version: 66.06
glider: 523
mission: 4
dive: 175
start: 5 13 113 11 56 22
data:
$ID,523
$MISSION,4
$DIVE,175
$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,-39341.672
$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,29
$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
$GPS1,114704,2107.070,-15750.467,37,1.0,37,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.0
$GPS2,115605,2107.055,-15750.573,17,0.9,17,9.8
$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,90.1,13425,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-75.82,0.000,2,0.000,0.000,50,1987,3390,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.6,-6.4,12,114,9.30,2.33,0.00,0.000,4,0.229,0.052,2395,553,3391,0,0,0,0,0,0
$GC,174,-0.74,-146.0,25.9,-23.3,25,182,0.00,2.20,0.00,0.000,6,0.000,0.036,2387,1963,3392,0,0,0,0,0,0
$GC,346,-0.74,-146.0,59.7,-17.4,56,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1963,3392,0,0,0,0,0,0
$GC,682,-0.74,-146.0,110.2,-13.2,98,686,0.00,2.30,0.00,0.000,4,0.000,0.053,2387,546,3393,0,0,0,0,0,0
$GC,702,-0.74,-146.0,113.2,-12.0,99,710,0.00,2.17,0.00,0.000,6,0.000,0.035,2377,1965,3393,0,0,0,0,0,0
$GC,1030,-0.74,-146.0,152.9,-13.3,130,1034,0.00,2.20,0.00,0.000,4,0.000,0.057,2367,3359,3394,0,0,0,0,0,0
$GC,1071,-0.74,-146.0,158.5,-12.8,133,1076,0.12,2.17,0.00,0.000,6,0.156,0.044,2399,1962,3394,0,0,0,0,0,0
$GC,1399,-0.74,-146.0,193.7,-9.0,163,1403,0.00,2.20,0.00,0.000,4,0.000,0.050,2400,540,3395,0,0,0,0,0,0
$GC,1617,-0.74,-146.0,214.2,-9.3,176,1621,0.00,2.15,0.00,0.000,6,0.000,0.031,2392,1978,3395,0,0,0,0,0,0
$GC,1948,-0.74,-146.0,243.3,-9.6,192,1952,0.00,2.25,0.00,0.000,4,0.000,0.052,2392,550,3395,0,0,0,0,0,0
$GC,2206,-0.74,-146.0,268.9,-9.5,203,2210,0.00,2.10,0.00,0.000,6,0.000,0.034,2382,1962,3395,0,0,0,0,0,0
$GC,2524,-0.74,-146.0,296.1,-9.1,218,2529,0.00,2.25,0.00,0.000,4,0.000,0.054,2382,540,3395,0,0,0,0,0,0
$GC,2715,-0.74,-146.0,314.3,-8.6,223,2719,0.00,2.12,0.00,0.000,6,0.000,0.036,2373,1959,3394,0,0,0,0,0,0
$GC,3066,-0.74,-146.0,341.4,-7.3,232,3070,0.00,2.15,0.00,0.000,4,0.000,0.055,2362,3362,3393,0,0,0,0,0,0
$GC,3257,-0.74,-146.0,356.7,-8.2,236,3262,0.15,2.17,0.00,0.000,6,0.145,0.041,2404,1953,3392,0,0,0,0,0,0
$GC,3609,-0.74,-146.0,382.0,-7.5,245,3613,0.00,2.20,0.00,0.000,4,0.000,0.058,2404,555,3390,0,0,0,0,0,0
$GC,3645,-0.74,-146.0,385.2,-8.3,245,3651,0.00,2.15,0.00,0.000,6,0.000,0.041,2397,1958,3389,0,0,0,0,0,0
$GC,3977,-0.74,-146.0,410.2,-7.1,254,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1958,3387,0,0,0,0,0,0
$GC,4304,-0.74,-146.0,432.7,-7.1,262,4308,0.00,2.25,0.00,0.000,4,0.000,0.060,2397,555,3385,0,0,0,0,0,0
$GC,4388,-0.74,-146.0,440.0,-8.6,264,4393,0.00,2.15,0.00,0.000,6,0.000,0.041,2387,1962,3384,0,0,0,0,0,0
$STATE,4554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4554,begin apogee
$GC,4560,-0.17,0.0,453.2,7.8,268,4680,0.60,0.00,116.93,0.788,6,0.126,0.000,2581,1963,2799,0,0,0,0,0,0
$STATE,4681,end apogee,CONTROL_FINISHED_OK
$STATE,4681,begin climb
