version: 66.06
glider: 523
mission: 4
dive: 82
start: 5 3 113 17 45 45
data:
$ID,523
$MISSION,4
$DIVE,82
$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,-37504.188
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,174009,2105.309,-15745.359,17,1.7,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.0
$GPS2,174528,2105.301,-15745.354,18,1.0,18,9.8
$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,67.5,4314,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.97,0.000,6,0.000,0.000,33,1962,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.7,-5.8,13,117,9.38,0.00,0.00,0.000,6,0.231,0.000,2392,1959,3397,0,0,0,0,0,0
$GC,278,-0.74,-146.0,43.3,-17.2,45,284,0.00,2.30,0.00,0.000,4,0.000,0.058,2383,3369,3399,0,0,0,0,0,0
$GC,324,-0.74,-146.0,51.4,-16.7,53,330,0.00,2.25,0.00,0.000,6,0.000,0.048,2382,1967,3399,0,0,0,0,0,0
$GC,663,-0.74,-146.0,100.8,-15.3,102,667,0.00,2.25,0.00,0.000,4,0.000,0.060,2383,543,3401,0,0,0,0,0,0
$GC,726,-0.74,-146.0,110.7,-14.5,107,730,0.00,2.17,0.00,0.000,6,0.000,0.038,2374,1969,3401,0,0,0,0,0,0
$GC,1058,-0.74,-146.0,157.3,-13.4,138,1062,0.00,2.28,0.00,0.000,4,0.000,0.054,2374,544,3401,0,0,0,0,0,0
$GC,1189,-0.74,-146.0,176.9,-15.9,149,1196,0.10,2.15,0.00,0.000,6,0.151,0.034,2395,1957,3402,0,0,0,0,0,0
$GC,1521,-0.74,-146.0,215.2,-9.4,174,1525,0.00,2.25,0.00,0.000,4,0.000,0.054,2396,540,3403,0,0,0,0,0,0
$GC,1567,-0.74,-146.0,219.5,-9.3,176,1572,0.00,2.15,0.00,0.000,6,0.000,0.036,2388,1964,3403,0,0,0,0,0,0
$GC,1899,-0.74,-146.0,247.1,-8.1,192,1903,0.00,2.25,0.00,0.000,4,0.000,0.055,2388,546,3403,0,0,0,0,0,0
$GC,2016,-0.74,-146.0,259.3,-10.4,197,2020,0.00,2.12,0.00,0.000,6,0.000,0.038,2378,1962,3403,0,0,0,0,0,0
$GC,2337,-0.74,-146.0,287.1,-7.5,213,2341,0.00,2.28,0.00,0.000,4,0.000,0.058,2378,542,3402,0,0,0,0,0,0
$GC,2461,-0.74,-146.0,298.3,-9.5,218,2467,0.12,2.15,0.00,0.000,6,0.173,0.040,2402,1964,3403,0,0,0,0,0,0
$GC,2777,-0.74,-146.0,321.0,-7.1,227,2781,0.00,2.20,0.00,0.000,4,0.000,0.057,2394,3373,3402,0,0,0,0,0,0
$GC,2872,-0.74,-146.0,329.3,-8.1,229,2876,0.00,2.17,0.00,0.000,6,0.000,0.043,2393,1951,3402,0,0,0,0,0,0
$GC,3188,-0.74,-146.0,352.9,-7.5,237,3192,0.00,2.20,0.00,0.000,4,0.000,0.064,2393,552,3401,0,0,0,0,0,0
$GC,3266,-0.74,-146.0,360.3,-9.7,238,3271,0.00,2.12,0.00,0.000,6,0.000,0.042,2383,1956,3399,0,0,0,0,0,0
$GC,3598,-0.74,-146.0,389.7,-8.6,246,3602,0.00,2.17,0.00,0.000,4,0.000,0.060,2373,3372,3398,0,0,0,0,0,0
$GC,3737,-0.74,-146.0,401.3,-8.3,249,3741,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,1959,3398,0,0,0,0,0,0
$GC,4065,-0.74,-146.0,426.3,-7.2,257,4069,0.00,2.25,0.00,0.000,4,0.000,0.068,2373,550,3396,0,0,0,0,0,0
$GC,4161,-0.74,-146.0,434.2,-7.9,259,4165,0.15,2.17,0.00,0.000,6,0.164,0.046,2405,1963,3395,0,0,0,0,0,0
$STATE,4473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4474,begin apogee
$GC,4480,-0.17,0.0,451.0,4.9,267,4601,0.55,0.00,118.20,0.783,6,0.119,0.000,2588,1963,2800,0,0,0,0,0,0
$STATE,4602,end apogee,CONTROL_FINISHED_OK
$STATE,4602,begin climb
$GC,4605,0.74,146.0,450.6,0.0,270,4739,0.85,2.38,125.45,0.751,4,0.075,0.061,2878,3383,2202,0,0,0,0,0,0
