version: 66.06
glider: 523
mission: 4
dive: 456
start: 6 12 113 18 24 49
data:
$ID,523
$MISSION,4
$DIVE,456
$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,-45082.535
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,181148,2106.261,-15743.672,28,2.0,28,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.8
$GPS2,182433,2106.371,-15743.761,41,1.0,41,9.8
$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,204.2,18877,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-75.62,0.000,2,0.000,0.000,38,1965,3376,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.2,-4.0,12,115,9.57,2.30,-0.40,0.000,4,0.225,0.061,2395,538,3396,0,0,0,0,0,0
$GC,356,-0.74,-146.0,53.5,-15.4,59,362,0.00,2.17,0.00,0.000,6,0.000,0.036,2387,1961,3398,0,0,0,0,0,0
$GC,694,-0.74,-146.0,98.9,-11.7,107,698,0.00,2.28,0.00,0.000,4,0.000,0.051,2387,543,3398,0,0,0,0,0,0
$GC,768,-0.74,-146.0,107.1,-10.8,113,773,0.00,2.17,0.00,0.000,6,0.000,0.034,2377,1965,3398,0,0,0,0,0,0
$GC,1095,-0.74,-146.0,144.2,-11.1,143,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1965,3399,0,0,0,0,0,0
$GC,1413,-0.74,-146.0,176.9,-9.6,173,1417,0.00,2.33,0.00,0.000,4,0.000,0.051,2378,545,3399,0,0,0,0,0,0
$GC,1661,-0.74,-146.0,201.8,-11.2,195,1668,0.12,2.15,0.00,0.000,6,0.165,0.033,2400,1962,3400,0,0,0,0,0,0
$GC,1977,-0.74,-146.0,228.2,-8.6,211,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1963,3400,0,0,0,0,0,0
$GC,2287,-0.74,-146.0,251.9,-7.9,226,2291,0.00,2.28,0.00,0.000,4,0.000,0.051,2400,543,3400,0,0,0,0,0,0
$GC,2429,-0.74,-146.0,263.4,-8.4,232,2433,0.00,2.15,0.00,0.000,6,0.000,0.034,2392,1964,3400,0,0,0,0,0,0
$GC,2747,-0.74,-146.0,289.8,-7.5,247,2752,0.00,2.22,0.00,0.000,4,0.000,0.057,2381,3355,3400,0,0,0,0,0,0
$GC,2848,-0.74,-146.0,296.7,-6.7,251,2852,0.00,2.20,0.00,0.000,6,0.000,0.044,2381,1955,3400,0,0,0,0,0,0
$GC,3160,-0.74,-146.0,318.3,-7.5,260,3164,0.00,2.28,0.00,0.000,4,0.000,0.056,2381,537,3399,0,0,0,0,0,0
$GC,3418,-0.74,-146.0,340.7,-8.4,265,3425,0.12,2.17,0.00,0.000,6,0.160,0.037,2405,1957,3398,0,0,0,0,0,0
$GC,3751,-0.74,-146.0,360.8,-5.7,274,3755,0.00,2.33,0.00,0.000,4,0.000,0.058,2405,545,3397,0,0,0,0,0,0
$GC,3941,-0.74,-146.0,374.5,-7.9,278,3945,0.00,2.17,0.00,0.000,6,0.000,0.038,2398,1957,3395,0,0,0,0,0,0
$GC,4292,-0.74,-146.0,401.3,-8.0,287,4296,0.00,2.28,0.00,0.000,4,0.000,0.058,2397,550,3393,0,0,0,0,0,0
$GC,4348,-0.74,-146.0,405.9,-7.9,288,4352,0.00,2.17,0.00,0.000,6,0.000,0.039,2388,1958,3392,0,0,0,0,0,0
$GC,4662,-0.74,-146.0,425.6,-5.5,296,4666,0.00,2.28,0.00,0.000,4,0.000,0.059,2377,3373,3391,0,0,0,0,0,0
$GC,4729,-0.74,-146.0,429.4,-5.7,297,4733,0.00,2.25,0.00,0.000,6,0.000,0.046,2377,1957,3390,0,0,0,0,0,0
$GC,5072,-0.74,-146.0,447.9,-5.5,306,5076,0.00,2.28,0.00,0.000,4,0.000,0.064,2378,547,3388,0,0,0,0,0,0
$STATE,5097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5097,begin apogee
$GC,5107,-0.17,0.0,450.1,7.3,306,5230,0.65,0.00,120.00,0.764,6,0.126,0.000,2575,1985,2799,0,0,0,0,0,0
$STATE,5231,end apogee,CONTROL_FINISHED_OK
$STATE,5231,begin climb
$GC,5234,0.74,146.0,451.7,0.0,309,5372,0.85,2.40,126.00,0.739,4,0.077,0.060,2869,3383,2202,0,0,0,0,0,0
