version: 66.06
glider: 523
mission: 4
dive: 740
start: 7 18 113 3 18 14
data:
$ID,523
$MISSION,4
$DIVE,740
$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,-50928.121
$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,25
$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
$GPS1,030705,2108.538,-15753.421,38,1.0,38,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.0
$GPS2,031723,2108.508,-15753.522,18,1.2,18,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.245,-0.076
$KALMAN_X,-12353.8,238.7,-281.6,12334.5,-995.6
$KALMAN_Y,2843.6,-71.3,-10.8,-3721.0,357.4
$MHEAD_RNG_PITCHd_Wd,97.4,18990,-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,-146.0,0.0,0.0,0,107,0.00,0.00,-83.28,0.000,6,0.000,0.000,52,1960,3395,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.7,-5.7,14,126,9.70,2.35,0.00,0.000,4,0.225,0.055,2384,525,3396,0,0,0,0,0,0
$GC,263,-0.76,-146.0,28.5,-12.2,42,271,0.00,2.25,0.00,0.000,6,0.000,0.043,2376,1932,3398,0,0,0,0,0,0
$GC,438,-0.76,-146.0,46.7,-10.4,73,443,0.00,2.33,0.00,0.000,4,0.000,0.063,2376,536,3398,0,0,0,0,0,0
$GC,599,-0.76,-146.0,62.4,-8.0,102,606,0.00,2.25,0.00,0.000,6,0.000,0.043,2367,1944,3398,0,0,0,0,0,0
$GC,939,-0.76,-146.0,87.3,-8.2,156,943,0.00,2.30,0.00,0.000,4,0.000,0.063,2367,536,3399,0,0,0,0,0,0
$GC,1190,-0.76,-146.0,109.4,-8.3,178,1198,0.08,2.22,0.00,0.000,6,0.135,0.043,2382,1934,3399,0,0,0,0,0,0
$GC,1518,-0.76,-146.0,130.6,-6.3,209,1522,0.00,2.33,0.00,0.000,4,0.000,0.064,2383,532,3400,0,0,0,0,0,0
$GC,1738,-0.76,-146.0,145.6,-5.8,228,1746,0.00,2.22,0.00,0.000,6,0.000,0.043,2375,1938,3400,0,0,0,0,0,0
$GC,2066,-0.76,-146.0,167.6,-7.3,259,2070,0.00,2.35,0.00,0.000,4,0.000,0.064,2375,529,3400,0,0,0,0,0,0
$GC,2261,-0.76,-146.0,182.8,-8.6,276,2265,0.00,2.20,0.00,0.000,6,0.000,0.042,2366,1943,3401,0,0,0,0,0,0
$GC,2594,-0.76,-146.0,208.1,-7.1,302,2598,0.00,2.35,0.00,0.000,4,0.000,0.064,2366,536,3400,0,0,0,0,0,0
$GC,2757,-0.76,-146.0,221.2,-8.3,309,2761,0.12,2.20,0.00,0.000,6,0.156,0.042,2389,1947,3400,0,0,0,0,0,0
$GC,3080,-0.76,-146.0,241.2,-6.2,325,3084,0.00,2.38,0.00,0.000,4,0.000,0.062,2389,528,3400,0,0,0,0,0,0
$GC,3171,-0.76,-146.0,246.8,-6.2,329,3175,0.00,2.20,0.00,0.000,6,0.000,0.041,2382,1949,3400,0,0,0,0,0,0
$GC,3495,-0.76,-146.0,265.2,-5.9,345,3499,0.00,2.35,0.00,0.000,4,0.000,0.061,2382,536,3400,0,0,0,0,0,0
$GC,3596,-0.76,-146.0,272.3,-7.6,349,3602,0.00,2.20,0.00,0.000,6,0.000,0.041,2373,1951,3400,0,0,0,0,0,0
