version: 66.06
glider: 523
mission: 4
dive: 467
start: 6 14 113 1 40 4
data:
$ID,523
$MISSION,4
$DIVE,467
$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,-45345.828
$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,27
$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
$GPS1,012658,2058.932,-15747.416,34,0.8,34,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.0
$GPS2,013947,2059.059,-15747.520,16,0.9,16,9.8
$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,232.6,4567,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.03,0.000,2,0.000,0.000,44,1987,3381,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.2,-4.5,12,115,9.62,2.17,-0.32,0.000,4,0.228,0.058,2383,3379,3397,0,0,0,0,0,0
$GC,260,-0.74,-146.0,36.7,-16.2,41,265,0.00,2.28,0.00,0.000,6,0.000,0.041,2384,1946,3398,0,0,0,0,0,0
$GC,596,-0.74,-146.0,84.6,-13.6,100,602,0.00,2.22,0.00,0.000,4,0.000,0.053,2384,541,3399,0,0,0,0,0,0
$GC,838,-0.74,-146.0,117.5,-13.0,122,842,0.00,2.17,0.00,0.000,6,0.000,0.031,2374,1980,3399,0,0,0,0,0,0
$GC,1165,-0.74,-146.0,153.5,-10.1,152,1169,0.00,2.28,0.00,0.000,4,0.000,0.050,2373,544,3400,0,0,0,0,0,0
$GC,1276,-0.74,-146.0,165.1,-9.8,161,1283,0.10,2.15,0.00,0.000,6,0.144,0.031,2395,1952,3400,0,0,0,0,0,0
$GC,1604,-0.74,-146.0,190.3,-8.7,192,1608,0.00,2.28,0.00,0.000,4,0.000,0.050,2395,544,3400,0,0,0,0,0,0
$GC,1860,-0.74,-146.0,215.8,-10.2,207,1865,0.00,2.15,0.00,0.000,6,0.000,0.031,2387,1976,3401,0,0,0,0,0,0
$GC,2178,-0.74,-146.0,244.5,-9.0,223,2182,0.00,2.17,0.00,0.000,4,0.000,0.054,2377,3357,3400,0,0,0,0,0,0
$GC,2308,-0.74,-146.0,256.5,-9.8,228,2313,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1957,3400,0,0,0,0,0,0
$GC,2626,-0.74,-146.0,281.7,-7.9,244,2630,0.00,2.25,0.00,0.000,4,0.000,0.051,2377,543,3400,0,0,0,0,0,0
$GC,2883,-0.74,-146.0,306.6,-10.5,254,2890,0.12,2.15,0.00,0.000,6,0.164,0.033,2399,1964,3400,0,0,0,0,0,0
$GC,3217,-0.74,-146.0,332.6,-7.3,263,3221,0.00,2.20,0.00,0.000,4,0.000,0.054,2391,3358,3400,0,0,0,0,0,0
$GC,3303,-0.74,-146.0,338.6,-6.5,265,3307,0.00,2.20,0.00,0.000,6,0.000,0.041,2391,1950,3399,0,0,0,0,0,0
$GC,3637,-0.74,-146.0,362.0,-7.7,273,3641,0.00,2.22,0.00,0.000,4,0.000,0.054,2390,548,3397,0,0,0,0,0,0
$GC,3895,-0.74,-146.0,383.7,-7.7,278,3901,0.00,2.15,0.00,0.000,6,0.000,0.035,2381,1964,3396,0,0,0,0,0,0
$GC,4228,-0.74,-146.0,407.5,-6.7,287,4232,0.00,2.28,0.00,0.000,4,0.000,0.055,2380,549,3393,0,0,0,0,0,0
$GC,4485,-0.74,-146.0,427.1,-7.8,292,4492,0.12,2.15,0.00,0.000,6,0.276,0.037,2401,1962,3391,0,0,0,0,0,0
$GC,4817,-0.74,-146.0,442.6,-4.4,301,4822,0.00,2.28,0.00,0.000,4,0.000,0.057,2402,547,3390,0,0,0,0,0,0
$STATE,4945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4945,begin apogee
$GC,4956,-0.17,0.0,450.2,5.8,304,5079,0.60,0.00,119.97,0.758,6,0.117,0.000,2585,1977,2800,0,0,0,0,0,0
$STATE,5080,end apogee,CONTROL_FINISHED_OK
$STATE,5080,begin climb
$GC,5083,0.74,146.0,451.1,0.0,307,5220,0.82,2.40,125.88,0.731,4,0.076,0.054,2872,3387,2203,0,0,0,0,0,0