$GC,5461,0.74,146.0,426.4,13.5,314,5466,0.00,2.30,0.00,0.000,6,0.000,0.048,2879,1982,2198,0,0,0,0,0,0
$GC,5810,0.74,146.0,383.3,12.2,323,5814,0.00,2.28,0.00,0.000,4,0.000,0.061,2879,3389,2195,0,0,0,0,0,0
$GC,5854,0.74,146.0,377.7,12.4,324,5858,0.00,2.22,0.00,0.000,6,0.000,0.040,2889,1973,2194,0,0,0,0,0,0
$GC,6172,0.74,146.0,338.7,12.1,332,6176,0.00,2.22,0.00,0.000,4,0.000,0.055,2899,572,2193,0,0,0,0,0,0
$GC,6216,0.74,146.0,332.5,14.1,333,6220,0.00,2.20,0.00,0.000,6,0.000,0.036,2899,1996,2192,0,0,0,0,0,0
$GC,6536,0.74,146.0,286.9,14.4,343,6540,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3387,2191,0,0,0,0,0,0
$GC,6558,0.74,146.0,283.6,14.4,344,6563,0.12,2.22,0.00,0.000,6,0.156,0.041,2875,1977,2191,0,0,0,0,0,0
$GC,6885,0.74,146.0,245.8,11.2,360,6889,0.00,2.28,0.00,0.000,4,0.000,0.051,2875,3391,2189,0,0,0,0,0,0
$GC,6985,0.74,146.0,233.2,12.7,364,6991,0.00,2.22,0.00,0.000,6,0.000,0.041,2883,1978,2188,0,0,0,0,0,0
$GC,7301,0.74,146.0,198.7,10.6,380,7305,0.00,2.22,0.00,0.000,4,0.000,0.051,2883,3389,2188,0,0,0,0,0,0
$GC,7344,0.74,146.0,193.8,11.2,383,7352,0.00,2.25,0.00,0.000,6,0.000,0.040,2893,1974,2187,0,0,0,0,0,0
$GC,7673,0.74,146.0,157.3,10.7,414,7677,0.00,2.20,0.00,0.000,4,0.000,0.054,2901,573,2187,0,0,0,0,0,0
$GC,7748,0.74,146.0,149.4,9.7,420,7755,0.00,2.17,0.00,0.000,6,0.000,0.035,2901,1978,2186,0,0,0,0,0,0
$GC,8075,0.74,146.0,118.4,9.6,451,8079,0.00,2.17,0.00,0.000,4,0.000,0.051,2901,3383,2187,0,0,0,0,0,0
$GC,8170,0.74,146.0,107.1,12.7,459,8175,0.12,2.20,0.00,0.000,6,0.146,0.039,2876,1975,2187,0,0,0,0,0,0
$GC,8497,0.74,150.1,76.0,8.9,493,8503,0.00,2.22,0.00,0.000,4,0.000,0.050,2876,3389,2186,0,0,0,0,0,0
$GC,8555,0.74,150.1,70.4,10.0,503,8561,0.00,2.25,0.00,0.000,6,0.000,0.047,2883,1981,2187,0,0,0,0,0,0
$GC,8885,0.79,186.0,43.4,7.5,564,8927,0.00,2.28,31.98,0.480,4,0.000,0.056,2883,3374,2039,0,0,0,0,0,0
$GC,8998,0.79,186.0,34.2,9.5,583,9003,0.00,2.22,0.00,0.000,6,0.000,0.046,2891,1980,2038,0,0,0,0,0,0
$GC,9324,0.81,205.0,9.6,8.2,644,9346,0.00,2.30,16.88,0.433,4,0.000,0.056,2893,568,1963,0,0,0,0,0,0
$GC,9402,0.84,226.1,3.9,8.2,657,9417,0.00,2.22,10.35,0.403,2,0.000,0.038,2893,1983,1917,0,0,0,0,0,0
$STATE,9418,end climb,SURFACE_DEPTH_REACHED
$STATE,9418,begin surface coast
$FINISH,1.0,1.023011
$STATE,9442,end surface coast,CONTROL_FINISHED_OK
$STATE,9442,begin surface
$SM_CCo,9460,41.58,0.431,0,0,1575,300.24
$SM_GC,1.24,0.00,0.00,41.58,0.000,0.000,0.431,39,1993,1575,-8.13,0.99,300.24
$IRIDIUM_FIX,2054.83,-15739.33,060902,181840
$TT8_MAMPS,0.028379
$HUMID,65.19
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,24.5,37.632
$10V_AH,10.4,41.439
$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,18.825,93.975,305.200,41.575,0.000,79.902,150.940,242.461,19.500,0.000,42.429,1229.148,5632.778,393.299,2259.687,748.815,0.000,1183.322,0.000,2185.110,0.000,117.267,0.000
$DEVICE_MAMPS,225.498,63.661,763.932,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,450.129,377.630,1301.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38144,663
$CAP_FILE_SIZE,109859,0
$CFSIZE,260165632,233328640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120613,210405,2105.860,-15743.641,15,0.9,15,9.8