version: 66.06
glider: 523
mission: 4
dive: 468
start: 6 14 113 4 26 28
data:
$ID,523
$MISSION,4
$DIVE,468
$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,-45362.953
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,041634,2058.297,-15748.193,27,0.9,27,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.4
$GPS2,042611,2058.352,-15748.257,16,0.9,16,9.8
$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,244.0,2888,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-75.70,0.000,2,0.000,0.000,46,1994,3355,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.0,-4.3,12,115,9.55,2.40,-0.88,0.000,4,0.225,0.067,2393,552,3398,0,0,0,0,0,0
$GC,357,-0.74,-146.0,52.6,-16.2,59,363,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1956,3400,0,0,0,0,0,0
$GC,687,-0.74,-146.0,95.5,-12.5,108,691,0.00,2.28,0.00,0.000,4,0.000,0.054,2385,541,3400,0,0,0,0,0,0
$GC,861,-0.74,-146.0,119.6,-13.1,123,866,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1957,3400,0,0,0,0,0,0
$GC,1193,-0.74,-146.0,158.3,-12.7,154,1197,0.00,2.17,0.00,0.000,4,0.000,0.054,2365,3360,3401,0,0,0,0,0,0
$GC,1215,-0.74,-146.0,161.5,-12.7,155,1222,0.10,2.25,0.00,0.000,6,0.130,0.044,2397,1956,3401,0,0,0,0,0,0
$GC,1542,-0.74,-146.0,191.8,-9.0,186,1546,0.00,2.25,0.00,0.000,4,0.000,0.053,2397,538,3402,0,0,0,0,0,0
$GC,1638,-0.74,-146.0,200.2,-9.3,194,1642,0.00,2.12,0.00,0.000,6,0.000,0.032,2389,1965,3402,0,0,0,0,0,0
$GC,1962,-0.74,-146.0,225.5,-8.1,210,1966,0.00,2.30,0.00,0.000,4,0.000,0.051,2389,543,3402,0,0,0,0,0,0
$GC,2197,-0.74,-146.0,246.4,-7.5,220,2203,0.00,2.12,0.00,0.000,6,0.000,0.033,2379,1955,3402,0,0,0,0,0,0
$GC,2516,-0.74,-146.0,270.1,-7.9,236,2520,0.00,2.28,0.00,0.000,4,0.000,0.052,2379,547,3402,0,0,0,0,0,0
$GC,2672,-0.74,-146.0,284.9,-9.6,243,2680,0.12,2.15,0.00,0.000,6,0.170,0.034,2402,1961,3402,0,0,0,0,0,0
$GC,3002,-0.74,-146.0,309.6,-7.0,256,3007,0.00,2.20,0.00,0.000,4,0.000,0.053,2393,3358,3401,0,0,0,0,0,0
$GC,3069,-0.74,-146.0,314.8,-8.1,257,3076,0.00,2.20,0.00,0.000,6,0.000,0.041,2393,1956,3402,0,0,0,0,0,0
$GC,3419,-0.74,-146.0,338.7,-7.3,266,3423,0.00,2.22,0.00,0.000,4,0.000,0.054,2393,545,3401,0,0,0,0,0,0
$GC,3677,-0.74,-146.0,359.2,-8.1,271,3683,0.00,2.17,0.00,0.000,6,0.000,0.035,2383,1963,3400,0,0,0,0,0,0
$GC,4010,-0.74,-146.0,379.1,-5.3,280,4014,0.00,2.28,0.00,0.000,4,0.000,0.056,2383,547,3397,0,0,0,0,0,0
$GC,4269,-0.74,-146.0,396.8,-6.3,285,4274,0.00,2.15,0.00,0.000,6,0.000,0.037,2374,1965,3396,0,0,0,0,0,0
$GC,4601,-0.74,-146.0,416.6,-6.2,294,4605,0.00,2.28,0.00,0.000,4,0.000,0.057,2374,545,3393,0,0,0,0,0,0
$GC,4860,-0.74,-146.0,435.4,-7.5,299,4866,0.15,2.20,0.00,0.000,6,0.157,0.038,2404,1971,3392,0,0,0,0,0,0
$STATE,5107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5107,begin apogee
$GC,5114,-0.17,0.0,450.2,5.9,306,5238,0.55,0.00,120.65,0.764,6,0.114,0.000,2584,1971,2800,0,0,0,0,0,0
$STATE,5239,end apogee,CONTROL_FINISHED_OK
$STATE,5239,begin climb