$GC,4751,0.74,146.0,433.6,14.4,273,4756,0.00,2.35,0.00,0.000,6,0.000,0.048,2886,1978,2201,0,0,0,0,0,0
$GC,5082,0.74,146.0,384.8,14.2,282,5086,0.00,2.30,0.00,0.000,4,0.000,0.071,2897,562,2194,0,0,0,0,0,0
$GC,5171,0.74,146.0,371.1,15.3,284,5175,0.00,2.22,0.00,0.000,6,0.000,0.044,2897,1982,2194,0,0,0,0,0,0
$GC,5495,0.74,146.0,321.6,15.6,292,5499,0.00,2.22,0.00,0.000,4,0.000,0.063,2897,3383,2192,0,0,0,0,0,0
$GC,5550,0.74,146.0,313.0,15.1,293,5554,0.00,2.20,0.00,0.000,6,0.000,0.043,2906,1963,2192,0,0,0,0,0,0
$GC,5881,0.74,146.0,264.2,15.3,307,5885,0.00,2.22,0.00,0.000,4,0.000,0.062,2915,558,2190,0,0,0,0,0,0
$GC,5981,0.74,146.0,249.7,14.1,311,5987,0.12,2.20,0.00,0.000,6,0.150,0.040,2881,1987,2189,0,0,0,0,0,0
$GC,6297,0.74,146.0,213.5,11.1,327,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1988,2188,0,0,0,0,0,0
$GC,6613,0.74,146.0,179.5,11.2,350,6617,0.00,2.28,0.00,0.000,4,0.000,0.061,2889,565,2187,0,0,0,0,0,0
$GC,6654,0.74,146.0,174.9,11.5,353,6658,0.00,2.17,0.00,0.000,6,0.000,0.039,2889,1982,2187,0,0,0,0,0,0
$GC,6982,0.74,146.0,139.4,10.8,383,6986,0.00,2.25,0.00,0.000,4,0.000,0.058,2899,554,2186,0,0,0,0,0,0
$GC,7033,0.74,146.0,133.2,11.8,387,7037,0.00,2.15,0.00,0.000,6,0.000,0.038,2899,1976,2186,0,0,0,0,0,0
$GC,7361,0.74,146.0,99.4,10.3,417,7365,0.00,2.17,0.00,0.000,4,0.000,0.052,2899,3388,2186,0,0,0,0,0,0
$GC,7393,0.74,146.0,95.5,10.6,419,7402,0.08,2.22,0.00,0.000,6,0.138,0.045,2881,1980,2186,0,0,0,0,0,0
$GC,7721,0.74,146.0,65.1,9.9,464,7729,0.00,2.25,0.00,0.000,4,0.000,0.057,2890,561,2186,0,0,0,0,0,0
$GC,7797,0.74,146.0,58.1,9.3,477,7802,0.00,2.17,0.00,0.000,6,0.000,0.042,2890,1976,2186,0,0,0,0,0,0
$GC,8130,0.75,155.9,28.0,8.6,538,8144,0.00,2.20,7.03,0.416,4,0.000,0.051,2890,3385,2163,0,0,0,0,0,0
$GC,8173,0.75,155.9,24.2,9.5,545,8181,0.00,2.22,0.00,0.000,6,0.000,0.042,2897,1968,2163,0,0,0,0,0,0
$GC,8344,0.75,155.9,8.8,9.1,576,8351,0.00,2.22,0.00,0.000,4,0.000,0.056,2908,565,2163,0,0,0,0,0,0
$GC,8380,0.75,155.9,5.4,9.4,582,8387,0.00,2.17,0.00,0.000,6,0.000,0.040,2907,1972,2162,0,0,0,0,0,0
$STATE,8403,end climb,SURFACE_DEPTH_REACHED
$STATE,8404,begin surface coast
$FINISH,0.5,1.010384
$STATE,8431,end surface coast,CONTROL_FINISHED_OK
$STATE,8431,begin surface
$SM_CCo,8449,64.97,0.451,0,0,1575,300.24
$SM_GC,1.11,0.00,0.00,64.97,0.000,0.000,0.451,44,1979,1575,-8.11,0.54,300.24
$IRIDIUM_FIX,2059.45,-15828.22,280702,151551
$TT8_MAMPS,0.028379
$HUMID,60.35
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.6,7.097
$10V_AH,10.5,7.762
$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,18.625,88.700,250.675,64.975,0.000,26.148,36.686,133.122,19.250,0.000,18.553,1097.275,4974.966,394.644,1944.631,423.685,0.000,1089.074,0.000,1895.502,0.000,119.119,0.000
$DEVICE_MAMPS,230.867,70.564,783.107,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,401.899,338.749,1142.374,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,31859,591
$CAP_FILE_SIZE,95935,0
$CFSIZE,260165632,251228160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030513,200858,2105.311,-15744.799,40,0.8,40,9.8