version: 66.06
glider: 523
mission: 4
dive: 75
start: 5 3 113 0 7 52
data:
$ID,523
$MISSION,4
$DIVE,75
$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,-37366.746
$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,23
$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
$GPS1,000154,2106.313,-15750.104,19,1.5,19,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-73.3
$GPS2,000736,2106.311,-15750.049,21,1.5,21,9.8
$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,84.5,12356,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.62,0.000,6,0.000,0.000,25,1974,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.2,13,118,9.32,2.15,0.00,0.000,4,0.227,0.046,2385,3363,3397,0,0,0,0,0,0
$GC,143,-0.74,-146.0,18.4,-34.9,19,150,0.00,2.28,0.00,0.000,6,0.000,0.046,2385,1954,3398,0,0,0,0,0,0
$GC,313,-0.74,-146.0,50.3,-17.1,50,320,0.00,2.28,0.00,0.000,4,0.000,0.061,2385,550,3400,0,0,0,0,0,0
$GC,380,-0.74,-146.0,62.9,-18.1,62,388,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1957,3399,0,0,0,0,0,0
$GC,713,-0.74,-146.0,116.4,-14.8,102,717,0.00,2.25,0.00,0.000,4,0.000,0.060,2366,3364,3401,0,0,0,0,0,0
$GC,786,-0.74,-146.0,126.6,-13.3,108,791,0.12,2.20,0.00,0.000,6,0.155,0.045,2398,1958,3401,0,0,0,0,0,0
$GC,1114,-0.74,-146.0,160.9,-9.3,138,1118,0.00,2.22,0.00,0.000,4,0.000,0.054,2398,544,3403,0,0,0,0,0,0
$GC,1209,-0.74,-146.0,170.6,-9.7,146,1213,0.00,2.12,0.00,0.000,6,0.000,0.035,2390,1968,3403,0,0,0,0,0,0
$GC,1533,-0.74,-146.0,202.4,-9.1,175,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1969,3403,0,0,0,0,0,0
$GC,1844,-0.74,-146.0,231.7,-9.1,190,1848,0.00,2.25,0.00,0.000,4,0.000,0.053,2390,550,3404,0,0,0,0,0,0
$GC,1929,-0.74,-146.0,239.8,-8.8,194,1933,0.00,2.12,0.00,0.000,6,0.000,0.038,2381,1960,3403,0,0,0,0,0,0
$GC,2262,-0.74,-146.0,266.1,-8.1,210,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1960,3403,0,0,0,0,0,0
$GC,2570,-0.74,-146.0,291.8,-7.8,225,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1960,3403,0,0,0,0,0,0
$GC,2877,-0.74,-146.0,315.6,-7.5,235,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1961,3402,0,0,0,0,0,0
$GC,3202,-0.74,-146.0,343.3,-8.8,243,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1961,3400,0,0,0,0,0,0
$GC,3526,-0.74,-146.0,369.1,-8.1,251,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1961,3399,0,0,0,0,0,0
$GC,3851,-0.74,-146.0,394.7,-7.6,259,3856,0.00,2.25,0.00,0.000,4,0.000,0.061,2380,548,3396,0,0,0,0,0,0
$GC,3901,-0.74,-146.0,399.1,-8.9,260,3906,0.12,2.15,0.00,0.000,6,0.166,0.044,2405,1955,3396,0,0,0,0,0,0
$GC,4222,-0.74,-146.0,417.6,-5.4,268,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1956,3394,0,0,0,0,0,0
$GC,4546,-0.74,-146.0,436.8,-6.3,276,4549,0.00,2.17,0.00,0.000,4,0.000,0.058,2396,3366,3392,0,0,0,0,0,0
$GC,4608,-0.74,-146.0,441.4,-7.9,277,4613,0.00,2.20,0.00,0.000,6,0.000,0.047,2396,1962,3392,0,0,0,0,0,0
$STATE,4746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4746,begin apogee
$GC,4752,-0.17,0.0,452.1,7.7,281,4874,0.57,0.00,118.60,0.794,6,0.117,0.000,2586,1962,2799,0,0,0,0,0,0
$STATE,4875,end apogee,CONTROL_FINISHED_OK
