37,0.8,37,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.1
$GPS2,082003,2106.146,-15743.166,38,0.8,39,9.8
$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,207.4,19137,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,97,0.00,0.00,-76.20,0.000,3,0.000,0.000,40,1946,3396,0,0,0,0,0,0
$GC,100,-0.74,-146.0,3.3,-5.1,12,115,9.35,2.22,0.00,0.000,4,0.222,0.053,2396,542,3397,0,0,0,0,0,0
$GC,359,-0.74,-146.0,55.8,-19.5,59,364,0.00,2.15,0.00,0.000,6,0.000,0.035,2388,1962,3399,0,0,0,0,0,0
$GC,689,-0.74,-146.0,100.9,-12.0,104,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1962,3399,0,0,0,0,0,0
$GC,1016,-0.74,-146.0,142.4,-10.8,135,1020,0.00,2.22,0.00,0.000,4,0.000,0.055,2377,3365,3400,0,0,0,0,0,0
$GC,1263,-0.74,-146.0,172.8,-11.6,157,1271,0.00,2.25,0.00,0.000,6,0.000,0.044,2377,1955,3401,0,0,0,0,0,0
$GC,1587,-0.74,-146.0,206.8,-9.9,185,1591,0.00,2.22,0.00,0.000,4,0.000,0.054,2377,531,3402,0,0,0,0,0,0
$GC,1642,-0.74,-146.0,213.0,-10.9,187,1647,0.12,2.17,0.00,0.000,6,0.168,0.034,2399,1969,3401,0,0,0,0,0,0
$GC,1958,-0.74,-146.0,242.8,-9.9,202,1962,0.00,2.28,0.00,0.000,4,0.000,0.051,2399,537,3401,0,0,0,0,0,0
$GC,2032,-0.74,-146.0,250.1,-10.3,205,2036,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1955,3401,0,0,0,0,0,0
$GC,2351,-0.74,-146.0,276.4,-7.9,220,2355,0.00,2.25,0.00,0.000,4,0.000,0.053,2391,541,3401,0,0,0,0,0,0
$GC,2611,-0.74,-146.0,302.3,-8.9,231,2615,0.00,2.12,0.00,0.000,6,0.000,0.035,2381,1958,3401,0,0,0,0,0,0
$GC,2943,-0.74,-146.0,326.1,-7.4,239,2947,0.00,2.28,0.00,0.000,4,0.000,0.054,2381,534,3401,0,0,0,0,0,0
$GC,2999,-0.74,-146.0,331.3,-8.9,240,3004,0.12,2.17,0.00,0.000,6,0.163,0.035,2404,1956,3400,0,0,0,0,0,0
$GC,3314,-0.74,-146.0,353.6,-7.2,248,3318,0.00,2.20,0.00,0.000,4,0.000,0.054,2396,3366,3399,0,0,0,0,0,0
$GC,3471,-0.74,-146.0,364.7,-6.4,251,3475,0.00,2.20,0.00,0.000,6,0.000,0.041,2396,1950,3398,0,0,0,0,0,0
$GC,3821,-0.74,-146.0,387.2,-6.7,260,3825,0.00,2.22,0.00,0.000,4,0.000,0.059,2396,541,3395,0,0,0,0,0,0
$GC,3866,-0.74,-146.0,390.6,-7.7,261,3870,0.00,2.15,0.00,0.000,6,0.000,0.037,2386,1955,3395,0,0,0,0,0,0
$GC,4185,-0.74,-146.0,413.0,-7.1,269,4190,0.00,2.25,0.00,0.000,4,0.000,0.057,2387,544,3393,0,0,0,0,0,0
$GC,4258,-0.74,-146.0,418.8,-8.0,270,4262,0.00,2.20,0.00,0.000,6,0.000,0.040,2376,1964,3392,0,0,0,0,0,0
$GC,4592,-0.74,-146.0,442.9,-7.5,278,4596,0.00,2.25,0.00,0.000,4,0.000,0.058,2377,552,3389,0,0,0,0,0,0
$STATE,4677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4677,begin apogee
$GC,4687,-0.17,0.0,450.3,8.6,280,4809,0.68,0.00,119.53,0.761,6,0.124,0.000,2579,1983,2800,0,0,0,0,0,0
$STATE,4810,end apogee,CONTROL_FINISHED_OK
$STATE,4810,begin climb
$GC,4813,0.74,146.0,452.8,0.0,283,4950,0.85,2.38,126.10,0.736,4,0.084,0.052,2870,3389,2202,0,0,0,0,0,0
