version: 66.06
glider: 523
mission: 4
dive: 418
start: 6 8 113 11 3 5
data:
$ID,523
$MISSION,4
$DIVE,418
$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,-44257.047
$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,26
$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
$GPS1,105635,2057.834,-15748.535,15,1.0,15,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.1
$GPS2,110248,2057.813,-15748.574,15,0.9,15,9.8
$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,265.2,2233,-19.1,-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,17,-0.78,-113.1,0.0,0.0,0,95,0.00,0.00,-73.20,0.000,6,0.000,0.000,33,1967,3261,0,0,0,0,0,0
$GC,99,-0.82,-146.0,3.0,-4.0,12,120,9.62,2.28,-3.12,0.000,4,0.232,0.068,2358,3362,3397,0,0,0,0,0,0
$GC,292,-0.82,-146.0,38.7,-16.7,47,297,0.00,2.22,0.00,0.000,6,0.000,0.048,2358,1950,3398,0,0,0,0,0,0
$GC,627,-0.82,-146.0,88.9,-14.3,103,632,0.00,2.25,0.00,0.000,4,0.000,0.057,2358,538,3400,0,0,0,0,0,0
$GC,762,-0.82,-146.0,109.5,-14.2,115,773,0.00,2.20,0.00,0.000,6,0.000,0.035,2348,1964,3400,0,0,0,0,0,0
$GC,1090,-0.82,-146.0,153.2,-11.6,146,1094,0.00,2.17,0.00,0.000,4,0.000,0.054,2337,3357,3401,0,0,0,0,0,0
$GC,1122,-0.82,-146.0,157.0,-11.1,148,1127,0.15,2.20,0.00,0.000,6,0.151,0.046,2376,1956,3401,0,0,0,0,0,0
$GC,1451,-0.82,-146.0,190.5,-12.1,178,1455,0.00,2.22,0.00,0.000,4,0.000,0.054,2377,536,3402,0,0,0,0,0,0
$GC,1673,-0.82,-146.0,217.1,-10.9,191,1677,0.00,2.15,0.00,0.000,6,0.000,0.034,2368,1961,3402,0,0,0,0,0,0
$GC,1999,-0.82,-146.0,248.8,-9.8,207,2003,0.00,2.20,0.00,0.000,4,0.000,0.051,2358,3365,3402,0,0,0,0,0,0
$GC,2038,-0.82,-146.0,252.6,-10.0,209,2042,0.00,2.22,0.00,0.000,6,0.000,0.044,2358,1951,3402,0,0,0,0,0,0
$GC,2366,-0.82,-146.0,280.9,-8.6,225,2370,0.00,2.20,0.00,0.000,4,0.000,0.054,2358,545,3402,0,0,0,0,0,0
$GC,2473,-0.82,-146.0,291.2,-10.1,230,2477,0.00,2.15,0.00,0.000,6,0.000,0.034,2348,1962,3402,0,0,0,0,0,0
$GC,2820,-0.82,-146.0,323.4,-8.5,241,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1963,3402,0,0,0,0,0,0
$GC,3141,-0.82,-146.0,349.2,-6.9,249,3146,0.00,2.30,0.00,0.000,4,0.000,0.055,2348,544,3402,0,0,0,0,0,0
$GC,3399,-0.82,-146.0,369.4,-7.5,254,3405,0.15,2.17,0.00,0.000,6,0.160,0.036,2378,1966,3401,0,0,0,0,0,0
$GC,3733,-0.82,-146.0,390.1,-6.2,263,3737,0.00,2.28,0.00,0.000,4,0.000,0.058,2378,551,3400,0,0,0,0,0,0
$GC,3992,-0.82,-146.0,407.2,-6.7,268,3997,0.00,2.12,0.00,0.000,6,0.000,0.038,2370,1956,3399,0,0,0,0,0,0
$GC,4323,-0.82,-146.0,430.0,-7.6,277,4327,0.00,2.28,0.00,0.000,4,0.000,0.061,2370,551,3396,0,0,0,0,0,0
$STATE,4579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4579,begin apogee
$GC,4588,-0.17,0.0,450.0,7.4,282,4712,0.68,0.00,121.12,0.755,6,0.129,0.000,2576,1979,2799,0,0,0,0,0,0
$STATE,4713,end apogee,CONTROL_FINISHED_OK
$STATE,4713,begin climb
