version: 66.06
glider: 523
mission: 4
dive: 78
start: 5 3 113 7 40 59
data:
$ID,523
$MISSION,4
$DIVE,78
$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,-37425.422
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,073506,2104.947,-15747.875,26,1.1,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.7
$GPS2,074043,2104.939,-15747.930,23,1.1,23,9.8
$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,69.6,8810,-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,-76.30,0.000,2,0.000,0.000,44,1963,3385,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-5.0,12,111,9.30,0.00,0.00,0.000,6,0.229,0.000,2393,1962,3387,0,0,0,0,0,0
$GC,270,-0.74,-146.0,41.7,-19.7,44,277,0.00,2.28,0.00,0.000,4,0.000,0.054,2384,3373,3388,0,0,0,0,0,0
$GC,291,-0.74,-146.0,45.4,-17.8,47,297,0.00,2.28,0.00,0.000,6,0.000,0.049,2384,1958,3388,0,0,0,0,0,0
$GC,630,-0.74,-146.0,95.8,-13.7,99,634,0.00,2.25,0.00,0.000,4,0.000,0.058,2384,539,3389,0,0,0,0,0,0
$GC,724,-0.74,-146.0,109.3,-14.1,107,731,0.00,2.17,0.00,0.000,6,0.000,0.037,2374,1977,3389,0,0,0,0,0,0
$GC,1059,-0.74,-146.0,150.4,-12.3,138,1063,0.00,2.17,0.00,0.000,4,0.000,0.056,2364,3367,3391,0,0,0,0,0,0
$GC,1122,-0.74,-146.0,158.5,-13.2,143,1126,0.12,2.22,0.00,0.000,6,0.154,0.044,2397,1949,3391,0,0,0,0,0,0
$GC,1448,-0.74,-146.0,198.5,-11.4,173,1452,0.00,2.22,0.00,0.000,4,0.000,0.053,2398,541,3392,0,0,0,0,0,0
$GC,1683,-0.74,-146.0,223.0,-9.3,183,1688,0.00,2.15,0.00,0.000,6,0.000,0.036,2389,1962,3392,0,0,0,0,0,0
$GC,2003,-0.74,-146.0,250.5,-9.3,199,2006,0.00,2.22,0.00,0.000,4,0.000,0.055,2379,3369,3392,0,0,0,0,0,0
$GC,2094,-0.74,-146.0,259.7,-9.0,203,2098,0.00,2.22,0.00,0.000,6,0.000,0.043,2379,1948,3392,0,0,0,0,0,0
$GC,2422,-0.74,-146.0,288.8,-8.9,219,2426,0.00,2.20,0.00,0.000,4,0.000,0.058,2379,550,3392,0,0,0,0,0,0
$GC,2523,-0.74,-146.0,298.1,-8.5,223,2529,0.12,2.12,0.00,0.000,6,0.173,0.041,2402,1956,3392,0,0,0,0,0,0
$GC,2836,-0.74,-146.0,318.8,-6.6,232,2840,0.00,2.17,0.00,0.000,4,0.000,0.058,2393,3376,3392,0,0,0,0,0,0
$GC,3077,-0.74,-146.0,339.1,-8.7,237,3081,0.00,2.20,0.00,0.000,6,0.000,0.044,2394,1957,3391,0,0,0,0,0,0
$GC,3426,-0.74,-146.0,362.9,-6.1,246,3430,0.00,2.22,0.00,0.000,4,0.000,0.064,2393,546,3389,0,0,0,0,0,0
$GC,3487,-0.74,-146.0,367.0,-6.6,247,3491,0.00,2.15,0.00,0.000,6,0.000,0.044,2384,1961,3388,0,0,0,0,0,0
$GC,3840,-0.74,-146.0,390.1,-6.7,256,3844,0.00,2.25,0.00,0.000,4,0.000,0.064,2384,549,3386,0,0,0,0,0,0
$GC,3901,-0.74,-146.0,394.6,-7.2,257,3905,0.00,2.17,0.00,0.000,6,0.000,0.044,2374,1971,3385,0,0,0,0,0,0
$GC,4243,-0.74,-146.0,419.5,-7.6,266,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1971,3382,0,0,0,0,0,0
$GC,4569,-0.74,-146.0,445.8,-8.0,274,4573,0.00,2.15,0.00,0.000,4,0.000,0.058,2364,3363,3381,0,0,0,0,0,0
$STATE,4618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4618,begin apogee
$GC,4627,-0.17,0.0,450.4,9.2,275,4746,0.65,0.00,116.22,0.788,6,0.129,0.000,2577,1976,2800,0,0,0,0,0,0