$STATE,4875,begin climb
$GC,4878,0.74,146.0,455.2,0.0,284,5014,0.82,2.50,125.28,0.763,4,0.076,0.057,2873,3385,2202,0,0,0,0,0,0
$GC,5037,0.74,146.0,441.4,12.4,287,5043,0.00,2.38,0.00,0.000,6,0.000,0.051,2882,1968,2200,0,0,0,0,0,0
$GC,5368,0.74,146.0,397.6,13.7,296,5372,0.00,2.28,0.00,0.000,4,0.000,0.063,2892,562,2195,0,0,0,0,0,0
$GC,5474,0.74,146.0,382.0,14.9,298,5478,0.00,2.20,0.00,0.000,6,0.000,0.044,2892,1979,2193,0,0,0,0,0,0
$GC,5816,0.74,146.0,335.4,13.0,307,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1979,2191,0,0,0,0,0,0
$GC,6122,0.74,146.0,293.6,14.0,315,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1980,2191,0,0,0,0,0,0
$GC,6430,0.74,146.0,247.3,15.6,330,6434,0.00,2.20,0.00,0.000,4,0.000,0.056,2892,3390,2189,0,0,0,0,0,0
$GC,6470,0.74,146.0,241.1,15.1,332,6474,0.00,2.25,0.00,0.000,6,0.000,0.050,2900,1973,2189,0,0,0,0,0,0
$GC,6797,0.74,146.0,200.3,10.6,348,6801,0.00,2.22,0.00,0.000,4,0.000,0.063,2911,560,2188,0,0,0,0,0,0
$GC,6892,0.74,146.2,191.4,9.0,356,6897,0.12,2.20,0.00,0.000,6,0.149,0.044,2877,1977,2187,0,0,0,0,0,0
$GC,7219,0.74,146.2,160.1,10.0,386,7223,0.00,2.15,0.00,0.000,4,0.000,0.054,2877,3381,2186,0,0,0,0,0,0
$GC,7249,0.74,146.2,156.8,11.3,388,7253,0.00,2.20,0.00,0.000,6,0.000,0.048,2883,1969,2187,0,0,0,0,0,0
$GC,7577,0.74,146.2,117.8,12.1,418,7581,0.00,2.20,0.00,0.000,4,0.000,0.060,2894,567,2186,0,0,0,0,0,0
$GC,7663,0.74,146.2,106.5,12.4,425,7671,0.00,2.17,0.00,0.000,6,0.000,0.043,2894,1969,2186,0,0,0,0,0,0
$GC,7988,0.74,146.2,69.0,9.3,466,7995,0.00,2.20,0.00,0.000,4,0.000,0.054,2894,3378,2187,0,0,0,0,0,0
$GC,8020,0.74,146.2,65.8,11.0,471,8026,0.00,2.20,0.00,0.000,6,0.000,0.043,2900,1967,2187,0,0,0,0,0,0
$GC,8350,0.81,206.5,37.9,6.5,532,8404,0.00,2.28,48.15,0.499,4,0.000,0.055,2910,564,1956,0,0,0,0,0,0
$GC,8498,0.83,218.6,27.9,8.5,558,8519,0.00,2.22,10.88,0.445,6,0.000,0.040,2910,1974,1909,0,0,0,0,0,0
$GC,8680,0.83,218.6,8.7,12.3,591,8687,0.00,2.28,0.00,0.000,4,0.000,0.052,2910,3381,1907,0,0,0,0,0,0
$GC,8716,0.83,218.6,3.9,13.7,597,8723,0.00,2.25,0.00,0.000,6,0.000,0.042,2920,1978,1907,0,0,0,0,0,0
$STATE,8729,end climb,SURFACE_DEPTH_REACHED
$STATE,8729,begin surface coast
$FINISH,0.3,1.022865
$STATE,8752,end surface coast,CONTROL_FINISHED_OK
$STATE,8752,begin surface
$SM_CCo,8769,37.58,0.449,0,0,1575,300.24
$SM_GC,1.38,0.00,0.00,37.58,0.000,0.000,0.449,50,1968,1575,-8.10,0.25,300.24
$IRIDIUM_FIX,2054.83,-15749.62,270702,212121
$TT8_MAMPS,0.028379
$HUMID,61.45
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.6,6.554
$10V_AH,10.5,7.154
$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,18.450,71.225,302.900,37.575,0.000,25.338,36.759,152.224,19.000,0.000,22.010,1073.294,5429.515,381.822,1836.356,428.618,0.000,1048.161,0.000,1787.977,0.000,117.238,0.000
$DEVICE_MAMPS,227.032,62.894,793.845,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.596,340.454,1146.934,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34978,603
$CAP_FILE_SIZE,91079,0
$CFSIZE,260165632,251543552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030513,023558,2105.989,-15749.067,40,0.8,40,9.8