version: 66.06
glider: 523
mission: 4
dive: 458
start: 6 12 113 23 56 53
data:
$ID,523
$MISSION,4
$DIVE,458
$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,-45135.371
$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,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
$GPS1,234935,2105.567,-15743.113,36,1.0,36,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.1
$GPS2,235635,2105.596,-15743.084,31,0.9,31,9.8
$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,209.7,18427,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-70.28,0.000,2,0.000,0.000,37,1969,3237,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.0,-4.0,11,113,9.55,2.30,-3.50,0.000,4,0.227,0.065,2394,550,3398,0,0,0,0,0,0
$GC,314,-0.74,-146.0,46.7,-17.9,52,321,0.00,2.17,0.00,0.000,6,0.000,0.035,2386,1951,3399,0,0,0,0,0,0
$GC,652,-0.74,-146.0,96.3,-13.7,103,656,0.00,2.22,0.00,0.000,4,0.000,0.052,2386,548,3400,0,0,0,0,0,0
$GC,715,-0.74,-146.0,104.6,-11.6,108,720,0.00,2.17,0.00,0.000,6,0.000,0.035,2377,1966,3400,0,0,0,0,0,0
$GC,1048,-0.74,-146.0,136.8,-8.7,139,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1967,3401,0,0,0,0,0,0
$GC,1367,-0.74,-146.0,165.4,-8.9,169,1371,0.00,2.25,0.00,0.000,4,0.000,0.051,2377,547,3402,0,0,0,0,0,0
$GC,1595,-0.74,-146.0,192.7,-12.0,189,1600,0.12,2.15,0.00,0.000,6,0.166,0.034,2399,1962,3402,0,0,0,0,0,0
$GC,1913,-0.74,-146.0,224.5,-8.9,207,1917,0.00,2.17,0.00,0.000,4,0.000,0.054,2390,3361,3402,0,0,0,0,0,0
$GC,2041,-0.74,-146.0,235.9,-7.7,213,2045,0.00,2.20,0.00,0.000,6,0.000,0.042,2390,1952,3403,0,0,0,0,0,0
$GC,2371,-0.74,-146.0,257.1,-6.9,229,2375,0.00,2.22,0.00,0.000,4,0.000,0.052,2390,540,3402,0,0,0,0,0,0
$GC,2629,-0.74,-146.0,285.6,-10.5,240,2635,0.00,2.15,0.00,0.000,6,0.000,0.034,2380,1959,3402,0,0,0,0,0,0
$GC,2966,-0.74,-146.0,311.1,-6.5,253,2970,0.00,2.28,0.00,0.000,4,0.000,0.052,2380,542,3402,0,0,0,0,0,0
$GC,3173,-0.74,-146.0,325.1,-7.8,257,3178,0.12,2.15,0.00,0.000,6,0.163,0.035,2404,1956,3402,0,0,0,0,0,0
$GC,3505,-0.74,-146.0,348.0,-7.0,265,3509,0.00,2.25,0.00,0.000,4,0.000,0.056,2395,3359,3401,0,0,0,0,0,0
$GC,3561,-0.74,-146.0,352.5,-7.8,266,3565,0.00,2.22,0.00,0.000,6,0.000,0.041,2395,1946,3401,0,0,0,0,0,0
$GC,3909,-0.74,-146.0,373.6,-5.5,275,3913,0.00,2.25,0.00,0.000,4,0.000,0.057,2395,542,3399,0,0,0,0,0,0
$GC,4034,-0.74,-146.0,383.4,-8.6,277,4040,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1954,3398,0,0,0,0,0,0
$GC,4366,-0.74,-146.0,408.4,-7.2,286,4370,0.00,2.22,0.00,0.000,4,0.000,0.057,2375,3363,3396,0,0,0,0,0,0
$GC,4399,-0.74,-146.0,410.6,-6.9,286,4404,0.00,2.20,0.00,0.000,6,0.000,0.044,2375,1958,3396,0,0,0,0,0,0
$GC,4733,-0.74,-146.0,430.2,-5.7,295,4737,0.00,2.28,0.00,0.000,4,0.000,0.061,2375,551,3394,0,0,0,0,0,0
$GC,4993,-0.74,-146.0,448.1,-7.8,300,4999,0.12,2.17,0.00,0.000,6,0.166,0.039,2397,1959,3392,0,0,0,0,0,0
$STATE,5038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5038,begin apogee
$GC,5044,-0.17,0.0,451.1,6.4,302,5168,0.57,0.00,121.00,0.762,6,0.116,0.000,2584,1959,2800,0,0,0,0,0,0
