version: 66.06
glider: 523
mission: 4
dive: 414
start: 6 8 113 0 7 36
data:
$ID,523
$MISSION,4
$DIVE,414
$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,-44187.996
$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,22
$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
$GPS1,235334,2100.921,-15745.655,28,0.8,28,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.2
$GPS2,000718,2100.882,-15745.826,20,0.8,20,9.8
$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,222.0,8878,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.25,0.000,6,0.000,0.000,50,1962,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.8,13,118,9.43,2.30,0.00,0.000,4,0.226,0.048,2393,539,3397,0,0,0,0,0,0
$GC,357,-0.74,-146.0,53.8,-17.5,60,364,0.00,2.20,0.00,0.000,6,0.000,0.035,2385,1963,3398,0,0,0,0,0,0
$GC,689,-0.74,-146.0,104.6,-11.8,105,693,0.00,2.28,0.00,0.000,4,0.000,0.052,2385,546,3399,0,0,0,0,0,0
$GC,940,-0.74,-146.0,136.1,-14.1,128,945,0.00,2.15,0.00,0.000,6,0.000,0.032,2376,1976,3399,0,0,0,0,0,0
$GC,1272,-0.74,-146.0,173.9,-10.3,159,1276,0.00,2.17,0.00,0.000,4,0.000,0.055,2365,3350,3400,0,0,0,0,0,0
$GC,1303,-0.74,-146.0,177.4,-12.0,161,1308,0.12,2.20,0.00,0.000,6,0.150,0.044,2398,1956,3400,0,0,0,0,0,0
$GC,1626,-0.74,-146.0,210.1,-9.5,186,1630,0.00,2.20,0.00,0.000,4,0.000,0.051,2398,545,3400,0,0,0,0,0,0
$GC,1683,-0.74,-146.0,215.0,-8.5,188,1687,0.00,2.12,0.00,0.000,6,0.000,0.032,2390,1959,3400,0,0,0,0,0,0
$GC,2001,-0.74,-146.0,234.8,-5.7,203,2007,0.00,2.22,0.00,0.000,4,0.000,0.051,2390,545,3400,0,0,0,0,0,0
$GC,2255,-0.74,-146.0,256.3,-10.0,214,2259,0.00,2.15,0.00,0.000,6,0.000,0.034,2380,1964,3400,0,0,0,0,0,0
$GC,2581,-0.74,-146.0,281.7,-8.0,230,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1965,3400,0,0,0,0,0,0
$GC,2885,-0.74,-146.0,306.3,-7.3,243,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1966,3399,0,0,0,0,0,0
$GC,3210,-0.74,-146.0,328.3,-6.9,251,3214,0.00,2.33,0.00,0.000,4,0.000,0.056,2380,548,3398,0,0,0,0,0,0
$GC,3373,-0.74,-146.0,340.4,-5.8,254,3378,0.12,2.15,0.00,0.000,6,0.170,0.036,2403,1958,3397,0,0,0,0,0,0
$GC,3711,-0.74,-146.0,362.4,-7.4,263,3715,0.00,2.20,0.00,0.000,4,0.000,0.055,2394,3368,3395,0,0,0,0,0,0
$GC,3832,-0.74,-146.0,372.6,-8.2,265,3836,0.00,2.22,0.00,0.000,6,0.000,0.041,2394,1948,3394,0,0,0,0,0,0
$GC,4168,-0.74,-146.0,397.6,-6.8,273,4172,0.00,2.25,0.00,0.000,4,0.000,0.059,2394,544,3392,0,0,0,0,0,0
$GC,4427,-0.74,-146.0,418.7,-8.7,278,4432,0.00,2.17,0.00,0.000,6,0.000,0.038,2384,1962,3390,0,0,0,0,0,0
$GC,4758,-0.74,-146.0,441.8,-6.8,287,4762,0.00,2.30,0.00,0.000,4,0.000,0.058,2384,542,3388,0,0,0,0,0,0
$GC,4843,-0.74,-146.0,448.5,-7.8,289,4847,0.00,2.20,0.00,0.000,6,0.000,0.041,2375,1962,3387,0,0,0,0,0,0
$STATE,4861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4861,begin apogee
$GC,4868,-0.17,0.0,450.2,7.3,289,4991,0.62,0.00,119.05,0.762,6,0.127,0.000,2575,1962,2799,0,0,0,0,0,0