$GC,4684,0.74,146.0,455.7,0.0,271,4813,0.85,0.00,125.50,0.758,6,0.081,0.000,2871,1963,2204,0,0,0,0,0,0
$GC,5130,0.74,146.0,403.5,13.3,282,5134,0.00,2.28,0.00,0.000,4,0.000,0.063,2881,572,2195,0,0,0,0,0,0
$GC,5175,0.74,146.0,397.3,14.0,283,5179,0.00,2.20,0.00,0.000,6,0.000,0.041,2881,1983,2195,0,0,0,0,0,0
$GC,5493,0.74,146.0,354.1,13.4,291,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1983,2193,0,0,0,0,0,0
$GC,5818,0.74,146.0,313.5,12.5,299,5822,0.00,2.20,0.00,0.000,4,0.000,0.054,2881,3389,2191,0,0,0,0,0,0
$GC,5867,0.74,146.0,306.8,14.2,300,5871,0.00,2.20,0.00,0.000,6,0.000,0.048,2891,1982,2190,0,0,0,0,0,0
$GC,6184,0.74,146.0,261.0,13.9,314,6188,0.00,2.25,0.00,0.000,4,0.000,0.062,2901,557,2189,0,0,0,0,0,0
$GC,6270,0.74,146.0,249.9,13.2,318,6274,0.00,2.22,0.00,0.000,6,0.000,0.043,2900,1987,2188,0,0,0,0,0,0
$GC,6597,0.74,146.0,210.1,12.8,334,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1988,2187,0,0,0,0,0,0
$GC,6917,0.74,146.0,173.3,10.4,360,6921,0.00,2.28,0.00,0.000,4,0.000,0.058,2910,555,2186,0,0,0,0,0,0
$GC,6968,0.74,146.0,167.0,12.9,364,6973,0.12,2.20,0.00,0.000,6,0.146,0.044,2877,1984,2186,0,0,0,0,0,0
$GC,7296,0.74,146.0,134.1,11.1,394,7300,0.00,2.20,0.00,0.000,4,0.000,0.051,2876,3389,2186,0,0,0,0,0,0
$GC,7347,0.74,146.0,128.0,12.0,398,7351,0.00,2.17,0.00,0.000,6,0.000,0.039,2884,1972,2186,0,0,0,0,0,0
$GC,7674,0.74,146.0,94.0,10.0,428,7678,0.00,2.22,0.00,0.000,4,0.000,0.049,2884,3390,2186,0,0,0,0,0,0
$GC,7748,0.74,146.0,85.9,10.6,434,7756,0.00,2.22,0.00,0.000,6,0.000,0.039,2894,1966,2186,0,0,0,0,0,0
$GC,8081,0.74,149.1,54.9,8.9,489,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1966,2186,0,0,0,0,0,0
$GC,8413,0.74,149.1,26.3,9.2,550,8421,0.00,2.20,0.00,0.000,4,0.000,0.056,2897,572,2187,0,0,0,0,0,0
$GC,8460,0.74,149.1,22.0,9.8,558,8468,0.00,2.15,0.00,0.000,6,0.000,0.036,2897,1974,2187,0,0,0,0,0,0
$GC,8628,0.74,149.1,8.1,9.4,589,8636,0.00,2.20,0.00,0.000,4,0.000,0.050,2896,3379,2187,0,0,0,0,0,0
$GC,8664,0.74,149.1,4.2,10.2,595,8672,0.00,2.20,0.00,0.000,6,0.000,0.043,2905,1982,2188,0,0,0,0,0,0
$STATE,8678,end climb,SURFACE_DEPTH_REACHED
$STATE,8678,begin surface coast
$FINISH,0.6,1.023430
$STATE,8705,end surface coast,CONTROL_FINISHED_OK
$STATE,8705,begin surface
$SM_CCo,8723,66.45,0.449,0,0,1575,300.24
$SM_GC,1.35,0.00,0.00,66.45,0.000,0.000,0.449,28,1976,1575,-8.16,0.45,300.24
$IRIDIUM_FIX,2101.76,-15801.19,070802,111153
$TT8_MAMPS,0.028379
$HUMID,61.30
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.7,14.525
$10V_AH,10.5,15.922
$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,18.375,74.925,242.425,66.450,0.000,64.128,65.319,210.306,19.000,0.000,17.621,1121.192,5237.182,387.527,1998.219,587.284,0.000,1080.144,0.000,1951.005,0.000,117.257,0.000
$DEVICE_MAMPS,229.333,62.894,787.709,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,409.874,341.373,1176.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,31846,602
$CAP_FILE_SIZE,96595,0
$CFSIZE,260165632,246861824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130513,142349,2106.982,-15750.072,18,1.3,18,9.8