version: 66.06
glider: 523
mission: 4
dive: 411
start: 6 7 113 16 23 0
data:
$ID,523
$MISSION,4
$DIVE,411
$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,-44128.707
$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,27
$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
$GPS1,161634,2102.787,-15745.386,42,0.8,42,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.2
$GPS2,162241,2102.779,-15745.426,14,1.0,14,9.8
$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,210.6,11826,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.80,0.000,6,0.000,0.000,40,1990,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.6,13,118,9.43,2.28,0.00,0.000,4,0.223,0.046,2390,541,3396,0,0,0,0,0,0
$GC,360,-0.74,-146.0,54.3,-16.6,60,367,0.00,2.22,0.00,0.000,6,0.000,0.037,2381,1964,3398,0,0,0,0,0,0
$GC,693,-0.74,-146.0,96.5,-12.3,109,697,0.00,2.28,0.00,0.000,4,0.000,0.054,2381,547,3399,0,0,0,0,0,0
$GC,945,-0.74,-146.0,128.8,-13.7,131,953,0.08,2.17,0.00,0.000,6,0.148,0.035,2396,1958,3400,0,0,0,0,0,0
$GC,1272,-0.74,-146.0,159.8,-10.7,162,1277,0.00,2.25,0.00,0.000,4,0.000,0.053,2397,544,3400,0,0,0,0,0,0
$GC,1448,-0.74,-146.0,178.3,-10.4,178,1452,0.00,2.15,0.00,0.000,6,0.000,0.034,2389,1958,3401,0,0,0,0,0,0
$GC,1780,-0.74,-146.0,212.2,-9.8,203,1784,0.00,2.17,0.00,0.000,4,0.000,0.054,2378,3366,3401,0,0,0,0,0,0
$GC,1830,-0.74,-146.0,216.7,-8.7,205,1834,0.00,2.22,0.00,0.000,6,0.000,0.043,2378,1945,3401,0,0,0,0,0,0
$GC,2154,-0.74,-146.0,245.1,-8.7,221,2158,0.00,2.20,0.00,0.000,4,0.000,0.052,2378,540,3401,0,0,0,0,0,0
$GC,2286,-0.74,-146.0,257.3,-9.0,226,2292,0.12,2.15,0.00,0.000,6,0.166,0.034,2400,1962,3401,0,0,0,0,0,0
$GC,2605,-0.74,-146.0,280.4,-7.9,242,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1962,3401,0,0,0,0,0,0
$GC,2911,-0.74,-146.0,303.8,-6.8,256,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1963,3401,0,0,0,0,0,0
$GC,3236,-0.74,-146.0,322.7,-6.7,264,3240,0.00,2.28,0.00,0.000,4,0.000,0.053,2401,548,3401,0,0,0,0,0,0
$GC,3382,-0.74,-146.0,335.0,-7.6,267,3386,0.00,2.17,0.00,0.000,6,0.000,0.038,2393,1963,3400,0,0,0,0,0,0
$GC,3733,-0.74,-146.0,360.8,-7.4,276,3737,0.00,2.22,0.00,0.000,4,0.000,0.056,2382,3373,3398,0,0,0,0,0,0
$GC,3878,-0.74,-146.0,371.6,-7.4,279,3882,0.00,2.25,0.00,0.000,6,0.000,0.043,2382,1949,3397,0,0,0,0,0,0
$GC,4227,-0.74,-146.0,392.5,-5.7,288,4231,0.00,2.25,0.00,0.000,4,0.000,0.060,2382,549,3395,0,0,0,0,0,0
$GC,4485,-0.74,-146.0,409.4,-6.8,293,4491,0.00,2.17,0.00,0.000,6,0.000,0.040,2372,1965,3393,0,0,0,0,0,0
$GC,4819,-0.74,-146.0,431.8,-7.2,302,4824,0.10,2.33,0.00,0.000,4,0.166,0.061,2398,541,3391,0,0,0,0,0,0
$GC,4916,-0.74,-146.0,439.0,-7.7,304,4920,0.00,2.20,0.00,0.000,6,0.000,0.042,2390,1958,3390,0,0,0,0,0,0
$STATE,5104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5104,begin apogee
$GC,5111,-0.17,0.0,451.7,6.5,309,5234,0.60,0.00,120.22,0.775,6,0.120,0.000,2582,1958,2799,0,0,0,0,0,0
$STATE,5235,end apogee,CONTROL_FINISHED_OK
