version: 66.06
glider: 523
mission: 4
dive: 738
start: 7 17 113 20 45 34
data:
$ID,523
$MISSION,4
$DIVE,738
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$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,157
$T_MISSION,300
$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,1
$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,-50891.871
$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,2638
$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,1940
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,22
$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
$GPS1,203736,2108.777,-15753.608,31,0.8,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.4
$GPS2,204441,2108.808,-15753.716,16,0.8,16,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.249,-0.062
$KALMAN_X,-7633.1,-346.0,-204.0,7799.5,-1282.0
$KALMAN_Y,1919.9,94.5,74.6,-2497.1,267.2
$MHEAD_RNG_PITCHd_Wd,94.2,19464,-17.6,-9.554
$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,-0.76,-146.0,0.0,0.0,0,112,0.00,0.00,-92.20,0.000,6,0.000,0.000,42,1929,3395,0,0,0,0,0,0
$GC,116,-0.76,-146.0,3.4,-4.2,15,131,9.55,2.25,0.00,0.000,4,0.219,0.058,2378,525,3396,0,0,0,0,0,0
$GC,210,-0.76,-146.0,21.1,-13.9,32,218,0.00,2.25,0.00,0.000,6,0.000,0.041,2370,1947,3397,0,0,0,0,0,0
$GC,383,-0.76,-146.0,40.6,-10.7,63,389,0.00,2.33,0.00,0.000,4,0.000,0.065,2370,524,3397,0,0,0,0,0,0
$GC,494,-0.76,-146.0,53.9,-11.2,83,500,0.12,2.20,0.00,0.000,6,0.165,0.041,2392,1941,3398,0,0,0,0,0,0
$GC,830,-0.76,-146.0,84.5,-7.7,139,835,0.00,2.33,0.00,0.000,4,0.000,0.067,2393,519,3398,0,0,0,0,0,0
$GC,966,-0.76,-146.0,95.6,-8.3,151,970,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1939,3398,0,0,0,0,0,0
$GC,1293,-0.76,-146.0,124.6,-10.9,181,1298,0.00,2.30,0.00,0.000,4,0.000,0.066,2374,3357,3399,0,0,0,0,0,0
$GC,1382,-0.76,-146.0,134.2,-10.7,189,1387,0.00,2.28,0.00,0.000,6,0.000,0.049,2374,1941,3399,0,0,0,0,0,0
$GC,1715,-0.76,-146.0,158.3,-5.4,220,1719,0.00,2.35,0.00,0.000,4,0.000,0.072,2374,529,3399,0,0,0,0,0,0
$GC,1969,-0.76,-146.0,175.9,-8.4,242,1976,0.00,2.22,0.00,0.000,6,0.000,0.039,2365,1946,3400,0,0,0,0,0,0
$GC,2294,-0.76,-146.0,202.2,-8.9,272,2298,0.00,2.33,0.00,0.000,4,0.000,0.065,2365,529,3400,0,0,0,0,0,0
$GC,2387,-0.76,-146.0,210.4,-8.6,276,2392,0.12,2.20,0.00,0.000,6,0.159,0.039,2387,1947,3400,0,0,0,0,0,0
$GC,2714,-0.76,-146.0,233.1,-6.5,292,2718,0.00,2.35,0.00,0.000,4,0.000,0.064,2388,528,3399,0,0,0,0,0,0
