version: 66.06
glider: 523
mission: 4
dive: 410
start: 6 7 113 13 42 3
data:
$ID,523
$MISSION,4
$DIVE,410
$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,-44112.871
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,132854,2103.797,-15744.729,19,1.0,19,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.8
$GPS2,134147,2103.783,-15744.882,23,1.0,23,9.8
$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,208.6,13861,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-77.57,0.000,6,0.000,0.000,38,1985,3395,0,0,0,0,0,0
$GC,105,-0.74,-146.0,3.8,-5.7,13,120,9.43,2.33,0.00,0.000,4,0.222,0.048,2390,540,3396,0,0,0,0,0,0
$GC,357,-0.74,-146.0,55.5,-15.5,60,365,0.00,2.22,0.00,0.000,6,0.000,0.035,2382,1971,3397,0,0,0,0,0,0
$GC,697,-0.74,-146.0,98.9,-11.2,107,701,0.00,2.33,0.00,0.000,4,0.000,0.052,2382,539,3399,0,0,0,0,0,0
$GC,946,-0.74,-146.0,128.7,-12.0,129,954,0.00,2.17,0.00,0.000,6,0.000,0.033,2373,1961,3399,0,0,0,0,0,0
$GC,1274,-0.74,-146.0,164.8,-12.4,160,1279,0.10,2.30,0.00,0.000,4,0.174,0.050,2398,542,3399,0,0,0,0,0,0
$GC,1442,-0.74,-146.0,185.0,-11.3,175,1446,0.00,2.12,0.00,0.000,6,0.000,0.033,2390,1958,3400,0,0,0,0,0,0
$GC,1777,-0.74,-146.0,222.7,-10.7,197,1781,0.00,2.28,0.00,0.000,4,0.000,0.051,2390,541,3400,0,0,0,0,0,0
$GC,1843,-0.74,-146.0,229.4,-9.3,200,1847,0.00,2.15,0.00,0.000,6,0.000,0.033,2380,1960,3399,0,0,0,0,0,0
$GC,2165,-0.74,-146.0,257.1,-8.0,216,2169,0.00,2.22,0.00,0.000,4,0.000,0.054,2369,3366,3400,0,0,0,0,0,0
$GC,2274,-0.74,-146.0,265.9,-8.4,221,2279,0.12,2.20,0.00,0.000,6,0.150,0.040,2403,1944,3399,0,0,0,0,0,0
$GC,2601,-0.74,-146.0,289.6,-6.9,237,2605,0.00,2.20,0.00,0.000,4,0.000,0.052,2404,548,3399,0,0,0,0,0,0
$GC,2858,-0.74,-146.0,307.5,-7.3,246,2862,0.00,2.12,0.00,0.000,6,0.000,0.035,2395,1957,3399,0,0,0,0,0,0
$GC,3196,-0.74,-146.0,332.7,-7.2,255,3200,0.00,2.22,0.00,0.000,4,0.000,0.057,2385,3357,3399,0,0,0,0,0,0
$GC,3231,-0.74,-146.0,335.3,-7.8,255,3236,0.00,2.20,0.00,0.000,6,0.000,0.041,2384,1957,3398,0,0,0,0,0,0
$GC,3562,-0.74,-146.0,358.4,-6.7,264,3566,0.00,2.30,0.00,0.000,4,0.000,0.058,2385,544,3396,0,0,0,0,0,0
$GC,3821,-0.74,-146.0,376.2,-6.4,269,3827,0.00,2.15,0.00,0.000,6,0.000,0.038,2375,1955,3394,0,0,0,0,0,0
$GC,4153,-0.74,-146.0,394.4,-5.6,278,4157,0.00,2.22,0.00,0.000,4,0.000,0.057,2365,3365,3392,0,0,0,0,0,0
$GC,4220,-0.74,-146.0,398.6,-6.3,279,4225,0.12,2.20,0.00,0.000,6,0.147,0.042,2398,1953,3392,0,0,0,0,0,0
$GC,4561,-0.74,-146.0,421.0,-6.8,288,4565,0.00,2.25,0.00,0.000,4,0.000,0.061,2398,546,3390,0,0,0,0,0,0
$GC,4819,-0.74,-146.0,440.2,-6.7,293,4825,0.00,2.17,0.00,0.000,6,0.000,0.039,2390,1956,3388,0,0,0,0,0,0
$STATE,4990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4990,begin apogee
$GC,4996,-0.17,0.0,450.7,6.2,298,5119,0.60,0.00,119.38,0.763,6,0.121,0.000,2581,1957,2800,0,0,0,0,0,0
$STATE,5119,end apogee,CONTROL_FINISHED_OK
$STATE,5119,begin climb
$GC,5123,0.74,146.0,451.3,0.0,301,5260,0.85,2.45,125.75,0.740,4,0.079,0.059,2873,3387,2203,0,0,0,0,0,0