$GC,5242,0.74,146.0,451.2,0.0,309,5379,0.85,2.40,126.03,0.736,4,0.080,0.054,2876,3377,2203,0,0,0,0,0,0
$GC,5481,0.74,146.0,423.1,14.3,314,5485,0.00,2.30,0.00,0.000,6,0.000,0.044,2885,1976,2199,0,0,0,0,0,0
$GC,5817,0.74,146.0,381.8,11.7,323,5821,0.00,2.30,0.00,0.000,4,0.000,0.058,2885,3378,2195,0,0,0,0,0,0
$GC,5856,0.74,146.0,377.2,12.0,324,5861,0.00,2.20,0.00,0.000,6,0.000,0.041,2893,1976,2194,0,0,0,0,0,0
$GC,6181,0.74,146.0,338.3,11.8,332,6185,0.00,2.25,0.00,0.000,4,0.000,0.060,2903,570,2193,0,0,0,0,0,0
$GC,6304,0.74,146.0,322.6,12.8,334,6309,0.00,2.20,0.00,0.000,6,0.000,0.041,2903,1974,2191,0,0,0,0,0,0
$GC,6617,0.74,146.0,279.3,13.6,346,6621,0.00,2.22,0.00,0.000,4,0.000,0.054,2903,3387,2191,0,0,0,0,0,0
$GC,6673,0.74,146.0,271.3,14.4,348,6679,0.12,2.25,0.00,0.000,6,0.152,0.051,2879,1974,2190,0,0,0,0,0,0
$GC,6989,0.74,146.0,236.2,11.4,364,6993,0.00,2.25,0.00,0.000,4,0.000,0.060,2886,572,2189,0,0,0,0,0,0
$GC,7033,0.74,146.0,230.9,12.1,366,7037,0.00,2.20,0.00,0.000,6,0.000,0.041,2886,1981,2189,0,0,0,0,0,0
$GC,7357,0.74,146.0,196.6,10.2,383,7361,0.00,2.22,0.00,0.000,4,0.000,0.053,2886,3395,2188,0,0,0,0,0,0
$GC,7422,0.74,146.0,189.0,11.9,388,7429,0.00,2.28,0.00,0.000,6,0.000,0.048,2894,1984,2188,0,0,0,0,0,0
$GC,7750,0.74,146.0,152.8,9.3,419,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1985,2187,0,0,0,0,0,0
$GC,8080,0.78,182.1,125.4,7.5,450,8115,0.00,2.28,28.73,0.551,4,0.000,0.055,2895,3380,2056,0,0,0,0,0,0
$GC,8219,0.78,182.1,111.7,10.3,462,8227,0.00,2.25,0.00,0.000,6,0.000,0.043,2903,1978,2054,0,0,0,0,0,0
$GC,8547,0.83,224.0,85.8,7.3,493,8594,0.00,2.33,36.10,0.511,4,0.000,0.056,2913,563,1884,0,0,0,0,0,0
$GC,8654,0.84,230.2,76.9,8.8,505,8667,0.00,2.22,6.72,0.417,6,0.000,0.038,2913,1982,1861,0,0,0,0,0,0
$GC,8996,0.89,269.7,44.2,7.4,567,9035,0.00,0.00,34.58,0.469,6,0.000,0.000,2913,1982,1699,0,0,0,0,0,0
$GC,9360,0.89,269.7,11.8,11.4,634,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1983,1699,0,0,0,0,0,0
$STATE,9454,end climb,SURFACE_DEPTH_REACHED
$STATE,9455,begin surface coast
$FINISH,0.4,1.010209
$STATE,9516,end surface coast,CONTROL_FINISHED_OK
$STATE,9516,begin surface
$SM_CCo,9534,15.55,0.409,0,0,1575,300.24
$SM_GC,1.16,0.00,0.00,15.55,0.000,0.000,0.409,36,1990,1575,-8.14,0.93,300.24
$IRIDIUM_FIX,2052.52,-15754.77,080902,040435
$TT8_MAMPS,0.028379
$HUMID,65.16
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,425.4,53.6
$24V_AH,24.5,38.757
$10V_AH,10.3,42.638
$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,18.875,80.500,352.800,15.550,0.000,56.585,76.973,229.317,18.000,0.000,16.491,1215.633,5549.117,405.065,2313.642,639.944,0.000,1241.270,0.000,2258.862,0.000,112.550,0.000
$DEVICE_MAMPS,225.498,66.729,763.932,408.811,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,450.346,375.379,1297.372,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,38039,663
$CAP_FILE_SIZE,106517,0
$CFSIZE,260165632,232710144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,070631,2057.840,-15749.165,13,1.3,13,9.8