$GC,2926,-0.76,-146.0,248.4,-6.6,301,2930,0.00,2.20,0.00,0.000,6,0.000,0.039,2380,1940,3399,0,0,0,0,0,0
$GC,3244,-0.76,-146.0,269.6,-6.7,316,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1940,3399,0,0,0,0,0,0
$GC,3552,-0.76,-146.0,291.4,-6.4,331,3556,0.00,2.35,0.00,0.000,4,0.000,0.062,2380,529,3399,0,0,0,0,0,0
$GC,3811,-0.76,-146.0,308.8,-6.4,339,3817,0.00,2.20,0.00,0.000,6,0.000,0.039,2371,1947,3399,0,0,0,0,0,0
$GC,4143,-0.76,-146.0,328.4,-5.7,348,4147,0.00,2.35,0.00,0.000,4,0.000,0.061,2371,519,3398,0,0,0,0,0,0
$GC,4305,-0.76,-146.0,336.1,-4.3,351,4310,0.12,2.20,0.00,0.000,6,0.153,0.040,2394,1945,3397,0,0,0,0,0,0
$GC,4643,-0.76,-146.0,350.4,-5.3,360,4647,0.00,2.33,0.00,0.000,4,0.000,0.061,2394,518,3395,0,0,0,0,0,0
$GC,4676,-0.76,-146.0,352.4,-5.9,360,4681,0.00,2.22,0.00,0.000,6,0.000,0.041,2386,1944,3395,0,0,0,0,0,0
$GC,5008,-0.76,-146.0,372.5,-6.1,369,5012,0.00,2.33,0.00,0.000,4,0.000,0.061,2386,516,3394,0,0,0,0,0,0
$GC,5190,-0.76,-146.0,384.4,-6.0,373,5194,0.00,2.22,0.00,0.000,6,0.000,0.041,2377,1951,3393,0,0,0,0,0,0
$GC,5515,-0.76,-146.0,401.1,-4.7,381,5519,0.00,2.35,0.00,0.000,4,0.000,0.061,2377,515,3391,0,0,0,0,0,0
$GC,5610,-0.76,-146.0,406.4,-6.1,383,5614,0.00,2.25,0.00,0.000,6,0.000,0.042,2368,1949,3390,0,0,0,0,0,0
$GC,5924,-0.76,-146.0,423.9,-6.0,391,5928,0.00,2.35,0.00,0.000,4,0.000,0.061,2367,528,3389,0,0,0,0,0,0
$GC,5985,-0.76,-146.0,428.0,-6.5,392,5990,0.12,2.22,0.00,0.000,6,0.154,0.043,2390,1938,3388,0,0,0,0,0,0
$GC,6338,-0.76,-146.0,444.5,-4.6,401,6342,0.00,2.30,0.00,0.000,4,0.000,0.064,2382,3346,3387,0,0,0,0,0,0
$GC,6388,-0.76,-146.0,447.1,-5.0,402,6392,0.00,2.28,0.00,0.000,6,0.000,0.051,2381,1938,3387,0,0,0,0,0,0
$STATE,6455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6455,begin apogee
$GC,6463,-0.17,0.0,450.3,4.6,404,6589,0.62,0.00,123.30,0.753,6,0.114,0.000,2582,2022,2799,0,0,0,0,0,0
$STATE,6590,end apogee,CONTROL_FINISHED_OK
$STATE,6590,begin climb
$GC,6593,0.76,146.0,450.1,0.0,407,6731,0.85,2.25,128.32,0.728,4,0.070,0.059,2880,3366,2203,0,0,0,0,0,0
$GC,6754,0.76,146.0,434.5,10.8,410,6759,0.00,2.25,0.00,0.000,6,0.000,0.044,2890,1981,2201,0,0,0,0,0,0
$GC,7085,0.76,146.0,397.7,10.9,419,7089,0.00,2.22,0.00,0.000,4,0.000,0.059,2890,3365,2197,0,0,0,0,0,0
$GC,7259,0.76,146.0,377.8,11.9,423,7263,0.00,2.17,0.00,0.000,6,0.000,0.047,2898,1985,2195,0,0,0,0,0,0
$GC,7583,0.76,146.0,344.1,10.5,431,7587,0.00,2.25,0.00,0.000,4,0.000,0.061,2898,3367,2194,0,0,0,0,0,0
$GC,7784,0.76,146.0,320.1,11.7,435,7788,0.00,2.17,0.00,0.000,6,0.000,0.048,2907,1987,2193,0,0,0,0,0,0
