version: 66.06
glider: 523
mission: 4
dive: 68
start: 5 2 113 6 17 10
data:
$ID,523
$MISSION,4
$DIVE,68
$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,-37223.664
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,34
$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
$GPS1,061104,2107.090,-15754.404,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-73.5
$GPS2,061653,2107.071,-15754.450,17,0.9,17,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,86.9,20061,-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,-146.0,0.0,0.0,0,101,0.00,0.00,-77.75,0.000,6,0.000,0.000,39,1988,3395,0,0,0,0,0,0
$GC,105,-0.74,-146.0,4.0,-6.7,13,119,9.25,0.00,0.00,0.000,6,0.229,0.000,2393,1986,3396,0,0,0,0,0,0
$GC,283,-0.74,-146.0,41.3,-16.6,45,288,0.00,2.33,0.00,0.000,4,0.000,0.058,2393,552,3398,0,0,0,0,0,0
$GC,361,-0.74,-146.0,55.2,-16.6,59,367,0.00,2.17,0.00,0.000,6,0.000,0.039,2385,1957,3398,0,0,0,0,0,0
$GC,696,-0.74,-146.0,109.0,-15.5,105,701,0.00,2.25,0.00,0.000,4,0.000,0.055,2385,551,3400,0,0,0,0,0,0
$GC,839,-0.74,-146.0,131.1,-14.3,118,843,0.00,2.15,0.00,0.000,6,0.000,0.036,2376,1968,3400,0,0,0,0,0,0
$GC,1172,-0.74,-146.0,171.4,-11.2,149,1176,0.00,2.17,0.00,0.000,4,0.000,0.057,2365,3369,3401,0,0,0,0,0,0
$GC,1212,-0.74,-146.0,176.1,-12.1,152,1217,0.12,2.20,0.00,0.000,6,0.150,0.044,2399,1948,3401,0,0,0,0,0,0
$GC,1539,-0.74,-146.0,208.2,-9.4,179,1543,0.00,2.20,0.00,0.000,4,0.000,0.054,2399,547,3402,0,0,0,0,0,0
$GC,1640,-0.74,-146.0,217.6,-9.3,183,1646,0.00,2.12,0.00,0.000,6,0.000,0.035,2391,1974,3402,0,0,0,0,0,0
$GC,1958,-0.74,-146.0,246.1,-9.6,199,1962,0.00,2.28,0.00,0.000,4,0.000,0.052,2391,541,3402,0,0,0,0,0,0
$GC,1981,-0.74,-146.0,248.7,-10.0,200,1985,0.00,2.15,0.00,0.000,6,0.000,0.038,2381,1955,3402,0,0,0,0,0,0
$GC,2307,-0.74,-146.0,279.1,-9.3,216,2311,0.00,2.22,0.00,0.000,4,0.000,0.058,2381,552,3402,0,0,0,0,0,0
$GC,2468,-0.74,-146.0,295.8,-9.9,223,2473,0.12,2.15,0.00,0.000,6,0.164,0.041,2406,1967,3402,0,0,0,0,0,0
$GC,2783,-0.74,-146.0,319.7,-7.7,232,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1967,3402,0,0,0,0,0,0
$GC,3106,-0.74,-146.0,345.7,-8.3,240,3110,0.00,2.17,0.00,0.000,4,0.000,0.055,2397,3371,3402,0,0,0,0,0,0
$GC,3156,-0.74,-146.0,350.5,-9.5,241,3160,0.00,2.20,0.00,0.000,6,0.000,0.044,2397,1954,3402,0,0,0,0,0,0
$GC,3470,-0.74,-146.0,379.4,-8.6,249,3474,0.00,2.20,0.00,0.000,4,0.000,0.059,2397,551,3398,0,0,0,0,0,0
$GC,3520,-0.74,-146.0,383.6,-7.8,250,3524,0.00,2.17,0.00,0.000,6,0.000,0.044,2388,1969,3398,0,0,0,0,0,0
$GC,3833,-0.74,-146.0,403.1,-6.2,258,3837,0.00,2.28,0.00,0.000,4,0.000,0.061,2387,543,3397,0,0,0,0,0,0
$GC,3888,-0.74,-146.0,407.5,-7.7,259,3893,0.00,2.20,0.00,0.000,6,0.000,0.045,2378,1966,3397,0,0,0,0,0,0
$GC,4240,-0.74,-146.0,430.8,-6.7,268,4244,0.00,2.20,0.00,0.000,4,0.000,0.058,2368,3366,3394,0,0,0,0,0,0
$GC,4357,-0.74,-146.0,439.5,-7.0,270,4362,0.12,2.17,0.00,0.000,6,0.148,0.046,2402,1963,3394,0,0,0,0,0,0
$STATE,4529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4529,begin apogee
$GC,4536,-0.17,0.0,451.2,6.7,275,4658,0.55,0.00,118.88,0.788,6,0.115,0.000,2587,1963,2800,0,0,0,0,0,0
