version: 66.06
glider: 523
mission: 4
dive: 71
start: 5 2 113 13 57 11
data:
$ID,523
$MISSION,4
$DIVE,71
$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,-37282.715
$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,32
$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
$GPS1,134742,2107.208,-15751.973,19,1.0,19,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-73.3
$GPS2,135653,2107.216,-15751.966,19,0.8,19,9.8
$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,89.6,15848,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.30,0.000,6,0.000,0.000,24,1979,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-7.3,13,117,9.38,0.00,0.00,0.000,6,0.229,0.000,2392,1979,3398,0,0,0,0,0,0
$GC,281,-0.74,-146.0,43.5,-17.2,45,287,0.00,2.33,0.00,0.000,4,0.000,0.056,2393,542,3399,0,0,0,0,0,0
$GC,327,-0.74,-146.0,52.5,-18.9,53,333,0.00,2.17,0.00,0.000,6,0.000,0.038,2385,1964,3399,0,0,0,0,0,0
$GC,662,-0.74,-146.0,103.2,-13.3,100,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1964,3401,0,0,0,0,0,0
$GC,981,-0.74,-146.0,145.8,-13.2,130,985,0.00,2.25,0.00,0.000,4,0.000,0.052,2384,547,3401,0,0,0,0,0,0
$GC,1021,-0.74,-146.0,151.1,-13.3,133,1026,0.00,2.15,0.00,0.000,6,0.000,0.035,2375,1970,3402,0,0,0,0,0,0
$GC,1349,-0.74,-146.0,191.3,-12.0,163,1353,0.00,2.17,0.00,0.000,4,0.000,0.058,2365,3360,3402,0,0,0,0,0,0
$GC,1466,-0.74,-146.0,206.3,-11.9,171,1471,0.12,2.17,0.00,0.000,6,0.146,0.044,2399,1959,3401,0,0,0,0,0,0
$GC,1782,-0.74,-146.0,234.7,-8.5,186,1786,0.00,2.20,0.00,0.000,4,0.000,0.053,2400,546,3403,0,0,0,0,0,0
$GC,1894,-0.74,-146.0,244.2,-8.0,191,1898,0.00,2.15,0.00,0.000,6,0.000,0.035,2392,1974,3403,0,0,0,0,0,0
$GC,2226,-0.74,-146.0,277.9,-10.1,207,2230,0.00,2.22,0.00,0.000,4,0.000,0.054,2392,550,3403,0,0,0,0,0,0
$GC,2484,-0.74,-146.0,302.7,-7.8,218,2489,0.00,2.12,0.00,0.000,6,0.000,0.038,2381,1965,3402,0,0,0,0,0,0
$GC,2817,-0.74,-146.0,325.1,-6.9,227,2821,0.00,2.17,0.00,0.000,4,0.000,0.056,2371,3367,3402,0,0,0,0,0,0
$GC,2862,-0.74,-146.0,329.0,-8.1,228,2867,0.10,2.17,0.00,0.000,6,0.154,0.040,2398,1956,3402,0,0,0,0,0,0
$GC,3183,-0.74,-146.0,353.8,-8.0,236,3187,0.00,2.22,0.00,0.000,4,0.000,0.062,2398,558,3400,0,0,0,0,0,0
$GC,3316,-0.74,-146.0,365.5,-8.4,239,3321,0.00,2.12,0.00,0.000,6,0.000,0.041,2390,1959,3399,0,0,0,0,0,0
$GC,3645,-0.74,-146.0,390.4,-7.0,247,3649,0.00,2.17,0.00,0.000,4,0.000,0.058,2380,3366,3397,0,0,0,0,0,0
$GC,3680,-0.74,-146.0,393.3,-8.2,247,3685,0.00,2.15,0.00,0.000,6,0.000,0.042,2380,1957,3397,0,0,0,0,0,0
$GC,4011,-0.74,-146.0,418.8,-7.3,256,4015,0.00,2.20,0.00,0.000,4,0.000,0.067,2380,557,3394,0,0,0,0,0,0
$GC,4044,-0.74,-146.0,421.4,-7.7,256,4050,0.12,2.15,0.00,0.000,6,0.169,0.046,2405,1963,3394,0,0,0,0,0,0
$GC,4377,-0.74,-146.0,443.8,-6.8,265,4381,0.00,2.25,0.00,0.000,4,0.000,0.064,2405,556,3391,0,0,0,0,0,0
$GC,4444,-0.74,-146.0,448.2,-6.6,266,4447,0.00,2.17,0.00,0.000,6,0.000,0.047,2396,1959,3390,0,0,0,0,0,0
$STATE,4494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4494,begin apogee
$GC,4500,-0.17,0.0,451.1,5.7,268,4622,0.57,0.00,118.12,0.789,6,0.121,0.000,2585,1959,2800,0,0,0,0,0,0
