version: 66.06
glider: 523
mission: 4
dive: 76
start: 5 3 113 2 41 52
data:
$ID,523
$MISSION,4
$DIVE,76
$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,-37382.465
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,023558,2105.989,-15749.067,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-76.0
$GPS2,024135,2105.975,-15749.047,14,1.3,14,9.8
$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,81.8,10593,-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,-76.12,0.000,2,0.000,0.000,50,1969,3365,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-5.0,12,113,9.30,2.28,-0.68,0.000,4,0.232,0.062,2393,541,3397,0,0,0,0,0,0
$GC,152,-0.74,-146.0,18.3,-20.0,21,160,0.00,2.22,0.00,0.000,6,0.000,0.042,2384,1959,3399,0,0,0,0,0,0
$GC,322,-0.74,-146.0,49.3,-15.9,52,329,0.00,2.33,0.00,0.000,4,0.000,0.057,2385,547,3399,0,0,0,0,0,0
$GC,343,-0.74,-146.0,53.0,-15.9,55,349,0.00,2.17,0.00,0.000,6,0.000,0.039,2375,1969,3399,0,0,0,0,0,0
$GC,678,-0.74,-146.0,104.6,-15.0,102,684,0.00,2.20,0.00,0.000,4,0.000,0.059,2365,3371,3401,0,0,0,0,0,0
$GC,779,-0.74,-146.0,119.3,-14.3,111,786,0.12,2.22,0.00,0.000,6,0.152,0.047,2398,1954,3401,0,0,0,0,0,0
$GC,1114,-0.74,-146.0,157.7,-10.0,142,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1954,3402,0,0,0,0,0,0
$GC,1432,-0.74,-146.0,191.4,-10.8,172,1436,0.00,2.20,0.00,0.000,4,0.000,0.053,2398,549,3402,0,0,0,0,0,0
$GC,1529,-0.74,-146.0,202.2,-10.1,179,1535,0.00,2.12,0.00,0.000,6,0.000,0.035,2390,1975,3402,0,0,0,0,0,0
$GC,1847,-0.74,-146.0,230.8,-9.8,195,1851,0.00,2.17,0.00,0.000,4,0.000,0.058,2379,3359,3402,0,0,0,0,0,0
$GC,1863,-0.74,-146.0,233.1,-11.5,195,1868,0.00,2.17,0.00,0.000,6,0.000,0.044,2379,1952,3402,0,0,0,0,0,0
$GC,2178,-0.74,-146.0,268.5,-9.8,211,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1952,3402,0,0,0,0,0,0
$GC,2488,-0.74,-146.0,292.5,-6.9,226,2492,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,551,3402,0,0,0,0,0,0
$GC,2571,-0.74,-146.0,299.4,-8.3,229,2578,0.12,2.12,0.00,0.000,6,0.166,0.039,2404,1960,3402,0,0,0,0,0,0
$GC,2885,-0.74,-146.0,324.4,-8.2,238,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1961,3401,0,0,0,0,0,0
$GC,3209,-0.74,-146.0,347.7,-7.1,246,3213,0.00,2.25,0.00,0.000,4,0.000,0.060,2405,552,3400,0,0,0,0,0,0
$GC,3323,-0.74,-146.0,356.4,-7.5,248,3327,0.00,2.15,0.00,0.000,6,0.000,0.042,2397,1960,3399,0,0,0,0,0,0
$GC,3666,-0.74,-146.0,383.2,-7.9,257,3670,0.00,2.30,0.00,0.000,4,0.000,0.062,2397,546,3398,0,0,0,0,0,0
$GC,3811,-0.74,-146.0,396.4,-8.9,260,3815,0.00,2.17,0.00,0.000,6,0.000,0.046,2387,1958,3396,0,0,0,0,0,0
$GC,4161,-0.74,-146.0,422.6,-7.7,269,4165,0.00,2.28,0.00,0.000,4,0.000,0.065,2387,550,3394,0,0,0,0,0,0
$GC,4183,-0.74,-146.0,425.0,-8.9,269,4188,0.00,2.20,0.00,0.000,6,0.000,0.048,2378,1969,3394,0,0,0,0,0,0
$STATE,4484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4484,begin apogee
$GC,4491,-0.17,0.0,450.1,8.2,277,4612,0.62,0.00,118.38,0.785,6,0.126,0.000,2579,1969,2800,0,0,0,0,0,0
$STATE,4613,end apogee,CONTROL_FINISHED_OK
