version: 66.06
glider: 523
mission: 4
dive: 461
start: 6 13 113 8 23 22
data:
$ID,523
$MISSION,4
$DIVE,461
$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,-45204.051
$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,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
$GPS1,080642,2103.047,-15743.863,16,1.7,16,9.8
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.8
$GPS2,082305,2103.194,-15743.892,18,0.9,18,9.8
$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,216.8,14214,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.85,0.000,2,0.000,0.000,50,1935,3390,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.0,12,112,9.48,2.22,0.00,0.000,4,0.224,0.048,2392,537,3391,0,0,0,0,0,0
$GC,353,-0.74,-146.0,53.0,-16.4,59,359,0.00,2.17,0.00,0.000,6,0.000,0.036,2384,1972,3392,0,0,0,0,0,0
$GC,683,-0.74,-146.0,95.9,-12.9,108,687,0.00,2.30,0.00,0.000,4,0.000,0.051,2384,537,3394,0,0,0,0,0,0
$GC,815,-0.74,-146.0,112.9,-11.7,119,823,0.00,2.20,0.00,0.000,6,0.000,0.034,2374,1963,3394,0,0,0,0,0,0
$GC,1143,-0.74,-146.0,143.8,-9.5,150,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1964,3395,0,0,0,0,0,0
$GC,1461,-0.74,-146.0,178.9,-11.5,180,1465,0.00,2.25,0.00,0.000,4,0.000,0.050,2374,540,3395,0,0,0,0,0,0
$GC,1713,-0.74,-146.0,208.2,-9.8,199,1719,0.12,2.15,0.00,0.000,6,0.165,0.034,2397,1972,3395,0,0,0,0,0,0
$GC,2032,-0.74,-146.0,230.6,-6.6,215,2036,0.00,2.30,0.00,0.000,4,0.000,0.051,2398,533,3395,0,0,0,0,0,0
$GC,2184,-0.74,-146.0,242.4,-7.6,221,2189,0.00,2.17,0.00,0.000,6,0.000,0.034,2389,1964,3395,0,0,0,0,0,0
$GC,2502,-0.74,-146.0,267.8,-8.8,237,2506,0.00,2.20,0.00,0.000,4,0.000,0.058,2379,3358,3395,0,0,0,0,0,0
$GC,2675,-0.74,-146.0,284.1,-8.5,244,2681,0.00,2.22,0.00,0.000,6,0.000,0.044,2379,1955,3395,0,0,0,0,0,0
$GC,3013,-0.74,-146.0,309.6,-7.0,258,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1955,3394,0,0,0,0,0,0
$GC,3335,-0.74,-146.0,333.6,-7.6,266,3339,0.00,2.25,0.00,0.000,4,0.000,0.057,2379,547,3392,0,0,0,0,0,0
$GC,3488,-0.74,-146.0,345.3,-7.7,269,3492,0.12,2.17,0.00,0.000,6,0.167,0.039,2402,1957,3391,0,0,0,0,0,0
$GC,3833,-0.74,-146.0,361.1,-4.2,278,3837,0.00,2.35,0.00,0.000,4,0.000,0.059,2403,539,3388,0,0,0,0,0,0
$GC,4091,-0.74,-146.0,374.7,-5.8,283,4097,0.00,2.20,0.00,0.000,6,0.000,0.041,2395,1954,3387,0,0,0,0,0,0
$GC,4423,-0.74,-146.0,396.1,-7.0,292,4427,0.00,2.33,0.00,0.000,4,0.000,0.061,2395,547,3384,0,0,0,0,0,0
$GC,4619,-0.74,-146.0,410.0,-6.5,296,4624,0.00,2.20,0.00,0.000,6,0.000,0.042,2385,1958,3383,0,0,0,0,0,0
$GC,4969,-0.74,-146.0,434.3,-7.4,305,4973,0.00,2.33,0.00,0.000,4,0.000,0.062,2385,539,3381,0,0,0,0,0,0
$GC,5075,-0.74,-146.0,443.3,-8.1,307,5079,0.00,2.22,0.00,0.000,6,0.000,0.043,2376,1962,3380,0,0,0,0,0,0
$STATE,5171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5171,begin apogee
$GC,5178,-0.17,0.0,451.0,7.9,310,5299,0.65,0.00,118.38,0.767,6,0.122,0.000,2580,1962,2800,0,0,0,0,0,0
$STATE,5300,end apogee,CONTROL_FINISHED_OK
$STATE,5300,begin climb
$GC,5303,0.74,146.0,452.8,0.0,313,5441,0.85,2.45,126.25,0.739,4,0.075,0.060,2876,3388,2203,0,0,0,0,0,0
