version: 66.06
glider: 523
mission: 4
dive: 69
start: 5 2 113 8 46 54
data:
$ID,523
$MISSION,4
$DIVE,69
$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,-37241.805
$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,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
$GPS1,084111,2107.170,-15753.773,22,1.3,22,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.5
$GPS2,084637,2107.245,-15753.834,16,0.8,17,9.8
$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,88.2,19046,-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,15,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-76.03,0.000,2,0.000,0.000,28,1951,3368,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.9,12,112,9.30,0.00,-0.52,0.000,6,0.227,0.000,2390,1946,3394,0,0,0,0,0,0
$GC,271,-0.74,-146.0,38.3,-17.6,44,279,0.00,2.30,0.00,0.000,4,0.000,0.059,2381,3356,3396,0,0,0,0,0,0
$GC,380,-0.74,-146.0,56.4,-15.5,63,386,0.00,2.20,0.00,0.000,6,0.000,0.045,2381,1956,3396,0,0,0,0,0,0
$GC,710,-0.74,-146.0,105.8,-15.5,108,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1956,3398,0,0,0,0,0,0
$GC,1037,-0.74,-146.0,149.5,-12.8,139,1041,0.00,2.20,0.00,0.000,4,0.000,0.053,2382,538,3399,0,0,0,0,0,0
$GC,1126,-0.74,-146.0,160.7,-11.5,147,1130,0.00,2.12,0.00,0.000,6,0.000,0.034,2372,1963,3399,0,0,0,0,0,0
$GC,1452,-0.74,-146.0,199.7,-10.2,177,1460,0.10,2.25,0.00,0.000,4,0.166,0.053,2399,542,3399,0,0,0,0,0,0
$GC,1487,-0.74,-146.0,203.6,-10.2,179,1491,0.00,2.12,0.00,0.000,6,0.000,0.035,2391,1964,3399,0,0,0,0,0,0
$GC,1807,-0.74,-146.0,235.3,-10.9,194,1811,0.00,2.17,0.00,0.000,4,0.000,0.057,2380,3364,3400,0,0,0,0,0,0
$GC,1963,-0.74,-146.0,251.2,-9.2,201,1967,0.00,2.20,0.00,0.000,6,0.000,0.046,2380,1957,3400,0,0,0,0,0,0
$GC,2287,-0.74,-146.0,277.8,-7.8,217,2291,0.00,2.20,0.00,0.000,4,0.000,0.055,2380,541,3400,0,0,0,0,0,0
$GC,2315,-0.74,-146.0,280.3,-8.6,218,2320,0.12,2.12,0.00,0.000,6,0.170,0.038,2404,1964,3400,0,0,0,0,0,0
$GC,2651,-0.74,-146.0,303.2,-7.2,233,2655,0.00,2.22,0.00,0.000,4,0.000,0.056,2405,552,3400,0,0,0,0,0,0
$GC,2795,-0.74,-146.0,315.3,-8.7,236,2799,0.00,2.15,0.00,0.000,6,0.000,0.039,2397,1963,3400,0,0,0,0,0,0
$GC,3109,-0.74,-146.0,340.3,-7.7,244,3113,0.00,2.17,0.00,0.000,4,0.000,0.057,2386,3367,3399,0,0,0,0,0,0
$GC,3252,-0.74,-146.0,351.3,-7.7,247,3256,0.00,2.17,0.00,0.000,6,0.000,0.041,2386,1955,3398,0,0,0,0,0,0
$GC,3573,-0.74,-146.0,375.7,-7.9,255,3577,0.00,2.20,0.00,0.000,4,0.000,0.061,2386,556,3397,0,0,0,0,0,0
$GC,3663,-0.74,-146.0,384.4,-9.5,257,3667,0.00,2.15,0.00,0.000,6,0.000,0.041,2377,1960,3396,0,0,0,0,0,0
$GC,3983,-0.74,-146.0,408.5,-7.0,265,3987,0.00,2.17,0.00,0.000,4,0.000,0.058,2366,3371,3394,0,0,0,0,0,0
$GC,4091,-0.74,-146.0,415.3,-6.4,267,4096,0.12,2.17,0.00,0.000,6,0.146,0.044,2401,1953,3393,0,0,0,0,0,0
$GC,4434,-0.74,-146.0,433.6,-5.9,276,4438,0.00,2.20,0.00,0.000,4,0.000,0.062,2401,546,3391,0,0,0,0,0,0
$GC,4665,-0.74,-146.0,449.4,-7.2,281,4669,0.00,2.17,0.00,0.000,6,0.000,0.045,2393,1958,3388,0,0,0,0,0,0
$STATE,4675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4675,begin apogee
