version: 66.06
glider: 523
mission: 4
dive: 409
start: 6 7 113 10 57 34
data:
$ID,523
$MISSION,4
$DIVE,409
$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,-44088.195
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,105128,2105.153,-15743.933,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.2
$GPS2,105717,2105.133,-15744.013,16,0.9,16,9.8
$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,207.3,16758,-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,-77.70,0.000,6,0.000,0.000,26,1984,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-5.9,13,118,9.48,2.33,0.00,0.000,4,0.224,0.048,2392,538,3397,0,0,0,0,0,0
$GC,354,-0.74,-146.0,55.8,-15.3,60,362,0.00,2.20,0.00,0.000,6,0.000,0.034,2384,1958,3399,0,0,0,0,0,0
$GC,691,-0.74,-146.0,104.7,-13.4,106,698,0.00,2.28,0.00,0.000,4,0.000,0.054,2384,548,3400,0,0,0,0,0,0
$GC,947,-0.74,-146.0,135.9,-12.5,129,951,0.00,2.15,0.00,0.000,6,0.000,0.034,2374,1962,3401,0,0,0,0,0,0
$GC,1274,-0.74,-146.0,172.4,-11.3,159,1278,0.00,2.28,0.00,0.000,4,0.000,0.051,2374,538,3402,0,0,0,0,0,0
$GC,1501,-0.74,-146.0,201.1,-11.3,179,1508,0.12,2.17,0.00,0.000,6,0.167,0.035,2397,1971,3401,0,0,0,0,0,0
$GC,1817,-0.74,-146.0,228.4,-8.0,195,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1971,3402,0,0,0,0,0,0
$GC,2127,-0.74,-146.0,255.0,-9.2,210,2131,0.00,2.25,0.00,0.000,4,0.000,0.052,2398,547,3402,0,0,0,0,0,0
$GC,2172,-0.74,-146.0,259.2,-8.4,212,2176,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1961,3402,0,0,0,0,0,0
$GC,2496,-0.74,-146.0,283.6,-7.5,228,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1961,3402,0,0,0,0,0,0
$GC,2824,-0.74,-146.0,307.8,-7.7,242,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1961,3402,0,0,0,0,0,0
$GC,3147,-0.74,-146.0,333.7,-7.5,250,3151,0.00,2.25,0.00,0.000,4,0.000,0.054,2389,540,3402,0,0,0,0,0,0
$GC,3407,-0.74,-146.0,355.3,-7.3,255,3413,0.00,2.17,0.00,0.000,6,0.000,0.038,2380,1962,3401,0,0,0,0,0,0
$GC,3739,-0.74,-146.0,378.8,-6.9,264,3743,0.00,2.28,0.00,0.000,4,0.000,0.056,2380,543,3399,0,0,0,0,0,0
$GC,4000,-0.74,-146.0,398.4,-8.8,269,4005,0.12,2.15,0.00,0.000,6,0.167,0.039,2402,1955,3398,0,0,0,0,0,0
$GC,4334,-0.74,-146.0,420.8,-6.8,277,4338,0.00,2.25,0.00,0.000,4,0.000,0.059,2403,549,3396,0,0,0,0,0,0
$GC,4592,-0.74,-146.0,439.6,-6.9,282,4597,0.00,2.20,0.00,0.000,6,0.000,0.041,2394,1962,3394,0,0,0,0,0,0
$STATE,4760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4760,begin apogee
$GC,4767,-0.17,0.0,450.6,6.6,287,4890,0.60,0.00,120.30,0.755,6,0.120,0.000,2586,1962,2800,0,0,0,0,0,0
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4891,begin climb
$GC,4894,0.74,146.0,451.4,0.0,290,5031,0.82,2.45,125.90,0.733,4,0.077,0.060,2872,3387,2203,0,0,0,0,0,0
$GC,5065,0.74,146.0,431.5,15.4,294,5070,0.00,2.33,0.00,0.000,6,0.000,0.047,2882,1981,2200,0,0,0,0,0,0
