version: 66.06
glider: 523
mission: 4
dive: 463
start: 6 13 113 14 9 54
data:
$ID,523
$MISSION,4
$DIVE,463
$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,-45269.527
$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,28
$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
$GPS1,134802,2101.716,-15744.493,22,1.0,23,9.8
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,2
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.7
$GPS2,140938,2101.791,-15744.529,33,0.9,33,9.8
$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,222.3,11681,-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,16,-0.74,-146.0,0.0,0.0,0,93,0.00,0.00,-74.97,0.000,6,0.000,0.000,35,1948,3397,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.8,-6.7,12,112,9.48,2.30,0.00,0.000,4,0.220,0.048,2392,542,3399,0,0,0,0,0,0
$GC,356,-0.74,-146.0,54.1,-15.8,59,362,0.00,2.20,0.00,0.000,6,0.000,0.035,2384,1969,3400,0,0,0,0,0,0
$GC,687,-0.74,-146.0,100.7,-12.8,105,691,0.00,2.33,0.00,0.000,4,0.000,0.052,2384,542,3401,0,0,0,0,0,0
$GC,853,-0.74,-146.0,123.9,-14.4,119,861,0.00,2.17,0.00,0.000,6,0.000,0.033,2374,1962,3401,0,0,0,0,0,0
$GC,1180,-0.74,-146.0,161.6,-10.7,150,1184,0.00,2.28,0.00,0.000,4,0.000,0.051,2375,546,3401,0,0,0,0,0,0
$GC,1263,-0.74,-146.0,170.6,-11.0,157,1268,0.12,2.15,0.00,0.000,6,0.166,0.032,2396,1969,3401,0,0,0,0,0,0
$GC,1591,-0.74,-146.0,199.4,-8.3,187,1595,0.00,2.20,0.00,0.000,4,0.000,0.052,2388,3363,3401,0,0,0,0,0,0
$GC,1691,-0.74,-146.0,208.3,-9.1,192,1695,0.00,2.22,0.00,0.000,6,0.000,0.040,2388,1947,3401,0,0,0,0,0,0
$GC,2014,-0.74,-146.0,237.8,-9.1,208,2018,0.00,2.22,0.00,0.000,4,0.000,0.051,2388,546,3402,0,0,0,0,0,0
$GC,2272,-0.74,-146.0,257.7,-7.8,219,2276,0.00,2.10,0.00,0.000,6,0.000,0.032,2378,1960,3401,0,0,0,0,0,0
$GC,2587,-0.74,-146.0,288.2,-8.8,234,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1959,3401,0,0,0,0,0,0
$GC,2896,-0.74,-146.0,314.0,-8.1,245,2900,0.00,2.28,0.00,0.000,4,0.000,0.053,2378,547,3401,0,0,0,0,0,0
$GC,3076,-0.74,-146.0,329.2,-8.6,249,3081,0.12,2.12,0.00,0.000,6,0.163,0.034,2402,1964,3400,0,0,0,0,0,0
$GC,3397,-0.74,-146.0,351.6,-7.0,257,3401,0.00,2.28,0.00,0.000,4,0.000,0.054,2402,541,3398,0,0,0,0,0,0
$GC,3542,-0.74,-146.0,362.9,-7.4,260,3546,0.00,2.17,0.00,0.000,6,0.000,0.037,2394,1962,3397,0,0,0,0,0,0
$GC,3893,-0.74,-146.0,387.7,-7.1,269,3898,0.00,2.28,0.00,0.000,4,0.000,0.055,2394,548,3395,0,0,0,0,0,0
$GC,4090,-0.74,-146.0,401.1,-7.8,273,4094,0.00,2.17,0.00,0.000,6,0.000,0.038,2383,1960,3394,0,0,0,0,0,0
$GC,4435,-0.74,-146.0,421.1,-5.2,282,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1961,3391,0,0,0,0,0,0
$GC,4758,-0.74,-146.0,441.3,-6.7,290,4762,0.00,2.28,0.00,0.000,4,0.000,0.057,2384,548,3389,0,0,0,0,0,0
$STATE,4869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4869,begin apogee
$GC,4878,-0.17,0.0,450.3,7.6,292,5001,0.62,0.00,119.82,0.755,6,0.123,0.000,2576,1993,2800,0,0,0,0,0,0
$STATE,5002,end apogee,CONTROL_FINISHED_OK
$STATE,5002,begin climb
$GC,5005,0.74,146.0,452.9,0.0,295,5143,0.85,2.38,125.93,0.729,4,0.075,0.058,2872,3383,2202,0,0,0,0,0,0