$GC,4681,-0.17,0.0,450.1,7.6,281,4802,0.55,0.00,118.05,0.790,6,0.120,0.000,2578,1958,2800,0,0,0,0,0,0
$STATE,4803,end apogee,CONTROL_FINISHED_OK
$STATE,4803,begin climb
$GC,4806,0.74,146.0,451.3,0.0,284,4940,0.88,2.42,126.30,0.759,4,0.077,0.055,2876,3382,2203,0,0,0,0,0,0
$GC,4974,0.74,146.0,432.6,14.6,288,4980,0.00,2.33,0.00,0.000,6,0.000,0.051,2884,1987,2200,0,0,0,0,0,0
$GC,5305,0.74,146.0,390.2,13.1,297,5309,0.00,2.30,0.00,0.000,4,0.000,0.063,2895,558,2195,0,0,0,0,0,0
$GC,5423,0.74,146.0,372.2,16.2,299,5427,0.00,2.22,0.00,0.000,6,0.000,0.045,2895,1981,2194,0,0,0,0,0,0
$GC,5754,0.74,146.0,322.7,13.9,307,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1982,2192,0,0,0,0,0,0
$GC,6060,0.74,146.0,281.9,13.3,317,6064,0.00,2.20,0.00,0.000,4,0.000,0.056,2895,3384,2191,0,0,0,0,0,0
$GC,6146,0.74,146.0,270.3,13.7,321,6151,0.00,2.25,0.00,0.000,6,0.000,0.052,2905,1961,2190,0,0,0,0,0,0
$GC,6473,0.74,146.0,230.5,12.1,337,6477,0.00,2.22,0.00,0.000,4,0.000,0.062,2915,559,2189,0,0,0,0,0,0
$GC,6557,0.74,146.0,220.3,12.7,341,6562,0.12,2.22,0.00,0.000,6,0.152,0.046,2881,1985,2188,0,0,0,0,0,0
$GC,6887,0.74,146.0,184.0,10.8,363,6891,0.00,2.15,0.00,0.000,4,0.000,0.056,2881,3386,2187,0,0,0,0,0,0
$GC,6940,0.74,146.0,177.5,11.5,367,6948,0.00,2.25,0.00,0.000,6,0.000,0.048,2887,1968,2187,0,0,0,0,0,0
$GC,7267,0.74,146.0,139.3,12.8,398,7271,0.00,2.17,0.00,0.000,4,0.000,0.061,2897,564,2187,0,0,0,0,0,0
$GC,7331,0.74,146.0,131.1,12.7,403,7338,0.00,2.20,0.00,0.000,6,0.000,0.043,2898,1979,2187,0,0,0,0,0,0
$GC,7659,0.74,146.0,94.3,10.7,434,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1978,2187,0,0,0,0,0,0
$GC,7990,0.74,146.0,59.5,9.9,483,7995,0.00,2.17,0.00,0.000,4,0.000,0.054,2897,3387,2187,0,0,0,0,0,0
$GC,8036,0.74,146.0,54.8,10.0,491,8041,0.00,2.20,0.00,0.000,6,0.000,0.045,2906,1974,2187,0,0,0,0,0,0
$GC,8364,0.74,146.0,24.8,9.1,552,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1974,2188,0,0,0,0,0,0
$GC,8532,0.76,166.2,10.4,8.2,583,8553,0.00,2.22,15.75,0.456,4,0.000,0.055,2906,3381,2120,0,0,0,0,0,0
$STATE,8609,end climb,SURFACE_DEPTH_REACHED
$STATE,8610,begin surface coast
$FINISH,0.7,1.023337
$STATE,8630,end surface coast,CONTROL_FINISHED_OK
$STATE,8630,begin surface
$SM_CCo,8649,59.95,0.456,0,0,1574,300.24
$SM_GC,1.38,0.00,0.00,59.95,0.000,0.000,0.456,27,1938,1574,-8.16,-0.59,300.24
$IRIDIUM_FIX,2101.76,-15755.17,270702,060647
$TT8_MAMPS,0.028379
$HUMID,61.45
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,24.6,6.061
$10V_AH,10.5,6.623
$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,18.525,79.500,260.100,59.950,0.000,32.079,32.356,138.423,19.000,0.000,17.509,1120.889,5078.245,415.232,1997.245,425.914,0.000,1105.187,0.000,1948.383,0.000,119.099,0.000
$DEVICE_MAMPS,227.032,62.894,790.010,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.212,337.718,1163.368,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,31928,600
$CAP_FILE_SIZE,94922,0
$CFSIZE,260165632,251834368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020513,111323,2107.256,-15753.025,40,0.9,40,9.8