$GC,3914,-0.76,-146.0,293.1,-6.4,365,3918,0.00,2.33,0.00,0.000,4,0.000,0.061,2373,532,3400,0,0,0,0,0,0
$GC,4172,-0.76,-146.0,310.9,-6.4,373,4177,0.00,2.17,0.00,0.000,6,0.000,0.041,2363,1941,3398,0,0,0,0,0,0
$GC,4504,-0.76,-146.0,331.4,-6.3,382,4508,0.00,2.33,0.00,0.000,4,0.000,0.062,2363,535,3397,0,0,0,0,0,0
$GC,4544,-0.76,-146.0,334.2,-6.8,382,4550,0.12,2.17,0.00,0.000,6,0.156,0.041,2386,1942,3396,0,0,0,0,0,0
$GC,4878,-0.76,-146.0,352.1,-5.4,391,4882,0.00,2.33,0.00,0.000,4,0.000,0.061,2386,535,3395,0,0,0,0,0,0
$GC,5021,-0.76,-146.0,359.0,-4.6,394,5025,0.00,2.20,0.00,0.000,6,0.000,0.042,2378,1937,3394,0,0,0,0,0,0
$GC,5337,-0.76,-146.0,370.3,-3.7,402,5341,0.00,2.33,0.00,0.000,4,0.000,0.062,2378,526,3393,0,0,0,0,0,0
$GC,5422,-0.76,-146.0,374.5,-5.0,404,5426,0.00,2.20,0.00,0.000,6,0.000,0.042,2370,1941,3392,0,0,0,0,0,0
$GC,5747,-0.76,-146.0,394.4,-6.6,412,5751,0.00,2.30,0.00,0.000,4,0.000,0.064,2359,3350,3390,0,0,0,0,0,0
$GC,5814,-0.76,-146.0,399.3,-7.2,413,5819,0.12,2.25,0.00,0.000,6,0.143,0.051,2393,1947,3390,0,0,0,0,0,0
$GC,6158,-0.76,-146.0,418.7,-5.4,422,6162,0.00,2.28,0.00,0.000,4,0.000,0.061,2393,526,3388,0,0,0,0,0,0
$GC,6365,-0.76,-146.0,430.4,-5.4,426,6370,0.00,2.22,0.00,0.000,6,0.000,0.040,2385,1953,3387,0,0,0,0,0,0
$GC,6698,-0.76,-146.0,447.0,-4.8,434,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1953,3386,0,0,0,0,0,0
$STATE,6776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6776,begin apogee
$GC,6783,-0.17,0.0,450.7,4.7,436,6909,0.60,0.00,122.95,0.760,6,0.114,0.000,2578,1954,2800,0,0,0,0,0,0
$STATE,6910,end apogee,CONTROL_FINISHED_OK
$STATE,6910,begin climb
$GC,6913,0.76,146.0,450.9,0.0,439,7050,0.88,2.38,128.05,0.736,4,0.071,0.056,2882,3389,2201,0,0,0,0,0,0
$GC,7178,0.76,146.0,423.3,12.4,445,7183,0.00,2.30,0.00,0.000,6,0.000,0.051,2892,1983,2197,0,0,0,0,0,0
$GC,7497,0.76,146.0,391.2,9.8,453,7501,0.00,2.30,0.00,0.000,4,0.000,0.058,2892,3390,2194,0,0,0,0,0,0
$GC,7598,0.76,146.0,379.8,11.8,455,7602,0.00,2.22,0.00,0.000,6,0.000,0.048,2901,1986,2192,0,0,0,0,0,0
$GC,7946,0.76,146.0,341.4,11.0,464,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1986,2192,0,0,0,0,0,0
$GC,8271,0.76,146.0,306.2,10.6,472,8275,0.00,2.28,0.00,0.000,4,0.000,0.060,2902,3394,2190,0,0,0,0,0,0
$GC,8407,0.76,146.0,290.9,10.9,476,8411,0.00,2.28,0.00,0.000,6,0.000,0.051,2910,1979,2189,0,0,0,0,0,0
$GC,8733,0.76,146.0,258.5,9.9,492,8737,0.00,2.30,0.00,0.000,4,0.000,0.061,2910,3388,2189,0,0,0,0,0,0