$GC,5503,0.74,146.0,430.5,14.2,317,5507,0.00,2.30,0.00,0.000,6,0.000,0.047,2885,1982,2199,0,0,0,0,0,0
$GC,5840,0.74,146.0,388.7,11.6,326,5843,0.00,2.30,0.00,0.000,4,0.000,0.059,2895,563,2195,0,0,0,0,0,0
$GC,5867,0.74,146.0,385.1,13.0,326,5871,0.00,2.22,0.00,0.000,6,0.000,0.038,2896,1982,2195,0,0,0,0,0,0
$GC,6204,0.74,146.0,338.5,14.0,335,6208,0.00,2.20,0.00,0.000,4,0.000,0.053,2896,3390,2194,0,0,0,0,0,0
$GC,6276,0.74,146.0,328.1,14.3,336,6280,0.00,2.25,0.00,0.000,6,0.000,0.051,2905,1980,2193,0,0,0,0,0,0
$GC,6594,0.74,146.0,291.1,11.5,346,6598,0.00,2.25,0.00,0.000,4,0.000,0.060,2905,3383,2192,0,0,0,0,0,0
$GC,6689,0.74,146.0,277.7,14.0,350,6693,0.12,2.25,0.00,0.000,6,0.151,0.050,2880,1980,2191,0,0,0,0,0,0
$GC,7010,0.74,146.0,244.0,9.7,366,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1980,2190,0,0,0,0,0,0
$GC,7319,0.74,146.0,209.2,12.2,381,7323,0.00,2.28,0.00,0.000,4,0.000,0.058,2880,3392,2189,0,0,0,0,0,0
$GC,7340,0.74,146.0,206.5,12.2,382,7344,0.00,2.25,0.00,0.000,6,0.000,0.048,2888,1973,2188,0,0,0,0,0,0
$GC,7669,0.74,146.0,173.1,9.5,410,7674,0.00,2.25,0.00,0.000,4,0.000,0.059,2898,561,2188,0,0,0,0,0,0
$GC,7691,0.74,146.0,170.6,9.5,411,7698,0.00,2.22,0.00,0.000,6,0.000,0.041,2898,1975,2188,0,0,0,0,0,0
$GC,8018,0.74,146.0,136.3,10.4,442,8022,0.00,2.20,0.00,0.000,4,0.000,0.051,2898,3390,2188,0,0,0,0,0,0
$GC,8157,0.74,146.0,121.5,10.8,454,8161,0.00,2.22,0.00,0.000,6,0.000,0.041,2907,1975,2187,0,0,0,0,0,0
$GC,8485,0.74,146.0,92.1,9.6,484,8489,0.00,2.25,0.00,0.000,4,0.000,0.049,2907,3399,2187,0,0,0,0,0,0
$GC,8537,0.74,146.0,86.8,10.4,488,8542,0.12,2.22,0.00,0.000,6,0.144,0.040,2879,1972,2187,0,0,0,0,0,0
$GC,8869,0.75,155.9,60.1,8.6,541,8882,0.00,0.00,6.80,0.426,6,0.000,0.000,2879,1972,2164,0,0,0,0,0,0
$GC,9208,0.85,240.8,38.3,5.5,603,9290,0.10,2.35,72.43,0.473,4,0.089,0.060,2958,3386,1817,0,0,0,0,0,0
$GC,9426,0.85,240.8,12.7,14.6,642,9434,0.15,2.28,0.00,0.000,6,0.110,0.047,2917,1985,1814,0,0,0,0,0,0
$STATE,9512,end climb,SURFACE_DEPTH_REACHED
$STATE,9513,begin surface coast
$FINISH,0.5,1.023174
$STATE,9547,end surface coast,CONTROL_FINISHED_OK
$STATE,9548,begin surface
$SM_CCo,9565,30.77,0.427,0,0,1575,300.24
$SM_GC,1.03,0.00,0.00,30.77,0.000,0.000,0.427,34,1978,1575,-8.15,0.59,300.24
$IRIDIUM_FIX,2057.14,-15741.46,070902,080821
$TT8_MAMPS,0.028379
$HUMID,64.88
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,431.1,53.3
$24V_AH,24.5,38.075
$10V_AH,10.4,41.931
$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,19.100,81.000,323.850,30.775,0.000,122.228,131.197,384.007,18.750,0.000,18.599,1214.414,5811.517,388.168,2241.004,921.959,0.000,1189.466,0.000,2182.427,0.000,116.983,0.000
$DEVICE_MAMPS,223.964,62.127,767.000,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,450.809,373.633,1258.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38208,664
$CAP_FILE_SIZE,112863,0
$CFSIZE,260165632,233074688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130613,110458,2102.630,-15743.971,60,0.9,60,9.8