version: 66.06
glider: 523
mission: 4
dive: 416
start: 6 8 113 5 36 42
data:
$ID,523
$MISSION,4
$DIVE,416
$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,-44221.684
$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,19
$R_STBD_OVSHOOT,34
$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
$GPS1,052328,2059.447,-15747.041,41,1.0,41,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.1
$GPS2,053625,2059.400,-15747.126,16,1.2,16,9.8
$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,230.1,5468,-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,-77.47,0.000,6,0.000,0.000,48,1954,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.2,13,118,9.57,2.25,0.00,0.000,4,0.231,0.050,2393,530,3396,0,0,0,0,0,0
$GC,355,-0.74,-146.0,52.8,-13.9,60,362,0.00,2.22,0.00,0.000,6,0.000,0.035,2385,1961,3398,0,0,0,0,0,0
$GC,696,-0.74,-146.0,91.9,-11.2,112,700,0.00,2.25,0.00,0.000,4,0.000,0.053,2384,533,3399,0,0,0,0,0,0
$GC,907,-0.74,-146.0,117.1,-11.8,131,915,0.00,2.20,0.00,0.000,6,0.000,0.034,2375,1968,3399,0,0,0,0,0,0
$GC,1234,-0.74,-146.0,154.1,-12.9,162,1241,0.00,2.20,0.00,0.000,4,0.000,0.055,2365,3358,3400,0,0,0,0,0,0
$GC,1261,-0.74,-146.0,157.3,-12.3,164,1266,0.12,2.20,0.00,0.000,6,0.150,0.044,2397,1946,3400,0,0,0,0,0,0
$GC,1588,-0.74,-146.0,188.1,-8.1,194,1592,0.00,2.25,0.00,0.000,4,0.000,0.051,2389,3360,3401,0,0,0,0,0,0
$GC,1618,-0.74,-146.0,190.7,-9.0,196,1622,0.00,2.22,0.00,0.000,6,0.000,0.044,2389,1946,3401,0,0,0,0,0,0
$GC,1947,-0.74,-146.0,219.2,-8.4,216,1951,0.00,2.20,0.00,0.000,4,0.000,0.053,2389,540,3401,0,0,0,0,0,0
$GC,2155,-0.74,-146.0,235.3,-7.0,225,2159,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1960,3401,0,0,0,0,0,0
$GC,2474,-0.74,-146.0,264.6,-11.0,240,2478,0.00,2.20,0.00,0.000,4,0.000,0.057,2369,3361,3401,0,0,0,0,0,0
$GC,2553,-0.74,-146.0,272.7,-9.3,243,2558,0.12,2.17,0.00,0.000,6,0.148,0.041,2403,1952,3401,0,0,0,0,0,0
$GC,2869,-0.74,-146.0,295.9,-6.6,258,2873,0.00,2.20,0.00,0.000,4,0.000,0.056,2402,551,3400,0,0,0,0,0,0
$GC,3128,-0.74,-146.0,314.3,-7.4,265,3132,0.00,2.15,0.00,0.000,6,0.000,0.037,2395,1955,3399,0,0,0,0,0,0
$GC,3462,-0.74,-146.0,336.4,-6.5,273,3466,0.00,2.22,0.00,0.000,4,0.000,0.058,2384,3366,3397,0,0,0,0,0,0
$GC,3506,-0.74,-146.0,339.3,-6.1,274,3510,0.00,2.20,0.00,0.000,6,0.000,0.043,2384,1956,3397,0,0,0,0,0,0
$GC,3825,-0.74,-146.0,357.5,-5.6,282,3829,0.00,2.25,0.00,0.000,4,0.000,0.060,2384,550,3395,0,0,0,0,0,0
$GC,4085,-0.74,-146.0,375.8,-7.1,287,4088,0.00,2.17,0.00,0.000,6,0.000,0.038,2374,1962,3393,0,0,0,0,0,0
$GC,4416,-0.74,-146.0,399.5,-7.6,295,4420,0.00,2.28,0.00,0.000,4,0.000,0.058,2374,542,3390,0,0,0,0,0,0
$GC,4677,-0.74,-146.0,421.7,-9.2,300,4684,0.12,2.20,0.00,0.000,6,0.166,0.040,2396,1963,3388,0,0,0,0,0,0
$GC,5009,-0.74,-146.0,445.3,-6.8,309,5013,0.00,2.22,0.00,0.000,4,0.000,0.061,2387,3363,3386,0,0,0,0,0,0
$STATE,5084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5084,begin apogee
$GC,5093,-0.17,0.0,450.2,6.5,310,5219,0.57,0.00,119.88,0.773,6,0.122,0.000,2576,1978,2801,0,0,0,0,0,0
$STATE,5219,end apogee,CONTROL_FINISHED_OK
$STATE,5220,begin climb
