version: 66.06
glider: 523
mission: 4
dive: 739
start: 7 18 113 0 3 3
data:
$ID,523
$MISSION,4
$DIVE,739
$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,-50908.629
$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,59
$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
$GPS1,235502,2108.642,-15753.537,21,0.9,22,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.7
$GPS2,000211,2108.618,-15753.650,15,1.0,15,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.247,-0.069
$KALMAN_X,-10039.9,130.8,-463.4,10085.7,-911.4
$KALMAN_Y,2368.7,-28.5,-11.0,-3081.7,255.1
$MHEAD_RNG_PITCHd_Wd,95.9,19258,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-82.22,0.000,6,0.000,0.000,36,1890,3396,0,0,0,0,0,0
$GC,105,-0.76,-146.0,2.9,-3.6,13,120,9.62,2.12,0.00,0.000,4,0.222,0.054,2382,556,3397,0,0,0,0,0,0
$GC,169,-0.76,-146.0,15.4,-11.6,24,176,0.00,2.20,0.00,0.000,6,0.000,0.041,2374,1940,3399,0,0,0,0,0,0
$GC,338,-0.76,-146.0,35.9,-13.5,55,344,0.00,2.25,0.00,0.000,4,0.000,0.061,2374,570,3399,0,0,0,0,0,0
$GC,430,-0.76,-146.0,49.4,-13.9,72,438,0.00,2.20,0.00,0.000,6,0.000,0.043,2365,1949,3400,0,0,0,0,0,0
$GC,768,-0.76,-146.0,88.3,-9.2,125,772,0.00,2.25,0.00,0.000,4,0.000,0.062,2365,559,3400,0,0,0,0,0,0
$GC,890,-0.76,-146.0,99.7,-8.8,135,899,0.00,2.17,0.00,0.000,6,0.000,0.043,2356,1933,3401,0,0,0,0,0,0
$GC,1218,-0.76,-146.0,124.1,-8.9,166,1223,0.12,2.25,0.00,0.000,4,0.162,0.063,2389,572,3402,0,0,0,0,0,0
$GC,1465,-0.76,-146.0,147.7,-9.2,188,1469,0.00,2.12,0.00,0.000,6,0.000,0.043,2381,1942,3401,0,0,0,0,0,0
$GC,1792,-0.76,-146.0,174.6,-7.4,218,1799,0.00,2.25,0.00,0.000,4,0.000,0.061,2381,565,3402,0,0,0,0,0,0
$GC,1995,-0.76,-146.0,189.1,-7.0,236,1999,0.00,2.17,0.00,0.000,6,0.000,0.042,2373,1950,3402,0,0,0,0,0,0
$GC,2316,-0.76,-146.0,211.1,-6.4,258,2320,0.00,2.28,0.00,0.000,4,0.000,0.060,2373,566,3402,0,0,0,0,0,0
$GC,2507,-0.76,-146.0,225.1,-7.4,266,2513,0.00,2.15,0.00,0.000,6,0.000,0.041,2364,1946,3402,0,0,0,0,0,0
$GC,2825,-0.76,-146.0,247.4,-7.1,282,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1946,3402,0,0,0,0,0,0
$GC,3133,-0.76,-146.0,266.2,-5.2,297,3137,0.00,2.22,0.00,0.000,4,0.000,0.059,2364,570,3402,0,0,0,0,0,0
$GC,3391,-0.76,-146.0,282.1,-7.3,308,3397,0.12,2.12,0.00,0.000,6,0.154,0.041,2387,1944,3402,0,0,0,0,0,0
$GC,3729,-0.76,-146.0,307.4,-7.8,323,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1944,3402,0,0,0,0,0,0
$GC,4052,-0.76,-146.0,324.9,-4.3,331,4059,0.00,2.25,0.00,0.000,4,0.000,0.058,2387,569,3401,0,0,0,0,0,0
$GC,4196,-0.76,-146.0,329.8,-3.2,334,4201,0.00,2.12,0.00,0.000,6,0.000,0.041,2380,1940,3399,0,0,0,0,0,0
$GC,4521,-0.76,-146.0,344.4,-5.4,342,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1939,3399,0,0,0,0,0,0
$GC,4846,-0.76,-146.0,367.9,-7.3,350,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1940,3397,0,0,0,0,0,0
$GC,5170,-0.76,-146.0,388.5,-5.9,358,5174,0.00,2.28,0.00,0.000,4,0.000,0.061,2379,563,3396,0,0,0,0,0,0
$GC,5422,-0.76,-146.0,401.3,-4.8,363,5426,0.00,2.17,0.00,0.000,6,0.000,0.042,2371,1948,3394,0,0,0,0,0,0
$GC,5761,-0.76,-146.0,418.1,-5.2,372,5765,0.00,2.25,0.00,0.000,4,0.000,0.061,2371,570,3392,0,0,0,0,0,0
$GC,5852,-0.76,-146.0,424.2,-6.9,374,5856,0.00,2.15,0.00,0.000,6,0.000,0.043,2362,1948,3392,0,0,0,0,0,0
$GC,6175,-0.76,-146.0,446.3,-7.2,382,6180,0.10,2.30,0.00,0.000,4,0.163,0.061,2387,567,3390,0,0,0,0,0,0
$STATE,6218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6218,begin apogee