$GC,4716,0.82,146.0,451.1,0.0,285,4854,0.95,2.38,126.18,0.730,4,0.081,0.054,2900,3383,2202,0,0,0,0,0,0
$GC,4944,0.82,146.0,417.6,17.1,290,4948,0.00,2.28,0.00,0.000,6,0.000,0.044,2909,1982,2198,0,0,0,0,0,0
$GC,5292,0.82,146.0,363.2,14.7,299,5296,0.00,2.30,0.00,0.000,4,0.000,0.064,2920,573,2196,0,0,0,0,0,0
$GC,5392,0.82,146.0,349.2,13.9,301,5396,0.00,2.20,0.00,0.000,6,0.000,0.041,2920,1977,2194,0,0,0,0,0,0
$GC,5739,0.82,146.0,300.0,14.4,310,5743,0.00,2.25,0.00,0.000,4,0.000,0.058,2920,3385,2192,0,0,0,0,0,0
$GC,5829,0.82,146.0,285.7,15.7,314,5833,0.00,2.25,0.00,0.000,6,0.000,0.050,2929,1983,2191,0,0,0,0,0,0
$GC,6150,0.82,146.0,240.1,13.3,330,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1983,2190,0,0,0,0,0,0
$GC,6459,0.82,146.0,199.1,14.0,345,6463,0.00,2.25,0.00,0.000,4,0.000,0.058,2929,3389,2189,0,0,0,0,0,0
$GC,6484,0.82,146.0,195.7,14.6,347,6489,0.12,2.25,0.00,0.000,6,0.157,0.048,2905,1978,2188,0,0,0,0,0,0
$GC,6811,0.82,146.0,162.1,10.7,377,6815,0.00,2.25,0.00,0.000,4,0.000,0.059,2913,566,2188,0,0,0,0,0,0
$GC,6927,0.82,146.0,149.3,10.4,387,6931,0.00,2.20,0.00,0.000,6,0.000,0.041,2913,1983,2187,0,0,0,0,0,0
$GC,7254,0.82,146.0,113.9,10.8,417,7258,0.00,2.20,0.00,0.000,4,0.000,0.052,2914,3390,2188,0,0,0,0,0,0
$GC,7359,0.82,146.0,102.1,11.8,426,7363,0.00,2.22,0.00,0.000,6,0.000,0.048,2922,1979,2187,0,0,0,0,0,0
$GC,7684,0.82,146.0,67.5,9.8,468,7692,0.00,2.28,0.00,0.000,4,0.000,0.056,2922,3389,2187,0,0,0,0,0,0
$GC,7761,0.82,146.0,59.3,11.2,481,7766,0.00,2.20,0.00,0.000,6,0.000,0.045,2932,1980,2187,0,0,0,0,0,0
$GC,8094,0.82,146.2,25.9,9.0,542,8101,0.00,2.25,0.00,0.000,4,0.000,0.054,2942,568,2188,0,0,0,0,0,0
$GC,8126,0.83,159.1,23.2,8.3,547,8141,0.10,2.20,9.85,0.424,6,0.114,0.039,2907,1971,2151,0,0,0,0,0,0
$GC,8302,0.84,164.0,6.9,8.8,579,8316,0.00,2.25,5.78,0.371,4,0.000,0.052,2907,3393,2130,0,0,0,0,0,0
$STATE,8332,end climb,SURFACE_DEPTH_REACHED
$STATE,8333,begin surface coast
$FINISH,0.5,1.020600
$STATE,8361,end surface coast,CONTROL_FINISHED_OK
$STATE,8361,begin surface
$SM_CCo,8382,63.17,0.440,0,0,1575,300.24
$SM_GC,1.27,0.00,0.00,63.17,0.000,0.000,0.440,34,1935,1575,-8.15,-0.62,300.24
$IRIDIUM_FIX,2052.52,-15746.61,020902,080823
$TT8_MAMPS,0.028379
$HUMID,64.84
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,426.8,57.0
$24V_AH,24.6,34.415
$10V_AH,10.5,37.794
$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,19.025,80.350,262.925,63.175,0.000,28.496,33.722,178.037,18.250,0.000,16.400,1106.274,4796.292,386.803,2056.737,469.804,0.000,1114.469,0.000,2003.601,0.000,114.476,0.000
$DEVICE_MAMPS,232.401,68.263,755.495,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,400.089,341.091,1170.121,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,31840,589
$CAP_FILE_SIZE,95811,0
$CFSIZE,260165632,235225088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080613,132505,2057.509,-15749.633,35,1.0,35,9.8