$GC,5222,0.74,146.0,450.9,0.0,314,5360,0.85,2.40,127.28,0.743,4,0.080,0.056,2868,3373,2203,0,0,0,0,0,0
$GC,5399,0.74,146.0,431.8,13.8,318,5403,0.00,2.30,0.00,0.000,6,0.000,0.051,2878,1986,2200,0,0,0,0,0,0
$GC,5712,0.74,146.0,388.2,14.3,326,5716,0.00,2.30,0.00,0.000,4,0.000,0.061,2888,555,2196,0,0,0,0,0,0
$GC,5791,0.74,146.0,375.5,15.6,327,5796,0.00,2.22,0.00,0.000,6,0.000,0.038,2888,1978,2195,0,0,0,0,0,0
$GC,6122,0.74,146.0,328.3,13.6,336,6126,0.00,2.28,0.00,0.000,4,0.000,0.057,2898,559,2194,0,0,0,0,0,0
$GC,6138,0.74,146.0,325.8,13.8,336,6142,0.00,2.22,0.00,0.000,6,0.000,0.038,2898,1986,2193,0,0,0,0,0,0
$GC,6467,0.74,146.0,278.7,13.6,348,6471,0.00,2.17,0.00,0.000,4,0.000,0.053,2898,3387,2192,0,0,0,0,0,0
$GC,6530,0.74,146.0,269.6,15.6,351,6534,0.00,2.25,0.00,0.000,6,0.000,0.047,2906,1969,2191,0,0,0,0,0,0
$GC,6863,0.74,146.0,228.1,12.0,367,6866,0.00,2.22,0.00,0.000,4,0.000,0.051,2906,3386,2191,0,0,0,0,0,0
$GC,6969,0.74,146.0,214.3,14.2,371,6975,0.12,2.20,0.00,0.000,6,0.155,0.041,2879,1980,2190,0,0,0,0,0,0
$GC,7294,0.74,146.0,181.2,10.1,395,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1980,2189,0,0,0,0,0,0
$GC,7623,0.74,146.0,149.3,10.6,426,7627,0.00,2.22,0.00,0.000,4,0.000,0.050,2878,3386,2189,0,0,0,0,0,0
$GC,7664,0.74,146.0,144.3,12.2,429,7668,0.00,2.20,0.00,0.000,6,0.000,0.041,2886,1976,2188,0,0,0,0,0,0
$GC,7991,0.74,146.0,107.2,10.8,459,7995,0.00,2.22,0.00,0.000,4,0.000,0.050,2886,3386,2188,0,0,0,0,0,0
$GC,8087,0.74,151.4,98.0,8.8,467,8091,0.00,2.20,0.00,0.000,6,0.000,0.041,2895,1977,2188,0,0,0,0,0,0
$GC,8415,0.74,151.4,62.2,10.7,512,8422,0.00,2.25,0.00,0.000,4,0.000,0.058,2906,575,2188,0,0,0,0,0,0
$GC,8480,0.74,151.4,55.2,11.3,523,8485,0.00,2.17,0.00,0.000,6,0.000,0.037,2905,1991,2188,0,0,0,0,0,0
$GC,8808,0.78,184.5,24.5,7.7,584,8842,0.00,0.00,31.12,0.469,6,0.000,0.000,2906,1992,2046,0,0,0,0,0,0
$GC,9003,0.78,184.5,8.1,9.5,619,9010,0.00,2.25,0.00,0.000,4,0.000,0.053,2906,3381,2044,0,0,0,0,0,0
$GC,9046,0.78,184.5,3.1,11.3,626,9053,0.00,2.25,0.00,0.000,6,0.000,0.044,2908,1981,2043,0,0,0,0,0,0
$STATE,9059,end climb,SURFACE_DEPTH_REACHED
$STATE,9059,begin surface coast
$FINISH,0.4,1.010802
$STATE,9091,end surface coast,CONTROL_FINISHED_OK
$STATE,9091,begin surface
$SM_CCo,9109,53.53,0.442,0,0,1573,300.24
$SM_GC,1.38,0.00,0.00,53.53,0.000,0.000,0.442,40,1973,1573,-8.13,0.45,300.24
$IRIDIUM_FIX,2052.52,-15802.06,020902,050549
$TT8_MAMPS,0.028379
$HUMID,65.51
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,415.3,51.0
$24V_AH,24.5,34.250
$10V_AH,10.4,37.608
$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,18.800,89.000,278.275,53.525,0.000,84.243,111.116,313.152,18.000,0.000,16.749,1185.463,5387.858,400.643,2193.260,771.060,0.000,1175.686,0.000,2142.210,0.000,114.248,0.000
$DEVICE_MAMPS,230.867,61.360,773.136,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,431.594,369.859,1259.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,34849,634
$CAP_FILE_SIZE,107230,0
$CFSIZE,260165632,235307008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080613,081103,2058.746,-15747.697,38,5.3,57,9.8