version: 66.06
glider: 523
mission: 4
dive: 73
start: 5 2 113 19 4 34
data:
$ID,523
$MISSION,4
$DIVE,73
$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,-37322.32
$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,29
$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
$GPS1,185419,2106.507,-15750.861,23,0.8,23,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.9
$GPS2,190417,2106.524,-15750.939,17,0.8,17,9.8
$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,85.6,13921,-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,-76.07,0.000,2,0.000,0.000,47,1978,3364,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.1,12,113,9.27,2.17,-0.70,0.000,4,0.229,0.062,2382,3367,3397,0,0,0,0,0,0
$GC,138,-0.74,-146.0,15.2,-29.8,18,145,0.00,2.28,0.00,0.000,6,0.000,0.044,2382,1956,3398,0,0,0,0,0,0
$GC,309,-0.74,-146.0,48.8,-18.5,49,315,0.00,2.28,0.00,0.000,4,0.000,0.059,2382,543,3399,0,0,0,0,0,0
$GC,355,-0.74,-146.0,57.1,-16.7,57,361,0.00,2.20,0.00,0.000,6,0.000,0.039,2373,1963,3399,0,0,0,0,0,0
$GC,685,-0.74,-146.0,107.2,-16.2,102,686,0.10,0.00,0.00,0.000,6,0.174,0.000,2398,1964,3400,0,0,0,0,0,0
$GC,1003,-0.74,-146.0,146.5,-11.8,132,1007,0.00,2.25,0.00,0.000,4,0.000,0.052,2398,547,3401,0,0,0,0,0,0
$GC,1087,-0.74,-146.0,156.0,-11.2,139,1091,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1981,3401,0,0,0,0,0,0
$GC,1414,-0.74,-146.0,189.0,-11.1,169,1418,0.00,2.15,0.00,0.000,4,0.000,0.057,2379,3357,3401,0,0,0,0,0,0
$GC,1454,-0.74,-146.0,193.4,-10.5,172,1458,0.00,2.17,0.00,0.000,6,0.000,0.045,2379,1961,3401,0,0,0,0,0,0
$GC,1772,-0.74,-146.0,224.1,-8.9,190,1776,0.00,2.20,0.00,0.000,4,0.000,0.053,2380,543,3401,0,0,0,0,0,0
$GC,1844,-0.74,-146.0,231.5,-9.4,193,1849,0.12,2.12,0.00,0.000,6,0.171,0.037,2403,1961,3401,0,0,0,0,0,0
$GC,2165,-0.74,-146.0,257.4,-7.6,209,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1962,3401,0,0,0,0,0,0
$GC,2475,-0.74,-146.0,279.5,-7.0,224,2479,0.00,2.25,0.00,0.000,4,0.000,0.058,2404,552,3401,0,0,0,0,0,0
$GC,2570,-0.74,-146.0,287.1,-8.6,228,2574,0.00,2.15,0.00,0.000,6,0.000,0.042,2395,1966,3401,0,0,0,0,0,0
$GC,2913,-0.74,-146.0,312.6,-7.3,241,2917,0.00,2.20,0.00,0.000,4,0.000,0.059,2385,3369,3400,0,0,0,0,0,0
$GC,2998,-0.74,-146.0,319.0,-6.8,243,3002,0.00,2.20,0.00,0.000,6,0.000,0.043,2385,1953,3400,0,0,0,0,0,0
$GC,3331,-0.74,-146.0,342.0,-7.2,251,3335,0.00,2.25,0.00,0.000,4,0.000,0.058,2375,3364,3398,0,0,0,0,0,0
$GC,3493,-0.74,-146.0,355.8,-8.6,254,3497,0.00,2.20,0.00,0.000,6,0.000,0.044,2375,1955,3397,0,0,0,0,0,0
$GC,3833,-0.74,-146.0,385.3,-8.7,263,3837,0.00,2.22,0.00,0.000,4,0.000,0.066,2375,547,3395,0,0,0,0,0,0
$GC,4030,-0.74,-146.0,404.0,-9.2,267,4035,0.12,2.17,0.00,0.000,6,0.169,0.045,2398,1969,3393,0,0,0,0,0,0
$GC,4374,-0.74,-146.0,427.7,-6.5,276,4378,0.00,2.28,0.00,0.000,4,0.000,0.065,2399,554,3391,0,0,0,0,0,0
$GC,4447,-0.74,-146.0,433.5,-8.1,277,4451,0.00,2.17,0.00,0.000,6,0.000,0.048,2391,1965,3391,0,0,0,0,0,0
$STATE,4701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4701,begin apogee
