version: 66.06
glider: 523
mission: 4
dive: 77
start: 5 3 113 5 10 35
data:
$ID,523
$MISSION,4
$DIVE,77
$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,-37401.305
$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,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
$GPS1,050435,2105.403,-15748.219,20,0.9,20,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.2
$GPS2,051018,2105.387,-15748.210,17,1.7,17,9.8
$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,75.3,9178,-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,-76.03,0.000,2,0.000,0.000,31,1978,3371,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.5,12,112,9.30,0.00,-0.52,0.000,6,0.226,0.000,2393,1977,3396,0,0,0,0,0,0
$GC,270,-0.74,-146.0,40.8,-19.4,44,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1977,3398,0,0,0,0,0,0
$GC,606,-0.74,-146.0,93.5,-14.7,97,610,0.00,2.33,0.00,0.000,4,0.000,0.056,2393,540,3400,0,0,0,0,0,0
$GC,636,-0.74,-146.0,98.3,-16.1,99,640,0.00,2.17,0.00,0.000,6,0.000,0.039,2385,1964,3399,0,0,0,0,0,0
$GC,964,-0.74,-146.0,140.8,-12.0,129,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1966,3400,0,0,0,0,0,0
$GC,1291,-0.74,-146.0,179.6,-11.8,160,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1966,3401,0,0,0,0,0,0
$GC,1614,-0.74,-146.0,216.6,-12.3,185,1618,0.00,2.20,0.00,0.000,4,0.000,0.056,2376,3373,3401,0,0,0,0,0,0
$GC,1709,-0.74,-146.0,227.2,-10.8,189,1713,0.00,2.22,0.00,0.000,6,0.000,0.045,2376,1952,3401,0,0,0,0,0,0
$GC,2032,-0.74,-146.0,257.0,-8.2,205,2036,0.00,2.20,0.00,0.000,4,0.000,0.055,2376,545,3401,0,0,0,0,0,0
$GC,2251,-0.74,-146.0,275.3,-8.2,214,2257,0.12,2.12,0.00,0.000,6,0.168,0.037,2399,1970,3401,0,0,0,0,0,0
$GC,2569,-0.74,-146.0,299.8,-7.9,230,2573,0.00,2.28,0.00,0.000,4,0.000,0.058,2400,545,3401,0,0,0,0,0,0
$GC,2596,-0.74,-146.0,302.4,-8.8,231,2600,0.00,2.15,0.00,0.000,6,0.000,0.041,2392,1963,3401,0,0,0,0,0,0
$GC,2933,-0.74,-146.0,328.7,-7.7,240,2936,0.00,2.17,0.00,0.000,4,0.000,0.058,2382,3365,3401,0,0,0,0,0,0
$GC,3000,-0.74,-146.0,335.1,-9.4,241,3004,0.00,2.17,0.00,0.000,6,0.000,0.044,2381,1948,3401,0,0,0,0,0,0
$GC,3337,-0.74,-146.0,363.6,-7.8,250,3341,0.00,2.22,0.00,0.000,4,0.000,0.064,2381,546,3399,0,0,0,0,0,0
$GC,3476,-0.74,-146.0,375.1,-9.2,253,3481,0.10,2.17,0.00,0.000,6,0.175,0.045,2398,1970,3399,0,0,0,0,0,0
$GC,3796,-0.74,-146.0,399.3,-7.3,261,3800,0.00,2.25,0.00,0.000,4,0.000,0.063,2399,553,3397,0,0,0,0,0,0
$GC,3875,-0.74,-146.0,405.5,-7.5,262,3879,0.00,2.17,0.00,0.000,6,0.000,0.048,2391,1956,3395,0,0,0,0,0,0
$GC,4206,-0.74,-146.0,429.0,-7.2,270,4210,0.00,2.22,0.00,0.000,4,0.000,0.058,2380,3376,3394,0,0,0,0,0,0
$GC,4251,-0.74,-146.0,432.4,-7.3,271,4255,0.00,2.22,0.00,0.000,6,0.000,0.046,2380,1954,3394,0,0,0,0,0,0
$STATE,4487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4487,begin apogee
$GC,4493,-0.17,0.0,450.1,7.4,277,4615,0.62,0.00,118.30,0.786,6,0.123,0.000,2584,1954,2800,0,0,0,0,0,0
$STATE,4615,end apogee,CONTROL_FINISHED_OK
$STATE,4615,begin climb
