version: 66.06
glider: 523
mission: 4
dive: 459
start: 6 13 113 2 45 31
data:
$ID,523
$MISSION,4
$DIVE,459
$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,-45167.441
$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,22
$R_STBD_OVSHOOT,32
$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
$GPS1,023458,2104.916,-15743.101,38,0.9,38,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.1
$GPS2,024513,2104.954,-15743.155,28,1.2,28,9.8
$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,211.9,17443,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,95,0.00,0.00,-76.18,0.000,2,0.000,0.000,50,1965,3383,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.4,12,114,9.57,2.28,-0.28,0.000,4,0.228,0.061,2393,540,3397,0,0,0,0,0,0
$GC,355,-0.74,-146.0,51.3,-15.7,59,361,0.00,2.17,0.00,0.000,6,0.000,0.036,2384,1965,3399,0,0,0,0,0,0
$GC,692,-0.74,-146.0,97.4,-12.2,108,697,0.00,2.28,0.00,0.000,4,0.000,0.052,2384,541,3400,0,0,0,0,0,0
$GC,800,-0.74,-146.0,109.9,-11.2,117,811,0.00,2.20,0.00,0.000,6,0.000,0.035,2375,1964,3399,0,0,0,0,0,0
$GC,1129,-0.74,-146.0,146.3,-11.9,148,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1963,3401,0,0,0,0,0,0
$GC,1456,-0.74,-146.0,178.7,-8.8,179,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1964,3401,0,0,0,0,0,0
$GC,1769,-0.74,-146.0,208.7,-10.0,205,1773,0.00,2.28,0.00,0.000,4,0.000,0.050,2375,544,3401,0,0,0,0,0,0
$GC,1902,-0.74,-146.0,223.6,-11.3,211,1907,0.12,2.15,0.00,0.000,6,0.161,0.033,2398,1965,3402,0,0,0,0,0,0
$GC,2224,-0.74,-146.0,249.8,-6.4,227,2231,0.00,2.30,0.00,0.000,4,0.000,0.051,2398,542,3402,0,0,0,0,0,0
$GC,2479,-0.74,-146.0,268.1,-7.5,238,2483,0.00,2.15,0.00,0.000,6,0.000,0.032,2390,1963,3401,0,0,0,0,0,0
$GC,2803,-0.74,-146.0,294.3,-8.5,254,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1963,3401,0,0,0,0,0,0
$GC,3128,-0.74,-146.0,316.2,-6.1,264,3132,0.00,2.30,0.00,0.000,4,0.000,0.052,2390,541,3401,0,0,0,0,0,0
$GC,3386,-0.74,-146.0,337.2,-8.1,269,3391,0.00,2.17,0.00,0.000,6,0.000,0.037,2380,1962,3400,0,0,0,0,0,0
$GC,3720,-0.74,-146.0,360.2,-6.8,278,3724,0.00,2.28,0.00,0.000,4,0.000,0.054,2380,544,3398,0,0,0,0,0,0
$GC,3761,-0.74,-146.0,363.1,-7.0,279,3766,0.12,2.17,0.00,0.000,6,0.163,0.038,2403,1956,3398,0,0,0,0,0,0
$GC,4090,-0.74,-146.0,386.7,-7.5,287,4094,0.00,2.25,0.00,0.000,4,0.000,0.058,2394,3366,3396,0,0,0,0,0,0
$GC,4145,-0.74,-146.0,391.5,-8.0,288,4149,0.00,2.25,0.00,0.000,6,0.000,0.046,2395,1956,3396,0,0,0,0,0,0
$GC,4494,-0.74,-146.0,414.5,-5.8,297,4498,0.00,2.30,0.00,0.000,4,0.000,0.064,2394,542,3394,0,0,0,0,0,0
$GC,4752,-0.74,-146.0,430.5,-6.2,302,4758,0.00,2.20,0.00,0.000,6,0.000,0.040,2385,1961,3392,0,0,0,0,0,0
$STATE,5083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5083,begin apogee
$GC,5090,-0.17,0.0,452.5,7.0,311,5213,0.62,0.00,120.22,0.764,6,0.119,0.000,2584,1961,2799,0,0,0,0,0,0
$STATE,5214,end apogee,CONTROL_FINISHED_OK
$STATE,5214,begin climb
$GC,5217,0.74,146.0,455.1,0.0,314,5355,0.82,2.45,126.07,0.739,4,0.077,0.058,2869,3387,2203,0,0,0,0,0,0