$GC,5367,0.74,146.0,418.5,16.4,306,5371,0.00,2.30,0.00,0.000,6,0.000,0.049,2882,1983,2198,0,0,0,0,0,0
$GC,5698,0.74,146.0,369.3,14.7,314,5702,0.00,2.30,0.00,0.000,4,0.000,0.060,2893,557,2196,0,0,0,0,0,0
$GC,5742,0.74,146.0,362.9,13.9,315,5746,0.00,2.20,0.00,0.000,6,0.000,0.038,2893,1978,2195,0,0,0,0,0,0
$GC,6060,0.74,146.0,318.3,13.5,323,6064,0.00,2.28,0.00,0.000,4,0.000,0.056,2902,565,2193,0,0,0,0,0,0
$GC,6105,0.74,146.0,312.3,13.3,324,6109,0.00,2.17,0.00,0.000,6,0.000,0.038,2902,1981,2193,0,0,0,0,0,0
$GC,6427,0.74,146.0,270.2,13.1,337,6431,0.00,2.17,0.00,0.000,4,0.000,0.053,2902,3387,2191,0,0,0,0,0,0
$GC,6477,0.74,146.0,263.0,14.7,339,6482,0.12,2.25,0.00,0.000,6,0.155,0.048,2878,1969,2191,0,0,0,0,0,0
$GC,6792,0.74,146.0,226.7,10.9,354,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1969,2190,0,0,0,0,0,0
$GC,7105,0.74,146.0,193.7,10.0,371,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1969,2189,0,0,0,0,0,0
$GC,7425,0.74,146.0,162.0,9.8,401,7429,0.00,2.22,0.00,0.000,4,0.000,0.051,2879,3389,2188,0,0,0,0,0,0
$GC,7457,0.74,146.0,158.3,10.5,403,7464,0.00,2.25,0.00,0.000,6,0.000,0.048,2885,1986,2187,0,0,0,0,0,0
$GC,7785,0.74,146.0,123.0,11.4,434,7789,0.00,2.22,0.00,0.000,4,0.000,0.058,2895,570,2187,0,0,0,0,0,0
$GC,7858,0.74,146.0,114.6,11.0,440,7862,0.00,2.17,0.00,0.000,6,0.000,0.041,2895,1985,2187,0,0,0,0,0,0
$GC,8187,0.75,156.3,81.0,8.6,470,8196,0.00,0.00,7.50,0.451,6,0.000,0.000,2896,1985,2161,0,0,0,0,0,0
$GC,8515,0.77,169.8,51.4,8.5,530,8533,0.00,2.20,13.12,0.466,4,0.000,0.050,2895,3395,2106,0,0,0,0,0,0
$GC,8602,0.79,187.1,44.1,8.3,545,8627,0.00,2.22,16.00,0.463,6,0.000,0.045,2905,1978,2035,0,0,0,0,0,0
$GC,8950,0.88,265.1,17.2,5.8,609,9022,0.00,2.28,65.53,0.458,4,0.000,0.055,2913,562,1719,0,0,0,0,0,0
$GC,9090,0.88,265.1,6.3,9.2,632,9098,0.00,2.25,0.00,0.000,6,0.000,0.038,2913,1978,1719,0,0,0,0,0,0
$STATE,9120,end climb,SURFACE_DEPTH_REACHED
$STATE,9120,begin surface coast
$FINISH,0.6,0.998015
$STATE,9152,end surface coast,CONTROL_FINISHED_OK
$STATE,9152,begin surface
$SM_CCo,9170,18.70,0.417,0,0,1576,300.24
$SM_GC,1.50,0.00,0.00,18.70,0.000,0.000,0.417,40,1994,1576,-8.13,1.05,300.24
$IRIDIUM_FIX,2050.21,-15752.63,010902,131316
$TT8_MAMPS,0.027612
$HUMID,65.04
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.7,58.8
$24V_AH,24.6,33.730
$10V_AH,10.4,37.041
$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,18.750,80.325,347.275,18.700,0.000,80.604,111.286,302.591,19.500,0.000,24.049,1184.558,5432.765,381.020,2197.108,764.970,0.000,1182.688,0.000,2138.154,0.000,126.754,0.000
$DEVICE_MAMPS,222.430,60.593,763.165,417.248,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,435.890,365.649,1254.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,35009,643
$CAP_FILE_SIZE,107829,0
$CFSIZE,260165632,235597824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070613,161634,2102.787,-15745.386,42,0.8,42,9.8