version: 66.06
glider: 523
mission: 4
dive: 107
start: 5 6 113 9 27 47
data:
$ID,523
$MISSION,4
$DIVE,107
$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,-38019.43
$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,31
$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
$GPS1,092154,2107.294,-15801.929,16,1.4,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.6
$GPS2,092730,2107.269,-15801.936,15,1.4,15,9.8
$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,84.9,32970,-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,16,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.47,0.000,6,0.000,0.000,43,1975,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.6,13,118,9.40,2.20,0.00,0.000,4,0.233,0.048,2383,3371,3397,0,0,0,0,0,0
$GC,359,-0.74,-146.0,50.2,-13.0,60,366,0.00,2.25,0.00,0.000,6,0.000,0.047,2383,1970,3398,0,0,0,0,0,0
$GC,690,-0.74,-146.0,95.0,-13.6,111,694,0.00,2.28,0.00,0.000,4,0.000,0.057,2383,540,3399,0,0,0,0,0,0
$GC,791,-0.74,-146.0,110.0,-14.3,120,795,0.00,2.15,0.00,0.000,6,0.000,0.034,2374,1971,3400,0,0,0,0,0,0
$GC,1119,-0.74,-146.0,150.5,-11.0,150,1123,0.00,2.17,0.00,0.000,4,0.000,0.055,2364,3364,3401,0,0,0,0,0,0
$GC,1182,-0.74,-146.0,158.0,-11.2,155,1187,0.15,2.22,0.00,0.000,6,0.145,0.044,2405,1947,3401,0,0,0,0,0,0
$GC,1508,-0.74,-146.0,189.6,-9.1,185,1515,0.00,2.20,0.00,0.000,4,0.000,0.053,2406,543,3402,0,0,0,0,0,0
$GC,1645,-0.74,-146.0,203.2,-9.2,196,1650,0.00,2.12,0.00,0.000,6,0.000,0.034,2398,1973,3402,0,0,0,0,0,0
$GC,1969,-0.74,-146.0,228.1,-7.7,212,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1974,3402,0,0,0,0,0,0
$GC,2280,-0.74,-146.0,255.7,-9.0,227,2284,0.00,2.25,0.00,0.000,4,0.000,0.054,2397,550,3402,0,0,0,0,0,0
$GC,2443,-0.74,-146.0,272.3,-9.3,234,2447,0.00,2.12,0.00,0.000,6,0.000,0.035,2388,1960,3402,0,0,0,0,0,0
$GC,2767,-0.74,-146.0,301.1,-8.4,250,2771,0.00,2.17,0.00,0.000,4,0.000,0.054,2378,3362,3402,0,0,0,0,0,0
$GC,2839,-0.74,-146.0,306.9,-7.7,251,2844,0.00,2.20,0.00,0.000,6,0.000,0.043,2378,1946,3402,0,0,0,0,0,0
$GC,3171,-0.74,-146.0,333.2,-7.8,259,3175,0.00,2.17,0.00,0.000,4,0.000,0.059,2377,553,3401,0,0,0,0,0,0
$GC,3361,-0.74,-146.0,349.5,-7.5,263,3366,0.12,2.15,0.00,0.000,6,0.172,0.038,2401,1971,3400,0,0,0,0,0,0
$GC,3712,-0.74,-146.0,372.5,-6.7,272,3716,0.00,2.25,0.00,0.000,4,0.000,0.058,2402,544,3397,0,0,0,0,0,0
$GC,3745,-0.74,-146.0,375.5,-8.0,272,3751,0.00,2.15,0.00,0.000,6,0.000,0.039,2394,1958,3397,0,0,0,0,0,0
$GC,4077,-0.74,-146.0,399.7,-7.3,281,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1958,3395,0,0,0,0,0,0
$GC,4402,-0.74,-146.0,430.1,-9.9,289,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1959,3393,0,0,0,0,0,0
$STATE,4643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4643,begin apogee
$GC,4649,-0.17,0.0,450.1,8.0,295,4771,0.57,0.00,118.53,0.782,6,0.122,0.000,2581,1959,2800,0,0,0,0,0,0
$STATE,4772,end apogee,CONTROL_FINISHED_OK
$STATE,4772,begin climb
$GC,4775,0.74,146.0,451.6,0.0,298,4909,0.85,2.40,124.62,0.753,4,0.077,0.057,2874,3377,2204,0,0,0,0,0,0