$GC,5439,0.74,146.0,430.7,14.7,319,5443,0.00,2.33,0.00,0.000,6,0.000,0.048,2879,1982,2199,0,0,0,0,0,0
$GC,5752,0.74,146.0,390.8,12.5,327,5756,0.00,2.33,0.00,0.000,4,0.000,0.067,2889,569,2196,0,0,0,0,0,0
$GC,5791,0.74,146.0,385.6,13.9,328,5795,0.00,2.22,0.00,0.000,6,0.000,0.041,2889,1976,2195,0,0,0,0,0,0
$GC,6115,0.74,146.0,342.5,12.9,336,6119,0.00,2.22,0.00,0.000,4,0.000,0.053,2889,3398,2193,0,0,0,0,0,0
$GC,6290,0.74,146.0,323.1,10.0,340,6294,0.00,2.30,0.00,0.000,6,0.000,0.051,2898,1978,2192,0,0,0,0,0,0
$GC,6615,0.74,146.0,286.3,12.1,350,6619,0.00,2.28,0.00,0.000,4,0.000,0.061,2909,566,2191,0,0,0,0,0,0
$GC,6670,0.74,146.0,279.2,13.1,352,6676,0.12,2.20,0.00,0.000,6,0.140,0.044,2875,1980,2191,0,0,0,0,0,0
$GC,6986,0.74,146.0,243.7,10.5,368,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1980,2190,0,0,0,0,0,0
$GC,7296,0.75,159.0,214.0,8.5,383,7310,0.00,2.22,10.07,0.578,4,0.000,0.051,2874,3399,2150,0,0,0,0,0,0
$GC,7414,0.75,159.0,202.2,10.3,387,7418,0.00,2.25,0.00,0.000,6,0.000,0.042,2883,1965,2148,0,0,0,0,0,0
$GC,7741,0.75,159.0,169.8,9.8,416,7745,0.00,2.20,0.00,0.000,4,0.000,0.057,2893,566,2147,0,0,0,0,0,0
$GC,7837,0.75,159.0,160.2,9.5,424,7845,0.00,2.22,0.00,0.000,6,0.000,0.036,2893,1992,2146,0,0,0,0,0,0
$GC,8165,0.75,159.0,130.5,9.4,455,8169,0.00,2.22,0.00,0.000,4,0.000,0.053,2893,3392,2147,0,0,0,0,0,0
$GC,8270,0.75,159.0,118.4,11.8,464,8274,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1977,2147,0,0,0,0,0,0
$GC,8597,0.75,159.0,81.9,10.6,494,8601,0.00,2.30,0.00,0.000,4,0.000,0.057,2902,3393,2147,0,0,0,0,0,0
$GC,8704,0.75,159.0,70.4,10.6,511,8709,0.00,2.25,0.00,0.000,6,0.000,0.048,2911,1979,2147,0,0,0,0,0,0
$GC,9035,0.75,159.0,40.4,9.6,572,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1979,2147,0,0,0,0,0,0
$GC,9363,0.79,193.3,13.3,7.6,633,9404,0.00,2.30,29.62,0.446,4,0.000,0.057,2921,568,2011,0,0,0,0,0,0
$GC,9440,0.91,287.8,9.0,5.1,645,9499,0.00,2.17,54.28,0.443,2,0.000,0.031,2921,1982,1752,0,0,0,0,0,0
$STATE,9500,end climb,SURFACE_DEPTH_REACHED
$STATE,9500,begin surface coast
$FINISH,0.6,1.023086
$STATE,9530,end surface coast,CONTROL_FINISHED_OK
$STATE,9530,begin surface
$SM_CCo,9547,21.17,0.413,0,0,1575,300.24
$SM_GC,1.56,0.00,0.00,21.17,0.000,0.000,0.413,25,1991,1575,-8.17,0.96,300.24
$IRIDIUM_FIX,2059.45,-15746.61,070902,020251
$TT8_MAMPS,0.028379
$HUMID,63.86
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.5,37.888
$10V_AH,10.4,41.734
$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,18.875,76.425,340.275,21.175,0.000,54.239,66.604,265.479,19.000,0.000,31.440,1211.905,5647.608,385.960,2274.066,662.817,0.000,1202.686,0.000,2211.796,0.000,119.190,0.000
$DEVICE_MAMPS,227.799,66.729,763.932,413.413,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,447.251,368.182,1288.711,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,35079,659
$CAP_FILE_SIZE,105140,0
$CFSIZE,260165632,233185280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130613,052627,2103.955,-15743.605,28,1.1,47,9.8