version: 66.06
glider: 523
mission: 4
dive: 127
start: 5 8 113 11 47 58
data:
$ID,523
$MISSION,4
$DIVE,127
$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,-38416.949
$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,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
$GPS1,114222,2105.851,-15748.522,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.5
$GPS2,114741,2105.831,-15748.575,14,1.6,14,9.8
$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,80.4,9775,-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,-77.57,0.000,6,0.000,0.000,42,1978,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.8,13,118,9.48,2.30,0.00,0.000,4,0.233,0.052,2395,550,3397,0,0,0,0,0,0
$GC,164,-0.74,-146.0,23.4,-22.7,23,171,0.00,2.22,0.00,0.000,6,0.000,0.038,2387,1966,3397,0,0,0,0,0,0
$GC,334,-0.74,-146.0,56.1,-18.2,54,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1967,3398,0,0,0,0,0,0
$GC,670,-0.74,-146.0,106.2,-14.4,99,674,0.00,2.28,0.00,0.000,4,0.000,0.053,2387,541,3399,0,0,0,0,0,0
$GC,922,-0.74,-146.0,142.9,-13.0,121,929,0.00,2.17,0.00,0.000,6,0.000,0.034,2377,1963,3400,0,0,0,0,0,0
$GC,1250,-0.74,-146.0,180.2,-10.7,152,1254,0.00,2.25,0.00,0.000,4,0.000,0.052,2377,539,3401,0,0,0,0,0,0
$GC,1357,-0.74,-146.0,192.5,-11.4,161,1364,0.10,2.17,0.00,0.000,6,0.147,0.035,2400,1959,3401,0,0,0,0,0,0
$GC,1674,-0.74,-146.0,224.7,-9.5,180,1679,0.00,2.20,0.00,0.000,4,0.000,0.057,2391,3360,3402,0,0,0,0,0,0
$GC,1735,-0.74,-146.0,229.5,-7.4,182,1741,0.00,2.20,0.00,0.000,6,0.000,0.045,2391,1958,3402,0,0,0,0,0,0
$GC,2054,-0.74,-146.0,255.0,-8.1,198,2058,0.00,2.22,0.00,0.000,4,0.000,0.054,2391,546,3402,0,0,0,0,0,0
$GC,2156,-0.74,-146.0,265.1,-9.1,202,2161,0.00,2.12,0.00,0.000,6,0.000,0.035,2382,1963,3402,0,0,0,0,0,0
$GC,2474,-0.74,-146.0,292.7,-8.6,218,2478,0.00,2.17,0.00,0.000,4,0.000,0.057,2371,3362,3402,0,0,0,0,0,0
$GC,2580,-0.74,-146.0,303.0,-9.6,222,2584,0.12,2.20,0.00,0.000,6,0.151,0.044,2405,1955,3402,0,0,0,0,0,0
$GC,2925,-0.74,-146.0,332.3,-9.5,231,2929,0.00,2.22,0.00,0.000,4,0.000,0.060,2405,550,3401,0,0,0,0,0,0
$GC,3003,-0.74,-146.0,340.0,-9.7,232,3009,0.00,2.15,0.00,0.000,6,0.000,0.039,2397,1957,3401,0,0,0,0,0,0
$GC,3336,-0.74,-146.0,362.8,-6.8,241,3340,0.00,2.28,0.00,0.000,4,0.000,0.061,2397,551,3399,0,0,0,0,0,0
$GC,3455,-0.74,-146.0,372.7,-8.6,243,3460,0.00,2.15,0.00,0.000,6,0.000,0.043,2388,1960,3398,0,0,0,0,0,0
$GC,3795,-0.74,-146.0,397.2,-6.6,252,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1960,3396,0,0,0,0,0,0
$GC,4118,-0.74,-146.0,417.9,-6.2,260,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1961,3394,0,0,0,0,0,0
$GC,4442,-0.74,-146.0,438.4,-6.7,268,4447,0.00,2.30,0.00,0.000,4,0.000,0.064,2388,544,3393,0,0,0,0,0,0
$GC,4554,-0.74,-146.0,448.2,-9.1,270,4558,0.00,2.20,0.00,0.000,6,0.000,0.046,2378,1960,3391,0,0,0,0,0,0
$STATE,4610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4611,begin apogee
$GC,4617,-0.17,0.0,453.0,8.5,272,4738,0.62,0.00,118.57,0.788,6,0.127,0.000,2579,1960,2800,0,0,0,0,0,0