$GC,6227,-0.17,0.0,450.0,7.3,383,6354,0.60,0.00,123.57,0.751,6,0.116,0.000,2576,1998,2800,0,0,0,0,0,0
$STATE,6354,end apogee,CONTROL_FINISHED_OK
$STATE,6355,begin climb
$GC,6357,0.76,146.0,452.9,0.0,386,6496,0.88,2.33,128.32,0.729,4,0.072,0.063,2883,3391,2202,0,0,0,0,0,0
$GC,6565,0.76,146.0,435.8,10.3,390,6570,0.00,2.20,0.00,0.000,6,0.000,0.044,2893,2023,2199,0,0,0,0,0,0
$GC,6897,0.77,148.5,404.0,9.4,399,6901,0.00,2.25,0.00,0.000,4,0.000,0.058,2893,3396,2197,0,0,0,0,0,0
$GC,7071,0.77,148.5,384.8,11.9,403,7075,0.00,2.22,0.00,0.000,6,0.000,0.045,2901,1986,2195,0,0,0,0,0,0
$GC,7396,0.77,148.5,349.0,10.9,411,7400,0.00,2.30,0.00,0.000,4,0.000,0.061,2901,3394,2194,0,0,0,0,0,0
$GC,7575,0.77,148.5,324.1,15.1,415,7579,0.00,2.25,0.00,0.000,6,0.000,0.049,2910,1980,2193,0,0,0,0,0,0
$GC,7895,0.77,148.5,282.9,12.1,426,7900,0.00,2.35,0.00,0.000,4,0.000,0.061,2910,3399,2192,0,0,0,0,0,0
$GC,7958,0.77,148.5,274.8,13.1,429,7963,0.12,2.28,0.00,0.000,6,0.146,0.048,2885,1981,2191,0,0,0,0,0,0
$GC,8285,0.84,208.1,247.8,6.9,445,8347,0.00,2.38,52.67,0.638,4,0.000,0.061,2885,3388,1949,0,0,0,0,0,0
$GC,8425,0.84,208.1,236.2,9.9,451,8429,0.00,2.28,0.00,0.000,6,0.000,0.051,2891,1987,1947,0,0,0,0,0,0
$GC,8741,0.84,208.1,203.8,11.0,466,8745,0.00,2.30,0.00,0.000,4,0.000,0.058,2892,3405,1946,0,0,0,0,0,0
$GC,8807,0.84,208.1,195.7,12.2,470,8815,0.00,2.30,0.00,0.000,6,0.000,0.051,2900,1986,1945,0,0,0,0,0,0
$GC,9135,0.88,237.6,163.3,8.3,501,9171,0.00,2.33,26.33,0.564,4,0.000,0.055,2900,3402,1830,0,0,0,0,0,0
$GC,9228,0.91,264.0,155.1,8.4,509,9264,0.00,2.25,24.60,0.549,6,0.000,0.042,2908,1980,1721,0,0,0,0,0,0
$GC,9584,0.94,287.1,125.6,8.5,542,9610,0.00,2.30,21.17,0.523,4,0.000,0.059,2915,578,1627,0,0,0,0,0,0
$GC,9665,0.96,303.3,117.7,8.8,549,9688,0.00,2.22,15.43,0.500,6,0.000,0.037,2915,1988,1562,0,0,0,0,0,0
$GC,10016,0.99,329.3,88.1,8.4,582,10045,0.12,2.35,23.08,0.489,4,0.078,0.068,2994,582,1457,0,0,0,0,0,0
$GC,10109,0.99,329.3,77.5,12.7,591,10116,0.12,2.25,0.00,0.000,6,0.131,0.045,2958,1987,1455,0,0,0,0,0,0
$GC,10446,0.99,329.3,41.0,10.1,652,10453,0.00,2.25,0.00,0.000,4,0.000,0.055,2958,3392,1455,0,0,0,0,0,0
$GC,10523,0.99,329.3,33.3,10.1,665,10528,0.00,2.22,0.00,0.000,6,0.000,0.044,2964,1982,1455,0,0,0,0,0,0
$GC,10846,0.99,329.3,4.6,10.1,726,10853,0.00,2.28,0.00,0.000,4,0.000,0.062,2973,585,1455,0,0,0,0,0,0
$STATE,10859,end climb,SURFACE_DEPTH_REACHED
$STATE,10859,begin surface coast
$FINISH,0.7,0.998444
$STATE,10887,end surface coast,CONTROL_FINISHED_OK
$STATE,10887,begin surface
$SM_CCo,10968,0.00,0.000,0,0,1452,330.41
$SM_GC,1.79,7.55,0.00,0.00,0.030,0.000,0.000,53,1952,1452,-7.99,0.37,330.41
$IRIDIUM_FIX,2059.45,-15751.76,111002,202050
$TT8_MAMPS,0.028379
$HUMID,70.12
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,24.3,64.276
$10V_AH,10.0,71.260
$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,19.375,98.625,415.175,0.000,0.000,29.255,40.802,209.152,19.000,0.000,16.124,1360.238,6422.215,435.715,2576.229,594.125,33.346,1384.823,0.000,2527.255,0.000,117.283,0.000
$DEVICE_MAMPS,221.663,68.263,750.893,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,498.412,426.054,1446.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,41226,733
$CAP_FILE_SIZE,118624,0
$CFSIZE,260165632,217853952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180713,030705,2108.538,-15753.421,38,1.0,38,9.8