version: 66.06
glider: 523
mission: 4
dive: 72
start: 5 2 113 16 30 15
data:
$ID,523
$MISSION,4
$DIVE,72
$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,-37303.738
$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,26
$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
$GPS1,162359,2106.826,-15751.184,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.2
$GPS2,162959,2106.813,-15751.134,19,1.0,19,9.8
$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,87.6,14316,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-76.35,0.000,2,0.000,0.000,39,1989,3384,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.4,-5.2,12,114,9.30,0.00,-0.25,0.000,6,0.229,0.000,2394,1989,3396,0,0,0,0,0,0
$GC,272,-0.74,-146.0,42.1,-19.8,44,280,0.00,2.20,0.00,0.000,4,0.000,0.058,2386,3360,3399,0,0,0,0,0,0
$GC,358,-0.74,-146.0,58.2,-17.9,59,364,0.00,2.22,0.00,0.000,6,0.000,0.045,2386,1952,3399,0,0,0,0,0,0
$GC,688,-0.74,-146.0,110.2,-13.8,101,692,0.00,2.22,0.00,0.000,4,0.000,0.057,2386,549,3400,0,0,0,0,0,0
$GC,823,-0.74,-146.0,131.7,-14.5,112,831,0.00,2.17,0.00,0.000,6,0.000,0.035,2377,1968,3400,0,0,0,0,0,0
$GC,1151,-0.74,-146.0,169.2,-9.6,143,1155,0.00,2.25,0.00,0.000,4,0.000,0.052,2376,547,3401,0,0,0,0,0,0
$GC,1214,-0.74,-146.0,175.6,-10.5,148,1219,0.12,2.15,0.00,0.000,6,0.170,0.035,2399,1969,3401,0,0,0,0,0,0
$GC,1547,-0.74,-146.0,209.1,-10.2,175,1551,0.00,2.28,0.00,0.000,4,0.000,0.052,2399,544,3402,0,0,0,0,0,0
$GC,1642,-0.74,-146.0,220.8,-12.1,179,1646,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1968,3402,0,0,0,0,0,0
$GC,1960,-0.74,-146.0,249.3,-8.6,194,1964,0.00,2.20,0.00,0.000,4,0.000,0.058,2380,3367,3402,0,0,0,0,0,0
$GC,2055,-0.74,-146.0,257.8,-8.8,198,2059,0.00,2.17,0.00,0.000,6,0.000,0.044,2380,1953,3402,0,0,0,0,0,0
$GC,2370,-0.74,-146.0,287.7,-9.7,213,2374,0.00,2.20,0.00,0.000,4,0.000,0.054,2380,550,3402,0,0,0,0,0,0
$GC,2628,-0.74,-146.0,315.7,-9.8,221,2634,0.12,2.12,0.00,0.000,6,0.170,0.038,2404,1966,3402,0,0,0,0,0,0
$GC,2960,-0.74,-146.0,339.1,-6.9,230,2963,0.00,2.15,0.00,0.000,4,0.000,0.055,2396,3368,3401,0,0,0,0,0,0
$GC,3080,-0.74,-146.0,347.8,-7.1,232,3084,0.00,2.17,0.00,0.000,6,0.000,0.041,2396,1949,3401,0,0,0,0,0,0
$GC,3411,-0.74,-146.0,368.8,-6.0,240,3415,0.00,2.20,0.00,0.000,4,0.000,0.060,2396,554,3399,0,0,0,0,0,0
$GC,3537,-0.74,-146.0,377.6,-7.9,242,3543,0.00,2.15,0.00,0.000,6,0.000,0.041,2386,1968,3398,0,0,0,0,0,0
$GC,3870,-0.74,-146.0,402.4,-7.5,251,3874,0.00,2.25,0.00,0.000,4,0.000,0.060,2386,554,3396,0,0,0,0,0,0
$GC,3948,-0.74,-146.0,409.1,-8.5,252,3954,0.00,2.17,0.00,0.000,6,0.000,0.042,2376,1970,3395,0,0,0,0,0,0
$GC,4280,-0.74,-146.0,436.8,-8.4,261,4284,0.00,2.17,0.00,0.000,4,0.000,0.060,2366,3365,3393,0,0,0,0,0,0
$GC,4348,-0.74,-146.0,442.1,-8.0,262,4352,0.12,2.17,0.00,0.000,6,0.149,0.044,2399,1953,3392,0,0,0,0,0,0
$STATE,4480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4481,begin apogee
$GC,4487,-0.17,0.0,452.0,7.5,266,4608,0.55,0.00,118.35,0.787,6,0.118,0.000,2584,1952,2800,0,0,0,0,0,0