$STATE,5169,end apogee,CONTROL_FINISHED_OK
$STATE,5169,begin climb
$GC,5172,0.74,146.0,451.9,0.0,305,5310,0.82,2.42,126.05,0.738,4,0.077,0.058,2870,3379,2202,0,0,0,0,0,0
$GC,5394,0.74,146.0,426.2,13.7,310,5399,0.00,2.30,0.00,0.000,6,0.000,0.048,2879,1986,2199,0,0,0,0,0,0
$GC,5708,0.74,146.0,388.7,11.6,318,5712,0.00,2.33,0.00,0.000,4,0.000,0.066,2889,571,2196,0,0,0,0,0,0
$GC,5740,0.74,146.0,384.7,12.2,318,5746,0.00,2.22,0.00,0.000,6,0.000,0.039,2889,1985,2195,0,0,0,0,0,0
$GC,6072,0.74,146.0,342.8,13.2,327,6076,0.00,2.25,0.00,0.000,4,0.000,0.061,2889,3383,2194,0,0,0,0,0,0
$GC,6318,0.74,146.0,309.2,13.8,332,6322,0.00,2.28,0.00,0.000,6,0.000,0.049,2898,1972,2192,0,0,0,0,0,0
$GC,6638,0.74,146.0,268.2,13.0,346,6641,0.00,2.25,0.00,0.000,4,0.000,0.061,2908,565,2191,0,0,0,0,0,0
$GC,6660,0.74,146.0,265.1,13.8,347,6665,0.12,2.22,0.00,0.000,6,0.137,0.041,2874,1987,2190,0,0,0,0,0,0
$GC,6987,0.74,146.0,228.0,10.3,363,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1988,2189,0,0,0,0,0,0
$GC,7296,0.74,146.0,198.7,9.9,378,7300,0.00,2.22,0.00,0.000,4,0.000,0.053,2874,3389,2189,0,0,0,0,0,0
$GC,7414,0.74,146.0,186.7,10.4,388,7418,0.00,2.28,0.00,0.000,6,0.000,0.049,2881,1980,2188,0,0,0,0,0,0
$GC,7741,0.74,146.0,157.0,10.1,418,7745,0.00,2.28,0.00,0.000,4,0.000,0.059,2892,569,2188,0,0,0,0,0,0
$GC,7771,0.74,146.0,153.8,10.7,420,7775,0.00,2.20,0.00,0.000,6,0.000,0.041,2892,1997,2188,0,0,0,0,0,0
$GC,8100,0.74,146.0,118.2,9.6,450,8104,0.00,2.20,0.00,0.000,4,0.000,0.052,2892,3380,2188,0,0,0,0,0,0
$GC,8216,0.74,146.0,105.9,11.3,460,8220,0.00,2.22,0.00,0.000,6,0.000,0.041,2901,1968,2188,0,0,0,0,0,0
$GC,8543,0.74,146.0,72.7,9.6,497,8548,0.00,2.22,0.00,0.000,4,0.000,0.051,2901,3385,2188,0,0,0,0,0,0
$GC,8568,0.74,146.0,70.4,9.1,501,8574,0.12,2.25,0.00,0.000,6,0.141,0.047,2873,1976,2188,0,0,0,0,0,0
$GC,8899,0.88,259.6,47.7,4.3,562,8997,0.15,0.00,93.12,0.481,6,0.064,0.000,2965,1975,1741,0,0,0,0,0,0
$GC,9319,0.88,259.6,3.8,11.4,639,9328,0.15,2.30,0.00,0.000,4,0.135,0.057,2930,575,1740,0,0,0,0,0,0
$STATE,9334,end climb,SURFACE_DEPTH_REACHED
$STATE,9334,begin surface coast
$FINISH,0.6,1.023053
$STATE,9362,end surface coast,CONTROL_FINISHED_OK
$STATE,9362,begin surface
$SM_CCo,9382,24.35,0.426,0,0,1576,300.24
$SM_GC,1.68,0.00,0.00,24.35,0.000,0.000,0.426,59,1971,1576,-8.06,0.40,300.24
$IRIDIUM_FIX,2057.14,-15753.90,060902,212104
$TT8_MAMPS,0.028379
$HUMID,64.53
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.5,37.798
$10V_AH,10.4,41.634
$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,19.300,84.850,340.175,24.350,0.000,26.533,42.269,201.549,19.250,0.000,31.531,1209.860,5453.846,394.375,2239.814,527.738,0.000,1194.573,0.000,2174.977,0.000,119.744,0.000
$DEVICE_MAMPS,227.032,65.962,761.631,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,438.041,365.729,1249.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35077,646
$CAP_FILE_SIZE,104584,0
$CFSIZE,260165632,233234432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130613,023458,2104.916,-15743.101,38,0.9,38,9.8