$GC,4980,0.74,146.0,436.1,13.6,287,4984,0.00,2.30,0.00,0.000,6,0.000,0.042,2879,1982,2200,0,0,0,0,0,0
$GC,5304,0.74,146.0,389.8,14.5,295,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1982,2196,0,0,0,0,0,0
$GC,5629,0.74,146.0,348.3,12.4,303,5633,0.00,2.25,0.00,0.000,4,0.000,0.059,2890,570,2194,0,0,0,0,0,0
$GC,5651,0.74,146.0,345.5,11.7,303,5655,0.00,2.20,0.00,0.000,6,0.000,0.041,2889,1982,2194,0,0,0,0,0,0
$GC,5993,0.74,146.0,300.8,12.9,312,5997,0.00,2.20,0.00,0.000,4,0.000,0.052,2890,3387,2192,0,0,0,0,0,0
$GC,6083,0.74,146.0,289.0,13.1,315,6087,0.00,2.22,0.00,0.000,6,0.000,0.041,2899,1970,2191,0,0,0,0,0,0
$GC,6410,0.74,146.0,247.7,13.8,331,6414,0.00,2.22,0.00,0.000,4,0.000,0.060,2910,574,2190,0,0,0,0,0,0
$GC,6443,0.74,146.0,243.2,13.6,332,6450,0.08,2.20,0.00,0.000,6,0.119,0.044,2883,1987,2189,0,0,0,0,0,0
$GC,6759,0.74,146.0,205.4,11.3,348,6763,0.00,2.20,0.00,0.000,4,0.000,0.052,2883,3393,2189,0,0,0,0,0,0
$GC,6903,0.74,146.0,189.5,10.8,358,6910,0.00,2.22,0.00,0.000,6,0.000,0.043,2891,1986,2187,0,0,0,0,0,0
$GC,7230,0.74,146.0,156.5,10.0,389,7234,0.00,2.22,0.00,0.000,4,0.000,0.058,2900,565,2187,0,0,0,0,0,0
$GC,7324,0.74,146.0,147.4,9.8,397,7328,0.00,2.20,0.00,0.000,6,0.000,0.037,2900,1993,2187,0,0,0,0,0,0
$GC,7652,0.74,150.6,115.2,8.8,427,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1993,2187,0,0,0,0,0,0
$GC,7981,0.74,150.6,84.7,9.5,458,7985,0.00,2.17,0.00,0.000,4,0.000,0.053,2900,3385,2187,0,0,0,0,0,0
$GC,8108,0.74,151.8,72.9,9.0,476,8115,0.00,2.28,0.00,0.000,6,0.000,0.046,2907,1969,2187,0,0,0,0,0,0
$GC,8444,0.77,176.9,43.7,8.0,537,8479,0.00,2.30,24.70,0.472,4,0.000,0.057,2917,568,2076,0,0,0,0,0,0
$GC,8571,0.80,195.3,33.7,8.3,559,8595,0.00,2.20,16.70,0.451,6,0.000,0.041,2918,1977,2002,0,0,0,0,0,0
$STATE,8892,end climb,SURFACE_DEPTH_REACHED
$STATE,8892,begin surface coast
$FINISH,0.6,1.023186
$STATE,8922,end surface coast,CONTROL_FINISHED_OK
$STATE,8922,begin surface
$SM_CCo,8940,48.62,0.432,0,0,1574,300.24
$SM_GC,1.32,0.00,0.00,48.62,0.000,0.000,0.432,26,1984,1574,-8.17,0.76,300.24
$IRIDIUM_FIX,2101.76,-15743.60,010902,080847
$TT8_MAMPS,0.028379
$HUMID,63.66
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.6,33.556
$10V_AH,10.4,36.851
$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,18.525,80.025,287.025,48.625,0.000,114.964,139.697,405.409,19.000,0.000,39.446,1155.586,5419.754,386.684,2118.953,929.823,0.000,1123.687,0.000,2044.779,0.000,125.487,0.000
$DEVICE_MAMPS,222.430,59.826,760.864,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,424.775,349.605,1235.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,34971,625
$CAP_FILE_SIZE,107667,0
$CFSIZE,260165632,235696128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070613,105128,2105.153,-15743.933,40,0.8,40,9.8