$STATE,4609,end apogee,CONTROL_FINISHED_OK
$STATE,4609,begin climb
$GC,4612,0.74,146.0,454.1,0.0,269,4742,0.82,0.00,125.75,0.755,6,0.076,0.000,2871,1952,2203,0,0,0,0,0,0
$GC,5059,0.74,146.0,402.0,13.0,280,5063,0.00,2.30,0.00,0.000,4,0.000,0.058,2871,3375,2196,0,0,0,0,0,0
$GC,5086,0.74,146.0,398.1,13.2,280,5090,0.00,2.25,0.00,0.000,6,0.000,0.048,2879,1974,2195,0,0,0,0,0,0
$GC,5417,0.74,146.0,356.6,12.3,288,5421,0.00,2.28,0.00,0.000,4,0.000,0.069,2890,556,2193,0,0,0,0,0,0
$GC,5529,0.74,146.0,341.7,13.3,290,5533,0.00,2.22,0.00,0.000,6,0.000,0.044,2890,1978,2191,0,0,0,0,0,0
$GC,5865,0.74,146.0,296.5,13.3,299,5869,0.00,2.20,0.00,0.000,4,0.000,0.055,2890,3388,2191,0,0,0,0,0,0
$GC,6006,0.74,146.0,276.0,14.0,305,6010,0.00,2.20,0.00,0.000,6,0.000,0.044,2900,1969,2189,0,0,0,0,0,0
$GC,6327,0.74,146.0,230.1,14.9,321,6331,0.00,2.20,0.00,0.000,4,0.000,0.061,2910,565,2189,0,0,0,0,0,0
$GC,6461,0.74,146.0,211.1,14.1,327,6466,0.12,2.20,0.00,0.000,6,0.144,0.044,2875,1981,2187,0,0,0,0,0,0
$GC,6790,0.74,146.0,176.2,9.9,353,6794,0.00,2.28,0.00,0.000,4,0.000,0.064,2883,565,2187,0,0,0,0,0,0
$GC,6844,0.74,146.0,170.6,10.6,357,6851,0.00,2.22,0.00,0.000,6,0.000,0.044,2883,1981,2187,0,0,0,0,0,0
$GC,7171,0.74,146.0,138.5,11.1,388,7175,0.00,2.17,0.00,0.000,4,0.000,0.055,2883,3389,2187,0,0,0,0,0,0
$GC,7222,0.74,146.0,132.4,12.7,392,7226,0.00,2.20,0.00,0.000,6,0.000,0.047,2893,1967,2186,0,0,0,0,0,0
$GC,7550,0.74,146.0,94.7,10.8,422,7554,0.00,2.20,0.00,0.000,4,0.000,0.058,2902,557,2186,0,0,0,0,0,0
$GC,7612,0.74,146.0,87.1,12.4,427,7616,0.00,2.17,0.00,0.000,6,0.000,0.042,2902,1986,2186,0,0,0,0,0,0
$GC,7943,0.74,146.0,48.8,10.3,482,7950,0.00,2.17,0.00,0.000,4,0.000,0.054,2902,3384,2187,0,0,0,0,0,0
$GC,8032,0.74,146.0,39.0,11.0,498,8040,0.10,2.22,0.00,0.000,6,0.121,0.045,2875,1972,2187,0,0,0,0,0,0
$GC,8359,0.80,199.7,14.9,6.8,559,8412,0.00,2.28,42.55,0.474,4,0.000,0.056,2884,569,1983,0,0,0,0,0,0
$GC,8427,0.85,238.1,9.9,7.4,569,8467,0.00,2.20,32.70,0.459,6,0.000,0.039,2884,1971,1827,0,0,0,0,0,0
$STATE,8499,end climb,SURFACE_DEPTH_REACHED
$STATE,8500,begin surface coast
$FINISH,0.4,1.023393
$STATE,8534,end surface coast,CONTROL_FINISHED_OK
$STATE,8534,begin surface
$SM_CCo,8552,30.45,0.443,0,0,1575,300.24
$SM_GC,1.20,0.00,0.00,30.45,0.000,0.000,0.443,47,1979,1575,-8.10,0.54,300.24
$IRIDIUM_FIX,2104.07,-15753.03,270702,141455
$TT8_MAMPS,0.028379
$HUMID,61.22
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.6,6.309
$10V_AH,10.5,6.892
$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,18.625,83.775,319.350,30.450,0.000,30.592,32.460,167.342,19.250,0.000,20.393,1089.161,4999.308,390.767,2000.858,461.587,0.000,1117.889,0.000,1954.625,0.000,119.294,0.000
$DEVICE_MAMPS,229.333,69.030,786.942,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,398.414,336.098,1179.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31862,587
$CAP_FILE_SIZE,96797,0
$CFSIZE,260165632,251686912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020513,185419,2106.507,-15750.861,23,0.8,23,9.8