$GC,5384,0.74,146.0,385.2,14.5,302,5388,0.00,2.30,0.00,0.000,4,0.000,0.061,2882,3386,2196,0,0,0,0,0,0
$GC,5411,0.74,146.0,380.8,15.6,302,5415,0.00,2.30,0.00,0.000,6,0.000,0.053,2891,1981,2195,0,0,0,0,0,0
$GC,5743,0.74,146.0,335.1,12.8,310,5747,0.00,2.28,0.00,0.000,4,0.000,0.058,2901,559,2194,0,0,0,0,0,0
$GC,5776,0.74,146.0,330.4,13.5,310,5781,0.00,2.22,0.00,0.000,6,0.000,0.038,2901,1988,2193,0,0,0,0,0,0
$GC,6087,0.74,146.0,287.7,14.0,320,6091,0.00,2.17,0.00,0.000,4,0.000,0.053,2901,3387,2192,0,0,0,0,0,0
$GC,6132,0.74,146.0,281.0,15.6,322,6137,0.12,2.25,0.00,0.000,6,0.154,0.048,2876,1974,2191,0,0,0,0,0,0
$GC,6453,0.74,146.0,244.7,9.9,338,6457,0.00,2.25,0.00,0.000,4,0.000,0.059,2876,3385,2190,0,0,0,0,0,0
$GC,6497,0.74,146.0,239.9,11.0,340,6501,0.00,2.22,0.00,0.000,6,0.000,0.048,2883,1975,2190,0,0,0,0,0,0
$GC,6818,0.74,146.0,205.7,10.4,356,6822,0.00,2.25,0.00,0.000,4,0.000,0.060,2883,3387,2189,0,0,0,0,0,0
$GC,6880,0.74,146.0,199.2,10.3,359,6884,0.00,2.20,0.00,0.000,6,0.000,0.048,2892,1980,2188,0,0,0,0,0,0
$GC,7207,0.74,146.0,166.3,10.6,389,7211,0.00,2.25,0.00,0.000,4,0.000,0.058,2902,562,2188,0,0,0,0,0,0
$GC,7237,0.74,146.0,163.1,10.9,391,7241,0.00,2.22,0.00,0.000,6,0.000,0.042,2902,1984,2188,0,0,0,0,0,0
$GC,7565,0.74,146.0,127.8,10.1,421,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1985,2188,0,0,0,0,0,0
$GC,7894,0.74,146.0,92.4,10.2,452,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1985,2187,0,0,0,0,0,0
$GC,8221,0.80,193.5,65.3,7.1,500,8268,0.00,2.30,38.00,0.496,4,0.000,0.052,2902,3400,2010,0,0,0,0,0,0
$GC,8319,0.80,193.5,56.7,10.2,517,8325,0.00,2.30,0.00,0.000,6,0.000,0.044,2908,1973,2008,0,0,0,0,0,0
$GC,8650,0.80,193.5,29.0,9.4,578,8657,0.00,2.30,0.00,0.000,4,0.000,0.057,2919,565,2007,0,0,0,0,0,0
$GC,8759,0.80,193.5,18.2,9.8,598,8767,0.00,2.22,0.00,0.000,6,0.000,0.041,2919,1975,2008,0,0,0,0,0,0
$STATE,8925,end climb,SURFACE_DEPTH_REACHED
$STATE,8925,begin surface coast
$FINISH,0.6,1.023239
$STATE,8953,end surface coast,CONTROL_FINISHED_OK
$STATE,8953,begin surface
$SM_CCo,8971,49.60,0.433,0,0,1574,300.24
$SM_GC,1.21,0.00,0.00,49.60,0.000,0.000,0.433,38,1984,1574,-8.14,0.74,300.24
$IRIDIUM_FIX,2059.45,-15736.31,010902,080857
$TT8_MAMPS,0.028379
$HUMID,64.05
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.6,33.634
$10V_AH,10.5,36.942
$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,18.575,71.925,284.200,49.600,0.000,28.427,34.605,150.638,19.250,0.000,17.292,1152.217,5281.902,389.364,2095.232,448.701,0.000,1125.555,0.000,2043.693,0.000,119.642,0.000
$DEVICE_MAMPS,223.964,60.593,755.495,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,430.184,361.951,1219.442,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,34869,634
$CAP_FILE_SIZE,95125,0
$CFSIZE,260165632,235659264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070613,132854,2103.797,-15744.729,19,1.0,19,9.8