version: 66.06
glider: 523
mission: 4
dive: 508
start: 6 18 113 21 59 6
data:
$ID,523
$MISSION,4
$DIVE,508
$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,-46122.758
$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,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
$GPS1,215012,2105.741,-15743.987,15,1.2,15,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.5
$GPS2,215847,2105.788,-15744.058,17,1.0,17,9.8
$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,204.7,17696,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.72,0.000,2,0.000,0.000,36,1972,3366,0,0,0,0,0,0
$GC,98,-0.74,-146.0,3.2,-4.5,12,113,9.55,2.30,-0.60,0.000,4,0.224,0.067,2394,535,3395,0,0,0,0,0,0
$GC,122,-0.74,-146.0,11.8,-24.4,15,130,0.00,2.22,0.00,0.000,6,0.000,0.036,2386,1954,3395,0,0,0,0,0,0
$GC,289,-0.74,-146.0,40.3,-16.8,46,297,0.00,2.30,0.00,0.000,4,0.000,0.056,2386,546,3396,0,0,0,0,0,0
$GC,542,-0.74,-146.0,81.0,-13.6,92,547,0.00,2.17,0.00,0.000,6,0.000,0.035,2377,1962,3397,0,0,0,0,0,0
$GC,869,-0.74,-146.0,119.3,-10.4,122,874,0.00,2.22,0.00,0.000,4,0.000,0.052,2376,545,3398,0,0,0,0,0,0
$GC,1035,-0.74,-146.0,138.9,-12.2,137,1044,0.10,2.17,0.00,0.000,6,0.140,0.035,2398,1958,3398,0,0,0,0,0,0
$GC,1363,-0.74,-146.0,168.3,-8.1,168,1367,0.00,2.25,0.00,0.000,4,0.000,0.052,2398,538,3399,0,0,0,0,0,0
$GC,1611,-0.74,-146.0,190.8,-8.4,190,1619,0.00,2.17,0.00,0.000,6,0.000,0.035,2390,1952,3399,0,0,0,0,0,0
$GC,1940,-0.74,-146.0,218.7,-9.3,212,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1952,3399,0,0,0,0,0,0
$GC,2250,-0.74,-146.0,242.2,-6.8,227,2254,0.00,2.22,0.00,0.000,4,0.000,0.052,2379,3365,3399,0,0,0,0,0,0
$GC,2274,-0.74,-146.0,243.8,-6.7,228,2278,0.00,2.22,0.00,0.000,6,0.000,0.042,2379,1944,3399,0,0,0,0,0,0
$GC,2601,-0.74,-146.0,266.4,-6.8,244,2605,0.00,2.20,0.00,0.000,4,0.000,0.053,2380,546,3399,0,0,0,0,0,0
$GC,2861,-0.74,-146.0,287.0,-8.7,255,2867,0.12,2.15,0.00,0.000,6,0.163,0.035,2403,1955,3399,0,0,0,0,0,0
$GC,3197,-0.74,-146.0,313.6,-7.9,268,3201,0.00,2.28,0.00,0.000,4,0.000,0.054,2403,541,3399,0,0,0,0,0,0
$GC,3456,-0.74,-146.0,335.1,-7.9,273,3461,0.00,2.17,0.00,0.000,6,0.000,0.036,2395,1957,3398,0,0,0,0,0,0
$GC,3789,-0.74,-146.0,354.7,-5.5,282,3793,0.00,2.30,0.00,0.000,4,0.000,0.057,2395,550,3396,0,0,0,0,0,0
$GC,3937,-0.74,-146.0,364.0,-6.5,285,3941,0.00,2.17,0.00,0.000,6,0.000,0.037,2386,1957,3394,0,0,0,0,0,0
$GC,4254,-0.74,-146.0,385.1,-7.0,293,4258,0.00,2.30,0.00,0.000,4,0.000,0.058,2386,548,3392,0,0,0,0,0,0
$GC,4328,-0.74,-146.0,391.7,-8.7,294,4332,0.00,2.20,0.00,0.000,6,0.000,0.039,2377,1967,3392,0,0,0,0,0,0
$GC,4662,-0.74,-146.0,417.8,-7.7,302,4666,0.00,2.30,0.00,0.000,4,0.000,0.058,2377,548,3390,0,0,0,0,0,0
$GC,4875,-0.74,-146.0,433.9,-7.0,306,4881,0.12,2.20,0.00,0.000,6,0.160,0.040,2399,1966,3389,0,0,0,0,0,0
$STATE,5163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5164,begin apogee
$GC,5170,-0.17,0.0,450.7,5.6,314,5294,0.57,0.00,121.00,0.761,6,0.113,0.000,2587,1966,2800,0,0,0,0,0,0
$STATE,5295,end apogee,CONTROL_FINISHED_OK
$STATE,5295,begin climb
$GC,5298,0.74,146.0,451.6,0.0,317,5436,0.82,2.35,127.00,0.736,4,0.074,0.054,2876,3385,2202,0,0,0,0,0,0