$GC,5257,0.74,146.0,424.2,13.6,300,5263,0.00,2.28,0.00,0.000,6,0.000,0.044,2881,1978,2197,0,0,0,0,0,0
$GC,5588,0.74,146.0,380.7,13.9,309,5592,0.00,2.25,0.00,0.000,4,0.000,0.053,2881,3391,2195,0,0,0,0,0,0
$GC,5629,0.74,146.0,374.9,14.1,310,5633,0.00,2.28,0.00,0.000,6,0.000,0.049,2890,1977,2195,0,0,0,0,0,0
$GC,5953,0.74,146.0,338.2,10.9,318,5957,0.00,2.25,0.00,0.000,4,0.000,0.057,2891,3389,2193,0,0,0,0,0,0
$GC,6008,0.74,146.0,330.8,13.2,319,6012,0.00,2.25,0.00,0.000,6,0.000,0.047,2898,1974,2192,0,0,0,0,0,0
$GC,6337,0.74,146.0,290.0,12.7,329,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1974,2191,0,0,0,0,0,0
$GC,6645,0.74,146.0,254.2,11.5,344,6650,0.00,2.28,0.00,0.000,4,0.000,0.058,2898,3388,2189,0,0,0,0,0,0
$GC,6701,0.74,146.0,247.1,12.5,346,6707,0.00,2.25,0.00,0.000,6,0.000,0.048,2907,1971,2189,0,0,0,0,0,0
$GC,7017,0.74,146.0,210.1,12.4,362,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1971,2188,0,0,0,0,0,0
$GC,7335,0.74,146.0,171.5,9.9,388,7339,0.00,2.28,0.00,0.000,4,0.000,0.058,2907,3385,2187,0,0,0,0,0,0
$GC,7366,0.74,146.0,168.6,9.3,390,7371,0.12,2.22,0.00,0.000,6,0.153,0.047,2878,1979,2187,0,0,0,0,0,0
$GC,7693,0.74,146.0,138.2,9.1,420,7697,0.00,2.25,0.00,0.000,4,0.000,0.057,2887,559,2186,0,0,0,0,0,0
$GC,7737,0.77,174.5,134.4,7.9,423,7768,0.00,2.22,22.15,0.549,6,0.000,0.039,2887,1983,2089,0,0,0,0,0,0
$GC,8087,0.79,192.2,105.6,8.3,456,8111,0.00,2.22,16.52,0.510,4,0.000,0.050,2887,3388,2015,0,0,0,0,0,0
$GC,8237,0.80,198.4,92.6,8.8,469,8249,0.00,2.25,6.78,0.437,6,0.000,0.045,2895,1985,1990,0,0,0,0,0,0
$GC,8571,0.80,198.4,63.9,11.4,516,8579,0.00,2.30,0.00,0.000,4,0.000,0.056,2905,556,1988,0,0,0,0,0,0
$GC,8604,0.80,198.4,60.3,11.7,521,8609,0.00,2.20,0.00,0.000,6,0.000,0.038,2905,1974,1987,0,0,0,0,0,0
$GC,8935,0.80,198.4,29.9,9.7,582,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1974,1987,0,0,0,0,0,0
$GC,9104,1.01,370.6,19.8,1.9,613,9236,0.17,0.00,126.20,0.449,2,0.058,0.000,3007,1975,1368,0,0,0,0,0,0
$STATE,9237,end climb,SURFACE_DEPTH_REACHED
$STATE,9237,begin surface coast
$FINISH,0.7,1.023055
$STATE,9254,end surface coast,CONTROL_FINISHED_OK
$STATE,9254,begin surface
$SM_CCo,9332,0.00,0.000,0,0,1363,352.49
$SM_GC,1.40,7.68,0.00,0.00,0.019,0.000,0.000,29,1991,1363,-8.01,0.96,352.49
$IRIDIUM_FIX,2050.21,-15745.35,070902,141422
$TT8_MAMPS,0.027612
$HUMID,63.46
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,445.0,42.1
$24V_AH,24.6,38.281
$10V_AH,10.4,42.133
$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,19.175,76.175,417.400,0.000,0.000,137.590,181.393,544.361,19.250,0.000,33.890,1151.240,5722.264,389.741,2195.676,1162.086,0.000,1213.250,0.000,2127.745,0.000,125.855,0.000
$DEVICE_MAMPS,220.129,58.292,754.728,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,431.113,362.331,1255.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,34887,636
$CAP_FILE_SIZE,114359,0
$CFSIZE,260165632,232976384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130613,164634,2100.367,-15745.423,32,0.7,32,9.8