$STATE,4991,end apogee,CONTROL_FINISHED_OK
$STATE,4991,begin climb
$GC,4994,0.74,146.0,451.5,0.0,292,5125,0.90,0.00,126.65,0.737,6,0.078,0.000,2881,1962,2204,0,0,0,0,0,0
$GC,5452,0.74,146.0,398.2,11.8,304,5456,0.00,2.28,0.00,0.000,4,0.000,0.058,2880,3387,2197,0,0,0,0,0,0
$GC,5513,0.74,146.0,389.9,12.9,305,5517,0.00,2.25,0.00,0.000,6,0.000,0.044,2890,1984,2195,0,0,0,0,0,0
$GC,5860,0.74,146.0,347.2,12.4,314,5864,0.00,2.28,0.00,0.000,4,0.000,0.061,2890,3386,2193,0,0,0,0,0,0
$GC,5928,0.74,146.0,337.5,14.4,315,5932,0.00,2.28,0.00,0.000,6,0.000,0.050,2899,1974,2192,0,0,0,0,0,0
$GC,6244,0.74,146.0,294.2,13.9,324,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1975,2191,0,0,0,0,0,0
$GC,6553,0.74,146.0,257.3,11.6,339,6557,0.00,2.25,0.00,0.000,4,0.000,0.056,2899,3387,2190,0,0,0,0,0,0
$GC,6581,0.74,146.0,253.7,13.2,340,6586,0.12,2.20,0.00,0.000,6,0.153,0.041,2874,1976,2190,0,0,0,0,0,0
$GC,6902,0.74,146.0,218.5,11.5,356,6906,0.00,2.22,0.00,0.000,4,0.000,0.059,2883,561,2189,0,0,0,0,0,0
$GC,6964,0.74,146.0,211.7,10.4,359,6968,0.00,2.20,0.00,0.000,6,0.000,0.038,2883,1993,2188,0,0,0,0,0,0
$GC,7296,0.74,146.4,179.5,9.0,384,7300,0.00,2.15,0.00,0.000,4,0.000,0.051,2882,3389,2188,0,0,0,0,0,0
$GC,7381,0.74,146.4,170.7,10.2,391,7385,0.00,2.20,0.00,0.000,6,0.000,0.040,2893,1973,2187,0,0,0,0,0,0
$GC,7708,0.74,146.4,136.3,10.6,421,7712,0.00,2.20,0.00,0.000,4,0.000,0.051,2892,3386,2187,0,0,0,0,0,0
$GC,7825,0.74,146.4,121.5,12.7,431,7829,0.00,2.17,0.00,0.000,6,0.000,0.041,2902,1973,2187,0,0,0,0,0,0
$GC,8152,0.74,146.4,82.6,12.7,461,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1973,2187,0,0,0,0,0,0
$GC,8473,0.78,181.2,51.5,7.6,518,8503,0.00,0.00,28.15,0.489,6,0.000,0.000,2902,1973,2060,0,0,0,0,0,0
$GC,8830,0.78,181.2,18.5,10.7,583,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1973,2057,0,0,0,0,0,0
$STATE,8990,end climb,SURFACE_DEPTH_REACHED
$STATE,8992,begin surface coast
$FINISH,0.7,1.022800
$STATE,9020,end surface coast,CONTROL_FINISHED_OK
$STATE,9020,begin surface
$SM_CCo,9038,54.72,0.441,0,0,1575,300.24
$SM_GC,1.30,0.00,0.00,54.72,0.000,0.000,0.441,40,1966,1575,-8.13,0.25,300.24
$IRIDIUM_FIX,2052.52,-15735.06,020902,000042
$TT8_MAMPS,0.028379
$HUMID,65.59
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,23.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,400.4,57.3
$24V_AH,24.6,34.069
$10V_AH,10.4,37.412
$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,18.525,66.500,273.850,54.725,0.000,86.943,123.457,333.999,17.000,0.000,21.369,1138.274,5521.228,388.223,2046.314,823.944,0.000,1089.782,0.000,2008.778,0.000,113.949,0.000
$DEVICE_MAMPS,226.265,61.360,762.398,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,420.690,355.173,1182.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,35067,618
$CAP_FILE_SIZE,100419,0
$CFSIZE,260165632,235413504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080613,024016,2059.987,-15746.437,27,0.9,27,9.8