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4623,begin climb
$GC,4625,0.74,146.0,451.1,0.0,271,4760,0.82,2.38,125.05,0.756,4,0.076,0.064,2881,573,2204,0,0,0,0,0,0
$GC,4816,0.74,146.0,428.2,15.3,275,4820,0.00,2.25,0.00,0.000,6,0.000,0.044,2881,1975,2201,0,0,0,0,0,0
$GC,5158,0.74,146.0,378.7,14.1,284,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1975,2196,0,0,0,0,0,0
$GC,5483,0.74,146.0,335.8,13.0,292,5487,0.00,2.28,0.00,0.000,4,0.000,0.067,2890,571,2194,0,0,0,0,0,0
$GC,5567,0.74,146.0,324.4,13.1,294,5571,0.00,2.22,0.00,0.000,6,0.000,0.045,2890,1986,2193,0,0,0,0,0,0
$GC,5893,0.74,146.0,282.8,11.3,305,5897,0.00,2.20,0.00,0.000,4,0.000,0.057,2890,3389,2192,0,0,0,0,0,0
$GC,5982,0.74,146.0,272.1,11.9,309,5986,0.00,2.22,0.00,0.000,6,0.000,0.045,2899,1972,2191,0,0,0,0,0,0
$GC,6303,0.74,146.0,237.3,11.4,325,6307,0.00,2.22,0.00,0.000,4,0.000,0.062,2909,557,2190,0,0,0,0,0,0
$GC,6457,0.74,146.0,219.5,12.6,332,6462,0.12,2.17,0.00,0.000,6,0.147,0.041,2874,1983,2189,0,0,0,0,0,0
$GC,6781,0.74,146.0,184.0,9.7,354,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1983,2188,0,0,0,0,0,0
$GC,7110,0.74,146.0,149.6,11.1,385,7114,0.00,2.17,0.00,0.000,4,0.000,0.054,2875,3381,2187,0,0,0,0,0,0
$GC,7195,0.74,146.0,140.8,9.8,392,7199,0.00,2.20,0.00,0.000,6,0.000,0.048,2881,1977,2187,0,0,0,0,0,0
$GC,7522,0.75,157.0,111.5,8.6,422,7534,0.00,2.22,7.85,0.505,4,0.000,0.058,2892,564,2160,0,0,0,0,0,0
$GC,7624,0.75,157.0,101.4,10.2,431,7628,0.00,2.15,0.00,0.000,6,0.000,0.041,2892,1975,2159,0,0,0,0,0,0
$GC,7952,0.75,159.5,67.2,8.9,472,7961,0.00,2.25,4.00,0.370,4,0.000,0.054,2892,3387,2149,0,0,0,0,0,0
$GC,8039,0.75,159.5,58.9,9.9,487,8045,0.00,2.22,0.00,0.000,6,0.000,0.045,2901,1966,2148,0,0,0,0,0,0
$GC,8368,0.80,199.7,31.2,7.4,548,8407,0.00,0.00,34.95,0.486,6,0.000,0.000,2901,1966,1984,0,0,0,0,0,0
$GC,8566,0.80,199.7,11.9,10.2,584,8574,0.00,2.22,0.00,0.000,4,0.000,0.056,2911,574,1981,0,0,0,0,0,0
$GC,8589,0.80,199.7,9.5,10.9,587,8596,0.00,2.20,0.00,0.000,6,0.000,0.040,2911,1982,1981,0,0,0,0,0,0
$STATE,8645,end climb,SURFACE_DEPTH_REACHED
$STATE,8645,begin surface coast
$FINISH,0.4,1.023243
$STATE,8667,end surface coast,CONTROL_FINISHED_OK
$STATE,8667,begin surface
$SM_CCo,8685,46.17,0.449,0,0,1574,300.24
$SM_GC,1.24,0.00,0.00,46.17,0.000,0.000,0.449,39,1988,1574,-8.13,0.82,300.24
$IRIDIUM_FIX,2101.76,-15745.74,270702,131333
$TT8_MAMPS,0.027612
$HUMID,61.18
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.6,6.226
$10V_AH,10.5,6.803
$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,18.525,79.350,289.975,46.175,0.000,71.465,67.536,217.333,19.250,0.000,20.391,1112.466,5195.306,383.327,2001.447,591.950,0.000,1103.704,0.000,1947.597,0.000,119.261,0.000
$DEVICE_MAMPS,229.333,66.729,789.243,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.913,338.243,1159.632,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,31821,601
$CAP_FILE_SIZE,100358,0
$CFSIZE,260165632,251736064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020513,162359,2106.826,-15751.184,38,0.9,38,9.8