$GC,5504,0.74,146.0,430.6,12.4,321,5510,0.00,2.30,0.00,0.000,6,0.000,0.044,2884,1980,2199,0,0,0,0,0,0
$GC,5837,0.74,146.0,389.4,12.8,330,5841,0.00,2.33,0.00,0.000,4,0.000,0.065,2895,568,2195,0,0,0,0,0,0
$GC,5892,0.74,146.0,381.5,14.1,331,5896,0.00,2.20,0.00,0.000,6,0.000,0.038,2895,1985,2195,0,0,0,0,0,0
$GC,6240,0.74,146.0,334.5,13.3,340,6244,0.00,2.25,0.00,0.000,4,0.000,0.061,2895,3389,2193,0,0,0,0,0,0
$GC,6340,0.74,146.0,319.5,14.9,342,6344,0.00,2.28,0.00,0.000,6,0.000,0.051,2905,1979,2192,0,0,0,0,0,0
$GC,6670,0.74,146.0,273.8,13.4,355,6674,0.00,2.28,0.00,0.000,4,0.000,0.061,2915,568,2190,0,0,0,0,0,0
$GC,6698,0.74,146.0,270.3,12.1,356,6702,0.15,2.20,0.00,0.000,6,0.141,0.041,2874,1980,2190,0,0,0,0,0,0
$GC,7019,0.77,174.5,241.5,7.9,372,7048,0.00,2.35,23.52,0.637,4,0.000,0.064,2882,569,2087,0,0,0,0,0,0
$GC,7061,0.83,225.7,238.3,6.9,374,7112,0.00,2.25,45.25,0.636,6,0.000,0.044,2882,1987,1879,0,0,0,0,0,0
$GC,7428,0.83,225.7,202.4,10.1,392,7432,0.00,2.25,0.00,0.000,4,0.000,0.055,2882,3396,1874,0,0,0,0,0,0
$GC,7492,0.83,225.7,195.1,12.2,396,7496,0.00,2.25,0.00,0.000,6,0.000,0.046,2890,1976,1873,0,0,0,0,0,0
$GC,7820,0.83,225.7,159.1,10.8,426,7824,0.00,2.30,0.00,0.000,4,0.000,0.061,2897,564,1873,0,0,0,0,0,0
$GC,7873,0.83,225.7,152.8,11.2,430,7881,0.00,2.25,0.00,0.000,6,0.000,0.040,2897,1986,1873,0,0,0,0,0,0
$GC,8200,0.83,225.7,115.6,9.6,461,8204,0.00,2.22,0.00,0.000,4,0.000,0.054,2897,3392,1872,0,0,0,0,0,0
$GC,8276,0.83,225.7,107.5,10.7,467,8283,0.00,2.28,0.00,0.000,6,0.000,0.043,2905,1966,1872,0,0,0,0,0,0
$GC,8600,0.83,225.7,76.0,9.5,502,8607,0.00,2.30,0.00,0.000,4,0.000,0.055,2905,3385,1872,0,0,0,0,0,0
$GC,8665,0.83,225.7,69.5,10.3,513,8671,0.00,2.22,0.00,0.000,6,0.000,0.044,2913,1979,1872,0,0,0,0,0,0
$GC,8998,0.85,234.4,35.4,8.7,574,9011,0.00,2.28,8.00,0.417,4,0.000,0.056,2922,572,1843,0,0,0,0,0,0
$GC,9112,0.87,255.1,26.0,8.2,594,9139,0.00,2.20,18.75,0.450,6,0.000,0.037,2922,1976,1760,0,0,0,0,0,0
$GC,9299,0.87,255.1,8.5,9.6,628,9306,0.00,2.25,0.00,0.000,4,0.000,0.051,2922,3392,1760,0,0,0,0,0,0
$GC,9335,0.87,255.1,4.8,10.1,634,9343,0.00,2.25,0.00,0.000,6,0.000,0.043,2930,1987,1760,0,0,0,0,0,0
$STATE,9349,end climb,SURFACE_DEPTH_REACHED
$STATE,9349,begin surface coast
$FINISH,0.7,1.023076
$STATE,9376,end surface coast,CONTROL_FINISHED_OK
$STATE,9376,begin surface
$SM_CCo,9394,22.40,0.426,0,0,1575,300.24
$SM_GC,1.45,0.00,0.00,22.40,0.000,0.000,0.426,52,1973,1575,-8.08,0.45,300.24
$IRIDIUM_FIX,2052.52,-15754.77,120902,191934
$TT8_MAMPS,0.028379
$HUMID,67.48
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,24.5,42.336
$10V_AH,10.4,46.617
$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,18.850,94.375,343.525,22.400,0.000,25.426,34.768,312.957,19.250,0.000,18.292,1202.185,5473.532,412.364,2196.797,645.788,0.000,1220.021,0.000,2146.842,0.000,121.644,0.000
$DEVICE_MAMPS,223.964,67.496,760.864,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,436.259,372.838,1239.228,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,34952,641
$CAP_FILE_SIZE,107252,0
$CFSIZE,260165632,230694912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190613,003758,2105.016,-15744.285,75,0.9,75,9.8