$STATE,5235,begin climb
$GC,5238,0.74,146.0,451.4,0.0,312,5375,0.85,2.45,126.20,0.746,4,0.083,0.057,2870,3389,2203,0,0,0,0,0,0
$GC,5426,0.74,146.0,428.4,15.0,316,5430,0.00,2.33,0.00,0.000,6,0.000,0.044,2879,1980,2199,0,0,0,0,0,0
$GC,5769,0.74,146.0,381.2,13.6,325,5773,0.00,2.33,0.00,0.000,4,0.000,0.067,2890,569,2196,0,0,0,0,0,0
$GC,5858,0.74,146.0,369.3,13.4,327,5862,0.00,2.22,0.00,0.000,6,0.000,0.040,2890,1992,2195,0,0,0,0,0,0
$GC,6178,0.74,146.0,327.7,13.1,335,6182,0.00,2.17,0.00,0.000,4,0.000,0.054,2890,3388,2192,0,0,0,0,0,0
$GC,6233,0.74,146.0,319.8,13.9,336,6238,0.00,2.28,0.00,0.000,6,0.000,0.048,2899,1967,2192,0,0,0,0,0,0
$GC,6564,0.74,146.0,276.0,12.6,349,6569,0.00,2.25,0.00,0.000,4,0.000,0.061,2909,563,2191,0,0,0,0,0,0
$GC,6614,0.74,146.0,268.8,14.8,351,6619,0.12,2.25,0.00,0.000,6,0.145,0.045,2876,1989,2190,0,0,0,0,0,0
$GC,6931,0.74,146.0,230.1,11.9,366,6934,0.00,2.20,0.00,0.000,4,0.000,0.053,2876,3389,2190,0,0,0,0,0,0
$GC,7009,0.74,146.0,220.1,12.7,369,7014,0.00,2.22,0.00,0.000,6,0.000,0.041,2884,1969,2189,0,0,0,0,0,0
$GC,7330,0.74,146.0,184.1,11.1,391,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1969,2189,0,0,0,0,0,0
$GC,7650,0.74,146.0,148.2,11.5,421,7654,0.00,2.25,0.00,0.000,4,0.000,0.058,2884,3387,2188,0,0,0,0,0,0
$GC,7713,0.74,146.0,141.0,11.1,426,7717,0.00,2.20,0.00,0.000,6,0.000,0.041,2893,1979,2188,0,0,0,0,0,0
$GC,8041,0.74,146.0,108.4,9.5,456,8045,0.00,2.20,0.00,0.000,4,0.000,0.055,2902,570,2187,0,0,0,0,0,0
$GC,8105,0.74,146.0,101.5,9.9,461,8113,0.00,2.20,0.00,0.000,6,0.000,0.035,2902,1986,2187,0,0,0,0,0,0
$GC,8431,0.76,162.4,70.6,8.4,502,8450,0.00,0.00,12.35,0.487,6,0.000,0.000,2902,1986,2138,0,0,0,0,0,0
$GC,8777,0.77,172.8,41.0,8.6,565,8789,0.00,0.00,10.73,0.453,6,0.000,0.000,2902,1986,2094,0,0,0,0,0,0
$GC,9115,0.81,203.2,13.7,7.8,627,9148,0.00,0.00,26.33,0.459,6,0.000,0.000,2902,1986,1971,0,0,0,0,0,0
$STATE,9232,end climb,SURFACE_DEPTH_REACHED
$STATE,9232,begin surface coast
$FINISH,0.5,1.023310
$STATE,9261,end surface coast,CONTROL_FINISHED_OK
$STATE,9261,begin surface
$SM_CCo,9279,46.30,0.440,0,0,1575,300.24
$SM_GC,1.22,0.00,0.00,46.30,0.000,0.000,0.440,50,2000,1575,-8.10,1.22,300.24
$IRIDIUM_FIX,2050.21,-15752.63,010902,131316
$TT8_MAMPS,0.028379
$HUMID,65.35
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,435.2,57.8
$24V_AH,24.6,33.811
$10V_AH,10.4,37.137
$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,18.700,71.525,295.825,46.300,0.000,26.352,35.774,173.006,18.500,0.000,15.207,1201.061,5428.179,380.897,2192.041,489.635,0.000,1151.582,0.000,2148.217,0.000,119.436,0.000
$DEVICE_MAMPS,223.197,66.729,775.437,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,444.796,372.311,1271.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34870,653
$CAP_FILE_SIZE,99953,0
$CFSIZE,260165632,235556864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070613,185934,2102.242,-15745.316,29,1.1,29,9.8