$GC,4618,0.74,146.0,451.7,0.0,280,4748,0.85,0.00,125.97,0.755,6,0.074,0.000,2875,1954,2204,0,0,0,0,0,0
$GC,5056,0.74,146.0,398.3,13.5,291,5060,0.00,2.22,0.00,0.000,4,0.000,0.062,2885,566,2196,0,0,0,0,0,0
$GC,5145,0.74,146.0,385.6,13.9,293,5149,0.00,2.20,0.00,0.000,6,0.000,0.043,2885,1981,2194,0,0,0,0,0,0
$GC,5463,0.74,146.0,340.3,14.4,301,5467,0.00,2.25,0.00,0.000,4,0.000,0.059,2895,565,2192,0,0,0,0,0,0
$GC,5552,0.74,146.0,327.0,15.1,303,5556,0.00,2.22,0.00,0.000,6,0.000,0.047,2895,1978,2192,0,0,0,0,0,0
$GC,5872,0.74,146.0,284.2,12.6,314,5876,0.00,2.20,0.00,0.000,4,0.000,0.054,2895,3392,2190,0,0,0,0,0,0
$GC,5938,0.74,146.0,274.8,13.5,317,5943,0.00,2.20,0.00,0.000,6,0.000,0.044,2905,1964,2190,0,0,0,0,0,0
$GC,6260,0.74,146.0,229.8,14.6,333,6264,0.00,2.20,0.00,0.000,4,0.000,0.061,2914,565,2189,0,0,0,0,0,0
$GC,6287,0.74,146.0,225.5,15.1,334,6292,0.12,2.17,0.00,0.000,6,0.146,0.040,2880,1980,2188,0,0,0,0,0,0
$GC,6615,0.74,146.0,190.1,11.2,354,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1981,2188,0,0,0,0,0,0
$GC,6944,0.74,146.0,154.3,10.8,385,6948,0.00,2.28,0.00,0.000,4,0.000,0.058,2888,568,2187,0,0,0,0,0,0
$GC,6977,0.74,146.0,150.4,10.0,387,6984,0.00,2.17,0.00,0.000,6,0.000,0.039,2887,1971,2187,0,0,0,0,0,0
$GC,7304,0.74,146.0,116.9,11.0,418,7308,0.00,2.15,0.00,0.000,4,0.000,0.052,2888,3380,2187,0,0,0,0,0,0
$GC,7357,0.74,146.0,110.7,10.8,422,7365,0.00,2.20,0.00,0.000,6,0.000,0.041,2896,1975,2187,0,0,0,0,0,0
$GC,7684,0.74,146.0,79.3,9.1,453,7690,0.00,2.20,0.00,0.000,4,0.000,0.057,2906,562,2187,0,0,0,0,0,0
$GC,7744,0.74,146.0,73.5,10.0,464,7752,0.00,2.17,0.00,0.000,6,0.000,0.038,2906,1978,2187,0,0,0,0,0,0
$GC,8078,0.74,146.0,38.3,12.1,525,8083,0.00,2.15,0.00,0.000,4,0.000,0.051,2906,3377,2188,0,0,0,0,0,0
$GC,8146,0.74,146.0,31.2,9.4,537,8153,0.12,2.20,0.00,0.000,6,0.146,0.045,2878,1978,2188,0,0,0,0,0,0
$GC,8469,0.77,174.0,4.8,7.9,598,8497,0.00,2.28,18.77,0.449,4,0.000,0.056,2886,563,2088,0,0,0,0,0,0
$STATE,8503,end climb,SURFACE_DEPTH_REACHED
$STATE,8503,begin surface coast
$FINISH,0.4,1.023349
$STATE,8532,end surface coast,CONTROL_FINISHED_OK
$STATE,8532,begin surface
$SM_CCo,8552,54.38,0.447,0,0,1575,300.24
$SM_GC,1.49,0.00,0.00,54.38,0.000,0.000,0.447,44,1961,1575,-8.11,0.03,300.24
$IRIDIUM_FIX,2054.83,-15744.48,280702,020236
$TT8_MAMPS,0.028379
$HUMID,60.67
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.6,6.710
$10V_AH,10.5,7.330
$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,18.400,74.975,263.050,54.375,0.000,22.143,41.824,155.171,19.250,0.000,18.211,1101.464,5046.274,399.085,1956.967,446.927,0.000,1066.619,0.000,1918.820,0.000,117.249,0.000
$DEVICE_MAMPS,226.265,63.661,786.175,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,413.563,357.912,1219.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34931,608
$CAP_FILE_SIZE,91992,0
$CFSIZE,260165632,251453440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030513,073506,2104.947,-15747.875,26,1.1,26,9.8