$GC,4926,0.74,146.0,436.0,13.0,301,4930,0.00,2.33,0.00,0.000,6,0.000,0.047,2883,1979,2203,0,0,0,0,0,0
$GC,5257,0.74,146.0,391.1,12.8,309,5261,0.00,2.30,0.00,0.000,4,0.000,0.066,2893,568,2197,0,0,0,0,0,0
$GC,5323,0.74,146.0,382.5,12.9,310,5327,0.00,2.17,0.00,0.000,6,0.000,0.041,2893,1968,2197,0,0,0,0,0,0
$GC,5660,0.74,146.0,339.2,12.6,319,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1969,2194,0,0,0,0,0,0
$GC,5985,0.74,146.0,303.4,11.1,327,5989,0.00,2.33,0.00,0.000,4,0.000,0.065,2901,561,2193,0,0,0,0,0,0
$GC,6025,0.74,146.0,298.4,13.1,328,6029,0.00,2.22,0.00,0.000,6,0.000,0.045,2901,1984,2192,0,0,0,0,0,0
$GC,6351,0.74,146.0,254.9,14.5,344,6355,0.00,2.17,0.00,0.000,4,0.000,0.054,2901,3386,2191,0,0,0,0,0,0
$GC,6372,0.74,146.0,251.7,14.9,345,6377,0.12,2.22,0.00,0.000,6,0.162,0.042,2878,1965,2191,0,0,0,0,0,0
$GC,6693,0.74,146.0,209.9,13.1,361,6697,0.00,2.22,0.00,0.000,4,0.000,0.059,2887,562,2190,0,0,0,0,0,0
$GC,6858,0.74,146.0,187.9,12.1,372,6862,0.00,2.17,0.00,0.000,6,0.000,0.040,2887,1992,2189,0,0,0,0,0,0
$GC,7185,0.74,146.0,151.2,11.3,402,7189,0.00,2.12,0.00,0.000,4,0.000,0.054,2886,3379,2189,0,0,0,0,0,0
$GC,7215,0.74,146.0,147.8,11.1,404,7219,0.00,2.17,0.00,0.000,6,0.000,0.041,2896,1975,2188,0,0,0,0,0,0
$GC,7542,0.74,146.0,109.2,10.6,434,7546,0.00,2.20,0.00,0.000,4,0.000,0.058,2906,565,2188,0,0,0,0,0,0
$GC,7582,0.74,146.0,104.3,12.1,437,7586,0.00,2.15,0.00,0.000,6,0.000,0.038,2906,1974,2188,0,0,0,0,0,0
$GC,7910,0.74,146.0,65.9,11.7,478,7917,0.00,2.28,0.00,0.000,4,0.000,0.061,2914,563,2188,0,0,0,0,0,0
$GC,7975,0.74,146.0,58.8,11.4,489,7982,0.12,2.17,0.00,0.000,6,0.140,0.039,2878,1983,2188,0,0,0,0,0,0
$GC,8305,0.77,172.7,32.1,7.9,550,8336,0.00,2.22,21.15,0.483,4,0.000,0.055,2878,3380,2094,0,0,0,0,0,0
$GC,8437,0.79,188.6,21.5,8.4,574,8459,0.00,2.20,14.68,0.458,6,0.000,0.038,2884,1972,2029,0,0,0,0,0,0
$GC,8620,0.80,196.6,7.7,8.7,607,8633,0.00,2.25,7.90,0.411,4,0.000,0.058,2894,569,1997,0,0,0,0,0,0
$STATE,8670,end climb,SURFACE_DEPTH_REACHED
$STATE,8670,begin surface coast
$FINISH,0.4,1.012086
$STATE,8700,end surface coast,CONTROL_FINISHED_OK
$STATE,8700,begin surface
$SM_CCo,8720,47.28,0.449,0,0,1575,300.24
$SM_GC,1.13,0.00,0.00,47.28,0.000,0.000,0.449,52,1970,1575,-8.09,0.25,300.24
$IRIDIUM_FIX,2101.76,-15805.48,310702,070734
$TT8_MAMPS,0.028379
$HUMID,62.20
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.6,9.120
$10V_AH,10.5,9.980
$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,18.675,79.575,286.875,47.275,0.000,24.547,32.799,156.445,19.250,0.000,15.958,1117.460,5200.517,379.681,1962.984,443.915,0.000,1072.603,0.000,1921.080,0.000,119.116,0.000
$DEVICE_MAMPS,233.168,65.962,782.340,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,422.811,361.892,1210.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34985,621
$CAP_FILE_SIZE,94019,0
$CFSIZE,260165632,250040320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060513,115504,2107.264,-15801.370,31,1.0,31,9.8