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4659,begin climb
$GC,4661,0.74,146.0,452.9,0.0,278,4791,0.85,0.00,126.10,0.759,6,0.075,0.000,2880,1963,2204,0,0,0,0,0,0
$GC,5096,0.74,146.0,401.5,13.0,289,5100,0.00,2.25,0.00,0.000,4,0.000,0.062,2889,567,2196,0,0,0,0,0,0
$GC,5118,0.74,146.0,398.5,13.4,289,5123,0.00,2.25,0.00,0.000,6,0.000,0.044,2889,1985,2195,0,0,0,0,0,0
$GC,5455,0.74,146.0,351.2,14.2,298,5459,0.00,2.33,0.00,0.000,4,0.000,0.067,2899,560,2193,0,0,0,0,0,0
$GC,5516,0.74,146.0,341.7,15.2,299,5520,0.00,2.22,0.00,0.000,6,0.000,0.047,2900,1984,2193,0,0,0,0,0,0
$GC,5838,0.74,146.0,295.1,14.2,308,5842,0.00,2.17,0.00,0.000,4,0.000,0.057,2899,3389,2191,0,0,0,0,0,0
$GC,5911,0.74,146.0,284.3,15.5,311,5916,0.12,2.25,0.00,0.000,6,0.163,0.053,2874,1974,2190,0,0,0,0,0,0
$GC,6226,0.74,146.0,244.8,12.6,326,6230,0.00,2.22,0.00,0.000,4,0.000,0.062,2883,561,2190,0,0,0,0,0,0
$GC,6333,0.74,146.0,230.8,12.9,330,6338,0.00,2.17,0.00,0.000,6,0.000,0.041,2883,1985,2188,0,0,0,0,0,0
$GC,6652,0.74,146.0,192.0,11.7,349,6656,0.00,2.15,0.00,0.000,4,0.000,0.057,2883,3385,2188,0,0,0,0,0,0
$GC,6725,0.74,146.0,183.0,12.4,355,6729,0.00,2.17,0.00,0.000,6,0.000,0.044,2893,1966,2187,0,0,0,0,0,0
$GC,7053,0.74,146.0,146.4,10.3,385,7057,0.00,2.17,0.00,0.000,4,0.000,0.061,2901,563,2187,0,0,0,0,0,0
$GC,7084,0.74,146.0,143.2,10.5,387,7088,0.00,2.17,0.00,0.000,6,0.000,0.044,2901,1985,2187,0,0,0,0,0,0
$GC,7412,0.74,146.0,110.1,10.6,417,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1985,2187,0,0,0,0,0,0
$GC,7739,0.74,146.0,73.8,11.3,452,7746,0.00,2.17,0.00,0.000,4,0.000,0.054,2901,3381,2187,0,0,0,0,0,0
$GC,7825,0.74,146.0,64.2,11.8,467,7831,0.12,2.20,0.00,0.000,6,0.151,0.048,2875,1967,2187,0,0,0,0,0,0
$GC,8155,0.74,146.0,33.1,9.3,528,8163,0.00,2.22,0.00,0.000,4,0.000,0.058,2883,562,2188,0,0,0,0,0,0
$GC,8191,0.74,150.8,29.9,8.8,534,8198,0.00,2.17,0.00,0.000,6,0.000,0.041,2883,1977,2188,0,0,0,0,0,0
$GC,8359,0.77,174.5,14.8,8.1,565,8386,0.00,2.17,22.45,0.469,4,0.000,0.051,2883,3377,2087,0,0,0,0,0,0
$STATE,8494,end climb,SURFACE_DEPTH_REACHED
$STATE,8494,begin surface coast
$FINISH,1.7,1.023366
$STATE,8501,end surface coast,CONTROL_FINISHED_OK
$STATE,8501,begin surface
$SM_CCo,8521,58.72,0.456,0,0,1575,300.24
$SM_GC,1.43,0.00,0.00,58.72,0.000,0.000,0.456,28,1952,1575,-8.16,-0.20,300.24
$IRIDIUM_FIX,2057.14,-15753.90,270702,030312
$TT8_MAMPS,0.028379
$HUMID,61.45
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.80
$XPDR_PINGS,3
$24V_AH,24.6,5.984
$10V_AH,10.5,6.535
$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,18.525,83.750,267.425,58.725,0.000,30.831,31.718,161.406,19.500,0.000,18.109,1085.110,5112.333,418.098,1868.457,446.414,0.000,1062.559,0.000,1822.515,0.000,119.234,0.000
$DEVICE_MAMPS,228.566,66.729,788.476,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,401.913,339.509,1150.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31916,590
$CAP_FILE_SIZE,92808,0
$CFSIZE,260165632,251883520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020513,084111,2107.170,-15753.773,22,1.3,22,9.8