$STATE,4613,begin climb
$GC,4616,0.74,146.0,452.1,0.0,280,4748,0.88,2.40,125.90,0.755,4,0.076,0.054,2878,3384,2203,0,0,0,0,0,0
$GC,4771,0.74,146.0,436.6,14.8,284,4775,0.00,2.33,0.00,0.000,6,0.000,0.043,2886,1973,2200,0,0,0,0,0,0
$GC,5089,0.74,146.0,390.5,15.0,292,5093,0.00,2.25,0.00,0.000,4,0.000,0.062,2897,565,2196,0,0,0,0,0,0
$GC,5218,0.74,146.0,370.7,15.4,295,5222,0.00,2.22,0.00,0.000,6,0.000,0.046,2897,1982,2194,0,0,0,0,0,0
$GC,5542,0.74,146.0,320.9,15.0,303,5546,0.00,2.30,0.00,0.000,4,0.000,0.066,2907,560,2193,0,0,0,0,0,0
$GC,5603,0.74,146.0,311.9,14.3,304,5607,0.00,2.20,0.00,0.000,6,0.000,0.045,2907,1977,2192,0,0,0,0,0,0
$GC,5934,0.74,146.0,266.0,13.4,318,5938,0.00,2.20,0.00,0.000,4,0.000,0.056,2907,3391,2190,0,0,0,0,0,0
$GC,6002,0.74,146.0,256.4,14.5,321,6006,0.12,2.22,0.00,0.000,6,0.159,0.044,2880,1971,2190,0,0,0,0,0,0
$GC,6328,0.74,146.0,219.7,11.2,337,6332,0.00,2.22,0.00,0.000,4,0.000,0.060,2890,564,2189,0,0,0,0,0,0
$GC,6400,0.74,146.0,211.7,10.8,340,6404,0.00,2.17,0.00,0.000,6,0.000,0.044,2890,1983,2188,0,0,0,0,0,0
$GC,6726,0.74,146.0,176.3,12.0,364,6730,0.00,2.17,0.00,0.000,4,0.000,0.053,2889,3383,2188,0,0,0,0,0,0
$GC,6778,0.74,146.0,168.9,14.2,368,6782,0.00,2.20,0.00,0.000,6,0.000,0.042,2899,1966,2187,0,0,0,0,0,0
$GC,7106,0.74,146.0,126.8,11.9,398,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1966,2187,0,0,0,0,0,0
$GC,7435,0.74,146.0,88.4,11.5,429,7439,0.00,2.20,0.00,0.000,4,0.000,0.058,2908,571,2187,0,0,0,0,0,0
$GC,7487,0.74,146.0,82.2,12.3,433,7492,0.12,2.12,0.00,0.000,6,0.135,0.041,2872,1976,2187,0,0,0,0,0,0
$GC,7819,0.76,168.5,53.3,8.1,491,7844,0.00,2.22,17.27,0.496,4,0.000,0.051,2872,3381,2111,0,0,0,0,0,0
$GC,7916,0.76,168.5,44.7,9.5,508,7923,0.00,2.25,0.00,0.000,6,0.000,0.046,2879,1978,2111,0,0,0,0,0,0
$GC,8244,0.78,180.7,16.9,8.5,569,8265,0.00,2.30,11.70,0.445,4,0.000,0.056,2889,559,2062,0,0,0,0,0,0
$GC,8341,0.78,180.7,7.9,9.4,586,8348,0.00,2.20,0.00,0.000,6,0.000,0.040,2889,1969,2061,0,0,0,0,0,0
$STATE,8395,end climb,SURFACE_DEPTH_REACHED
$STATE,8395,begin surface coast
$FINISH,0.5,1.023355
$STATE,8433,end surface coast,CONTROL_FINISHED_OK
$STATE,8433,begin surface
$SM_CCo,8451,52.72,0.451,0,0,1576,300.24
$SM_GC,1.45,0.00,0.00,52.72,0.000,0.000,0.451,31,1978,1576,-8.16,0.51,300.24
$IRIDIUM_FIX,2054.83,-15749.62,280702,000035
$TT8_MAMPS,0.028379
$HUMID,61.22
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.6,6.632
$10V_AH,10.5,7.241
$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,18.450,79.975,273.250,52.725,0.000,25.826,36.933,151.883,19.250,0.000,15.089,1100.764,4988.688,412.089,1905.792,434.853,0.000,1071.475,0.000,1864.160,0.000,120.978,0.000
$DEVICE_MAMPS,231.634,65.962,784.641,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.835,342.579,1173.273,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,34985,603
$CAP_FILE_SIZE,91899,0
$CFSIZE,260165632,251498496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030513,050435,2105.403,-15748.219,20,0.9,20,9.8