$STATE,4739,end apogee,CONTROL_FINISHED_OK
$STATE,4739,begin climb
$GC,4742,0.74,146.0,455.6,0.0,275,4872,0.82,0.00,126.07,0.758,6,0.098,0.000,2863,1960,2204,0,0,0,0,0,0
$GC,5191,0.74,146.0,399.1,14.5,286,5195,0.00,2.30,0.00,0.000,4,0.000,0.064,2873,569,2194,0,0,0,0,0,0
$GC,5240,0.74,146.0,391.5,14.8,287,5244,0.00,2.22,0.00,0.000,6,0.000,0.044,2873,1975,2195,0,0,0,0,0,0
$GC,5553,0.74,146.0,346.8,13.7,295,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1975,2192,0,0,0,0,0,0
$GC,5878,0.74,146.0,305.3,12.2,303,5882,0.00,2.33,0.00,0.000,4,0.000,0.068,2882,562,2191,0,0,0,0,0,0
$GC,5911,0.74,146.0,300.7,14.0,303,5916,0.00,2.17,0.00,0.000,6,0.000,0.041,2882,1981,2190,0,0,0,0,0,0
$GC,6226,0.74,146.0,259.0,12.2,318,6230,0.00,2.17,0.00,0.000,4,0.000,0.054,2882,3382,2189,0,0,0,0,0,0
$GC,6271,0.74,146.0,253.1,13.0,320,6275,0.00,2.20,0.00,0.000,6,0.000,0.044,2892,1976,2189,0,0,0,0,0,0
$GC,6604,0.74,146.0,215.2,10.7,336,6607,0.00,2.25,0.00,0.000,4,0.000,0.060,2902,557,2188,0,0,0,0,0,0
$GC,6710,0.74,146.0,201.7,13.0,340,6715,0.00,2.17,0.00,0.000,6,0.000,0.041,2902,1984,2187,0,0,0,0,0,0
$GC,7038,0.74,146.0,160.3,13.9,370,7042,0.00,2.17,0.00,0.000,4,0.000,0.054,2901,3390,2187,0,0,0,0,0,0
$GC,7135,0.74,146.0,146.5,13.5,378,7142,0.10,2.22,0.00,0.000,6,0.131,0.042,2878,1972,2186,0,0,0,0,0,0
$GC,7462,0.74,149.9,116.1,8.9,409,7466,0.00,2.17,0.00,0.000,4,0.000,0.057,2887,566,2185,0,0,0,0,0,0
$GC,7605,0.74,149.9,102.0,9.9,421,7612,0.00,2.20,0.00,0.000,6,0.000,0.042,2887,1977,2185,0,0,0,0,0,0
$GC,7930,0.80,197.2,71.3,7.1,462,7977,0.00,2.30,40.42,0.525,4,0.000,0.060,2895,561,1996,0,0,0,0,0,0
$GC,7997,0.89,269.7,67.1,6.0,473,8066,0.00,2.22,61.28,0.511,6,0.000,0.042,2895,1981,1701,0,0,0,0,0,0
$GC,8394,0.89,269.7,27.9,9.9,545,8403,0.00,2.25,0.00,0.000,4,0.000,0.051,2895,3377,1699,0,0,0,0,0,0
$GC,8432,0.89,269.7,23.8,11.5,551,8440,0.00,2.25,0.00,0.000,6,0.000,0.045,2903,1977,1699,0,0,0,0,0,0
$GC,8601,0.89,269.7,3.9,12.0,582,8609,0.00,2.30,0.00,0.000,4,0.000,0.056,2912,564,1699,0,0,0,0,0,0
$STATE,8615,end climb,SURFACE_DEPTH_REACHED
$STATE,8615,begin surface coast
$FINISH,0.5,0.997908
$STATE,8637,end surface coast,CONTROL_FINISHED_OK
$STATE,8637,begin surface
$SM_CCo,8657,15.52,0.430,0,0,1575,300.24
$SM_GC,1.28,0.00,0.00,15.52,0.000,0.000,0.430,28,1979,1575,-8.16,0.51,300.24
$IRIDIUM_FIX,2059.45,-15743.60,020802,090910
$TT8_MAMPS,0.028379
$HUMID,63.15
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,24.6,10.707
$10V_AH,10.5,11.717
$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,18.600,79.950,346.350,15.525,0.000,29.498,31.899,137.690,19.250,0.000,14.562,1056.650,5207.709,416.584,1883.508,428.324,0.000,1111.915,0.000,1840.959,0.000,119.267,0.000
$DEVICE_MAMPS,233.168,68.263,788.476,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.167,325.483,1107.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,31814,588
$CAP_FILE_SIZE,92213,0
$CFSIZE,260165632,249114624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080513,141325,2105.486,-15748.449,15,1.5,15,9.8