$STATE,4747,end apogee,CONTROL_FINISHED_OK
$STATE,4747,begin climb
$GC,4750,0.74,146.0,453.4,0.0,278,4880,0.88,0.00,126.18,0.759,6,0.077,0.000,2874,1976,2204,0,0,0,0,0,0
$GC,5188,0.74,146.0,402.9,12.8,289,5192,0.00,2.30,0.00,0.000,4,0.000,0.068,2884,569,2195,0,0,0,0,0,0
$GC,5243,0.74,146.0,395.0,13.4,290,5247,0.00,2.22,0.00,0.000,6,0.000,0.044,2884,1970,2195,0,0,0,0,0,0
$GC,5591,0.74,146.0,347.0,13.4,299,5595,0.00,2.28,0.00,0.000,4,0.000,0.067,2894,563,2192,0,0,0,0,0,0
$GC,5698,0.74,146.0,332.1,14.1,301,5702,0.00,2.22,0.00,0.000,6,0.000,0.044,2894,1980,2191,0,0,0,0,0,0
$GC,6020,0.74,146.0,285.4,14.7,311,6024,0.00,2.20,0.00,0.000,4,0.000,0.056,2894,3390,2190,0,0,0,0,0,0
$GC,6110,0.74,146.0,271.2,16.9,315,6114,0.00,2.22,0.00,0.000,6,0.000,0.045,2904,1971,2190,0,0,0,0,0,0
$GC,6430,0.74,146.0,226.1,12.9,331,6434,0.00,2.22,0.00,0.000,4,0.000,0.062,2913,567,2189,0,0,0,0,0,0
$GC,6525,0.74,146.0,214.2,12.8,335,6530,0.12,2.17,0.00,0.000,6,0.148,0.041,2880,1980,2188,0,0,0,0,0,0
$GC,6850,0.74,146.0,183.2,10.5,357,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1980,2187,0,0,0,0,0,0
$GC,7180,0.74,146.0,147.4,10.9,388,7184,0.00,2.25,0.00,0.000,4,0.000,0.064,2887,564,2187,0,0,0,0,0,0
$GC,7200,0.74,146.0,145.0,10.7,389,7204,0.00,2.17,0.00,0.000,6,0.000,0.044,2887,1972,2186,0,0,0,0,0,0
$GC,7527,0.74,146.0,106.5,11.9,419,7531,0.00,2.17,0.00,0.000,4,0.000,0.054,2888,3381,2186,0,0,0,0,0,0
$GC,7570,0.74,146.0,101.3,11.3,422,7577,0.00,2.22,0.00,0.000,6,0.000,0.044,2895,1973,2187,0,0,0,0,0,0
$GC,7897,0.74,146.0,68.0,9.3,464,7904,0.00,2.22,0.00,0.000,4,0.000,0.058,2906,574,2187,0,0,0,0,0,0
$GC,8005,0.74,146.0,57.3,10.7,483,8011,0.00,2.12,0.00,0.000,6,0.000,0.041,2906,1976,2186,0,0,0,0,0,0
$GC,8335,0.74,146.0,22.2,9.4,544,8343,0.00,2.20,0.00,0.000,4,0.000,0.052,2906,3387,2187,0,0,0,0,0,0
$GC,8424,0.74,146.0,13.8,11.0,560,8431,0.10,2.22,0.00,0.000,6,0.111,0.044,2879,1975,2188,0,0,0,0,0,0
$STATE,8549,end climb,SURFACE_DEPTH_REACHED
$STATE,8549,begin surface coast
$FINISH,0.5,1.011358
$STATE,8582,end surface coast,CONTROL_FINISHED_OK
$STATE,8582,begin surface
$SM_CCo,8600,66.05,0.456,0,0,1575,300.24
$SM_GC,1.23,0.00,0.00,66.05,0.000,0.000,0.456,41,1970,1575,-8.12,0.28,300.24
$IRIDIUM_FIX,2101.76,-15750.89,280702,050509
$TT8_MAMPS,0.028379
$HUMID,61.69
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.6,6.785
$10V_AH,10.5,7.416
$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,18.400,79.500,242.400,66.050,0.000,29.777,34.683,142.447,19.250,0.000,23.487,1102.575,5125.180,403.481,1947.472,424.806,0.000,1068.556,0.000,1896.050,0.000,117.257,0.000
$DEVICE_MAMPS,229.333,68.263,788.476,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,401.222,337.890,1148.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31719,589
$CAP_FILE_SIZE,92519,0
$CFSIZE,260165632,251412480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030513,100634,2104.690,-15747.737,30,1.2,30,9.8