$GC,8102,0.76,146.0,288.2,9.9,446,8106,0.00,2.22,0.00,0.000,4,0.000,0.061,2906,3367,2193,0,0,0,0,0,0
$GC,8143,0.76,146.0,284.0,11.4,448,8147,0.00,2.17,0.00,0.000,6,0.000,0.049,2914,1988,2193,0,0,0,0,0,0
$GC,8470,0.79,166.5,253.2,8.7,464,8494,0.00,2.30,17.12,0.619,4,0.000,0.062,2914,3364,2120,0,0,0,0,0,0
$GC,8582,0.81,179.9,242.8,9.0,469,8603,0.00,2.20,13.15,0.594,6,0.000,0.051,2923,1985,2065,0,0,0,0,0,0
$GC,8916,0.82,192.2,212.2,9.0,485,8930,0.00,0.00,11.93,0.569,6,0.000,0.000,2923,1985,2016,0,0,0,0,0,0
$GC,9257,0.83,197.5,180.0,9.3,510,9270,0.00,0.00,6.10,0.479,6,0.000,0.000,2924,1985,1994,0,0,0,0,0,0
$GC,9590,0.84,206.9,152.1,9.1,541,9605,0.00,2.28,9.90,0.513,4,0.000,0.063,2923,3358,1955,0,0,0,0,0,0
$GC,9657,0.84,206.9,144.9,11.4,547,9661,0.00,2.20,0.00,0.000,6,0.000,0.051,2933,1987,1954,0,0,0,0,0,0
$GC,9986,0.84,206.9,109.5,10.5,577,9990,0.00,2.25,0.00,0.000,4,0.000,0.062,2933,3362,1953,0,0,0,0,0,0
$GC,10048,0.84,206.9,102.6,10.1,582,10053,0.12,2.20,0.00,0.000,6,0.140,0.051,2905,1980,1952,0,0,0,0,0,0
$GC,10376,0.88,237.1,74.7,8.2,618,10411,0.00,2.30,27.55,0.492,4,0.000,0.063,2906,577,1832,0,0,0,0,0,0
$GC,10488,0.92,273.5,66.0,8.0,637,10528,0.00,2.17,32.95,0.485,6,0.000,0.041,2907,1965,1682,0,0,0,0,0,0
$GC,10856,0.97,310.5,37.4,7.9,704,10899,0.12,2.35,32.15,0.455,4,0.079,0.067,2974,577,1532,0,0,0,0,0,0
$GC,10925,0.98,323.2,31.7,9.0,715,10943,0.00,2.22,12.43,0.420,6,0.000,0.041,2974,1981,1481,0,0,0,0,0,0
$STATE,11200,end climb,SURFACE_DEPTH_REACHED
$STATE,11200,begin surface coast
$FINISH,0.7,1.006284
$STATE,11230,end surface coast,CONTROL_FINISHED_OK
$STATE,11231,begin surface
$SM_CCo,11310,0.00,0.000,0,0,1475,325.02
$SM_GC,1.62,7.55,0.00,0.00,0.026,0.000,0.000,36,1892,1475,-8.00,-1.36,325.02
$IRIDIUM_FIX,2059.45,-15758.18,111002,171744
$TT8_MAMPS,0.028379
$HUMID,69.76
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,24.3,64.178
$10V_AH,10.0,71.149
$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,19.325,104.125,414.900,0.000,0.000,30.565,37.741,204.901,19.000,0.000,16.923,1419.182,6626.528,440.549,2635.824,606.100,33.347,1407.271,0.000,2587.490,0.000,117.274,0.000
$DEVICE_MAMPS,219.362,82.836,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,524.512,444.949,1486.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,44536,772
$CAP_FILE_SIZE,123569,0
$CFSIZE,260165632,217907200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170713,235502,2108.642,-15753.537,21,0.9,22,9.8