$GC,4707,-0.17,0.0,451.6,7.2,284,4828,0.57,0.00,117.82,0.788,6,0.117,0.000,2580,1966,2799,0,0,0,0,0,0
$STATE,4829,end apogee,CONTROL_FINISHED_OK
$STATE,4829,begin climb
$GC,4832,0.74,146.0,453.7,0.0,287,4963,0.85,0.00,124.88,0.756,6,0.076,0.000,2875,1966,2204,0,0,0,0,0,0
$GC,5279,0.74,146.0,402.0,12.8,298,5283,0.00,2.30,0.00,0.000,4,0.000,0.067,2885,572,2196,0,0,0,0,0,0
$GC,5318,0.74,146.0,396.4,14.1,299,5322,0.00,2.25,0.00,0.000,6,0.000,0.048,2885,1981,2195,0,0,0,0,0,0
$GC,5643,0.74,146.0,350.4,14.1,307,5647,0.00,2.33,0.00,0.000,4,0.000,0.067,2894,570,2193,0,0,0,0,0,0
$GC,5698,0.74,146.0,342.3,14.0,308,5702,0.00,2.20,0.00,0.000,6,0.000,0.047,2894,1976,2193,0,0,0,0,0,0
$GC,6046,0.74,146.0,295.9,12.9,317,6050,0.00,2.20,0.00,0.000,4,0.000,0.056,2894,3393,2191,0,0,0,0,0,0
$GC,6171,0.74,146.0,278.1,14.7,322,6176,0.00,2.22,0.00,0.000,6,0.000,0.046,2904,1975,2190,0,0,0,0,0,0
$GC,6486,0.74,146.0,233.0,14.2,338,6490,0.00,2.22,0.00,0.000,4,0.000,0.061,2914,568,2189,0,0,0,0,0,0
$GC,6514,0.74,146.0,229.1,13.7,339,6519,0.12,2.20,0.00,0.000,6,0.149,0.041,2880,1995,2189,0,0,0,0,0,0
$GC,6841,0.74,146.0,192.3,9.8,358,6844,0.00,2.15,0.00,0.000,4,0.000,0.056,2880,3377,2188,0,0,0,0,0,0
$GC,6871,0.74,146.0,188.7,11.6,360,6875,0.00,2.17,0.00,0.000,6,0.000,0.043,2887,1973,2188,0,0,0,0,0,0
$GC,7199,0.74,146.0,151.7,11.8,390,7203,0.00,2.20,0.00,0.000,4,0.000,0.058,2898,570,2188,0,0,0,0,0,0
$GC,7293,0.74,146.0,140.0,12.3,398,7297,0.00,2.15,0.00,0.000,6,0.000,0.038,2898,1982,2187,0,0,0,0,0,0
$GC,7621,0.74,146.0,100.3,11.3,428,7625,0.00,2.15,0.00,0.000,4,0.000,0.054,2898,3387,2187,0,0,0,0,0,0
$GC,7651,0.74,146.0,96.7,11.4,430,7655,0.00,2.22,0.00,0.000,6,0.000,0.048,2907,1974,2187,0,0,0,0,0,0
$GC,7982,0.74,146.0,61.6,11.0,475,7987,0.00,2.22,0.00,0.000,4,0.000,0.056,2907,3380,2187,0,0,0,0,0,0
$GC,8060,0.74,146.0,52.1,12.5,489,8066,0.12,2.20,0.00,0.000,6,0.156,0.044,2877,1964,2188,0,0,0,0,0,0
$GC,8389,0.79,186.3,26.4,7.4,550,8429,0.00,2.25,31.83,0.483,4,0.000,0.055,2886,562,2038,0,0,0,0,0,0
$GC,8486,0.80,195.2,18.1,8.7,566,8500,0.00,2.20,8.80,0.423,6,0.000,0.038,2885,1978,2003,0,0,0,0,0,0
$STATE,8653,end climb,SURFACE_DEPTH_REACHED
$STATE,8653,begin surface coast
$FINISH,0.5,1.012395
$STATE,8685,end surface coast,CONTROL_FINISHED_OK
$STATE,8685,begin surface
$SM_CCo,8703,47.58,0.451,0,0,1575,300.24
$SM_GC,1.09,0.00,0.00,47.58,0.000,0.000,0.451,33,1987,1575,-8.15,0.76,300.24
$IRIDIUM_FIX,2057.14,-15741.46,270702,191905
$TT8_MAMPS,0.028379
$HUMID,62.12
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,6.395
$10V_AH,10.5,6.982
$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,18.600,83.925,283.325,47.575,0.000,49.308,110.205,203.307,19.250,0.000,17.953,1119.141,5253.189,374.396,1961.411,641.208,0.000,1074.616,0.000,1911.743,0.000,121.015,0.000
$DEVICE_MAMPS,228.566,67.496,787.709,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.204,349.871,1163.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,34948,603
$CAP_FILE_SIZE,97856,0
$CFSIZE,260165632,251633664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020513,213135,2106.326,-15750.706,31,0.7,31,9.8