$GC,5322,0.74,146.0,423.1,13.6,312,5326,0.00,2.28,0.00,0.000,6,0.000,0.044,2881,1983,2198,0,0,0,0,0,0
$GC,5658,0.74,146.0,376.5,13.9,321,5662,0.00,2.25,0.00,0.000,4,0.000,0.054,2881,3388,2195,0,0,0,0,0,0
$GC,5714,0.74,146.0,368.6,13.5,322,5718,0.00,2.28,0.00,0.000,6,0.000,0.050,2891,1981,2195,0,0,0,0,0,0
$GC,6062,0.74,146.0,323.6,13.4,331,6066,0.00,2.25,0.00,0.000,4,0.000,0.060,2901,568,2193,0,0,0,0,0,0
$GC,6140,0.74,146.0,312.5,14.4,332,6146,0.00,2.20,0.00,0.000,6,0.000,0.038,2901,1979,2192,0,0,0,0,0,0
$GC,6455,0.74,146.0,272.1,12.8,345,6459,0.00,2.20,0.00,0.000,4,0.000,0.053,2901,3391,2191,0,0,0,0,0,0
$GC,6562,0.74,146.0,258.0,12.5,350,6567,0.12,2.22,0.00,0.000,6,0.155,0.042,2876,1979,2189,0,0,0,0,0,0
$GC,6889,0.74,146.0,224.5,10.2,366,6893,0.00,2.28,0.00,0.000,4,0.000,0.057,2876,3396,2189,0,0,0,0,0,0
$GC,6944,0.74,146.0,218.8,10.1,368,6950,0.00,2.25,0.00,0.000,6,0.000,0.045,2883,1974,2188,0,0,0,0,0,0
$GC,7266,0.74,146.0,188.1,11.2,389,7270,0.00,2.25,0.00,0.000,4,0.000,0.061,2893,572,2188,0,0,0,0,0,0
$GC,7329,0.74,146.0,180.8,11.4,394,7333,0.00,2.20,0.00,0.000,6,0.000,0.038,2893,1993,2187,0,0,0,0,0,0
$GC,7656,0.74,148.2,147.7,8.9,424,7660,0.00,2.20,0.00,0.000,4,0.000,0.056,2893,3386,2187,0,0,0,0,0,0
$GC,7753,0.74,148.2,138.0,11.0,432,7757,0.00,2.22,0.00,0.000,6,0.000,0.042,2895,1967,2187,0,0,0,0,0,0
$GC,8079,0.74,148.2,104.5,9.8,462,8083,0.00,2.22,0.00,0.000,4,0.000,0.058,2906,572,2187,0,0,0,0,0,0
$GC,8101,0.74,148.2,102.2,9.5,463,8109,0.00,2.20,0.00,0.000,6,0.000,0.035,2906,1987,2187,0,0,0,0,0,0
$GC,8431,0.74,148.2,72.6,9.3,501,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1987,2187,0,0,0,0,0,0
$GC,8762,0.77,170.5,43.8,8.1,562,8786,0.00,2.30,19.30,0.466,4,0.000,0.054,2913,575,2103,0,0,0,0,0,0
$GC,8915,0.77,175.5,29.9,8.8,589,8930,0.00,2.17,5.47,0.373,6,0.000,0.035,2913,1980,2084,0,0,0,0,0,0
$GC,9089,0.82,210.8,16.0,7.6,621,9122,0.00,0.00,30.73,0.449,6,0.000,0.000,2913,1980,1939,0,0,0,0,0,0
$STATE,9239,end climb,SURFACE_DEPTH_REACHED
$STATE,9240,begin surface coast
$FINISH,0.8,1.023081
$STATE,9262,end surface coast,CONTROL_FINISHED_OK
$STATE,9262,begin surface
$SM_CCo,9280,43.17,0.428,0,0,1574,300.24
$SM_GC,1.61,0.00,0.00,43.17,0.000,0.000,0.428,46,1994,1574,-8.11,1.05,300.24
$IRIDIUM_FIX,2052.52,-15742.34,080902,010118
$TT8_MAMPS,0.028379
$HUMID,64.96
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,410.0,59.7
$24V_AH,24.3,38.666
$10V_AH,10.3,42.538
$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,18.950,84.575,301.350,43.175,0.000,88.836,105.653,306.772,17.500,0.000,16.638,1219.204,5400.776,393.253,2304.387,772.665,0.000,1210.963,0.000,2253.644,0.000,107.912,0.000
$DEVICE_MAMPS,276.120,61.360,757.796,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,442.293,378.915,1290.711,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,34901,652
$CAP_FILE_SIZE,110359,0
$CFSIZE,260165632,232767488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,041634,2058.297,-15748.193,27,0.9,27,9.8