$GC,8806,0.76,146.0,250.6,10.4,495,8811,0.12,2.25,0.00,0.000,6,0.144,0.051,2885,1982,2189,0,0,0,0,0,0
$GC,9127,0.78,156.8,221.9,9.1,511,9141,0.00,2.33,8.43,0.558,4,0.000,0.062,2885,3384,2159,0,0,0,0,0,0
$GC,9187,0.78,156.8,216.2,9.8,513,9193,0.00,2.20,0.00,0.000,6,0.000,0.042,2892,1981,2159,0,0,0,0,0,0
$GC,9510,0.78,162.5,187.8,9.3,535,9521,0.00,2.22,6.30,0.499,4,0.000,0.056,2901,573,2137,0,0,0,0,0,0
$GC,9547,0.80,174.5,184.3,9.0,538,9565,0.00,2.17,12.55,0.561,6,0.000,0.037,2901,1995,2087,0,0,0,0,0,0
$GC,9886,0.83,196.2,152.2,8.6,569,9911,0.00,2.20,19.58,0.556,4,0.000,0.052,2901,3389,2002,0,0,0,0,0,0
$GC,9968,0.83,203.1,145.1,9.3,576,9981,0.00,2.20,7.97,0.491,6,0.000,0.041,2910,1979,1971,0,0,0,0,0,0
$GC,10302,0.88,240.5,118.5,7.9,607,10338,0.00,0.00,34.17,0.536,6,0.000,0.000,2910,1979,1819,0,0,0,0,0,0
$GC,10657,0.92,271.6,89.9,8.2,640,10692,0.00,2.28,27.75,0.501,4,0.000,0.055,2917,580,1692,0,0,0,0,0,0
$GC,10741,0.96,302.8,82.8,8.2,647,10774,0.00,2.20,28.38,0.495,6,0.000,0.035,2917,1980,1564,0,0,0,0,0,0
$GC,11103,0.98,319.8,52.0,8.8,710,11128,0.10,2.28,15.62,0.459,4,0.086,0.053,2984,3392,1494,0,0,0,0,0,0
$GC,11192,0.98,319.8,42.5,11.6,725,11198,0.15,2.25,0.00,0.000,6,0.127,0.045,2948,1980,1494,0,0,0,0,0,0
$GC,11518,0.99,329.5,11.9,9.1,786,11533,0.00,2.28,9.52,0.408,4,0.000,0.057,2948,3395,1455,0,0,0,0,0,0
$GC,11562,0.99,329.5,6.9,10.6,793,11570,0.00,2.30,0.00,0.000,6,0.000,0.054,2956,1990,1454,0,0,0,0,0,0
$STATE,11596,end climb,SURFACE_DEPTH_REACHED
$STATE,11596,begin surface coast
$FINISH,0.9,1.023354
$STATE,11624,end surface coast,CONTROL_FINISHED_OK
$STATE,11624,begin surface
$SM_CCo,11703,0.00,0.000,0,0,1451,330.90
$SM_GC,1.49,7.43,0.00,0.00,0.021,0.000,0.000,35,1928,1451,-8.00,-0.28,330.90
$IRIDIUM_FIX,2101.76,-15747.88,121002,030315
$TT8_MAMPS,0.027612
$HUMID,70.31
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,24.3,64.377
$10V_AH,10.0,71.380
$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,19.425,108.875,421.275,0.000,0.000,50.221,134.474,216.131,19.250,0.000,18.864,1472.425,6913.112,437.990,2747.764,740.199,33.343,1443.707,0.000,2698.413,0.000,119.265,0.000
$DEVICE_MAMPS,224.731,122.720,760.097,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,546.972,467.117,1566.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,44363,804
$CAP_FILE_SIZE,129393,0
$CFSIZE,260165632,217784320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180713,063432,2108.094,-15753.444,39,1.2,39,9.8