version: 66.06
glider: 523
mission: 4
dive: 741
start: 7 18 113 6 47 7
data:
$ID,523
$MISSION,4
$DIVE,741
$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,-50949
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,063432,2108.094,-15753.444,39,1.2,39,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.5
$GPS2,064616,2108.091,-15753.558,19,0.8,19,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.253,-0.042
$KALMAN_X,-14787.7,128.4,-22.4,14561.0,-1652.1
$KALMAN_Y,2907.5,-139.4,-33.1,-4459.6,227.8
$MHEAD_RNG_PITCHd_Wd,89.6,18861,-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,-82.78,0.000,6,0.000,0.000,28,1923,3396,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.9,-5.7,14,126,9.70,2.30,0.00,0.000,4,0.221,0.060,2382,529,3397,0,0,0,0,0,0
$GC,203,-0.76,-146.0,21.4,-13.6,30,210,0.00,2.25,0.00,0.000,6,0.000,0.041,2374,1942,3398,0,0,0,0,0,0
$GC,376,-0.76,-146.0,41.6,-11.3,61,381,0.00,2.35,0.00,0.000,4,0.000,0.063,2374,531,3398,0,0,0,0,0,0
$GC,433,-0.76,-146.0,49.4,-13.6,71,438,0.00,2.22,0.00,0.000,6,0.000,0.043,2364,1941,3398,0,0,0,0,0,0
$GC,765,-0.76,-146.0,82.1,-8.2,130,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1941,3400,0,0,0,0,0,0
$GC,1083,-0.76,-146.0,104.4,-6.7,160,1090,0.00,2.35,0.00,0.000,4,0.000,0.065,2365,521,3400,0,0,0,0,0,0
$GC,1340,-0.76,-146.0,125.6,-9.2,183,1345,0.12,2.22,0.00,0.000,6,0.159,0.041,2387,1941,3400,0,0,0,0,0,0
$GC,1668,-0.76,-146.0,152.4,-7.5,213,1672,0.00,2.38,0.00,0.000,4,0.000,0.066,2387,526,3401,0,0,0,0,0,0
$GC,1703,-0.76,-146.0,155.3,-8.2,215,1710,0.00,2.25,0.00,0.000,6,0.000,0.042,2380,1937,3401,0,0,0,0,0,0
$GC,2030,-0.76,-146.0,180.9,-7.2,246,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1937,3401,0,0,0,0,0,0
$GC,2355,-0.76,-146.0,201.8,-6.0,276,2359,0.00,2.35,0.00,0.000,4,0.000,0.066,2380,521,3400,0,0,0,0,0,0
$GC,2523,-0.76,-146.0,212.0,-5.8,283,2529,0.00,2.22,0.00,0.000,6,0.000,0.041,2370,1954,3401,0,0,0,0,0,0
$GC,2841,-0.76,-146.0,231.6,-6.8,299,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1954,3400,0,0,0,0,0,0
$GC,3149,-0.76,-146.0,254.7,-8.3,314,3154,0.00,2.33,0.00,0.000,4,0.000,0.063,2371,529,3400,0,0,0,0,0,0
$GC,3269,-0.76,-146.0,264.8,-8.3,319,3273,0.00,2.17,0.00,0.000,6,0.000,0.040,2362,1942,3400,0,0,0,0,0,0
$GC,3600,-0.76,-146.0,288.6,-6.5,335,3604,0.10,2.35,0.00,0.000,4,0.165,0.063,2387,519,3400,0,0,0,0,0,0
$GC,3729,-0.76,-146.0,296.7,-6.4,341,3733,0.00,2.20,0.00,0.000,6,0.000,0.040,2379,1943,3400,0,0,0,0,0,0
$GC,4054,-0.76,-146.0,312.9,-5.1,351,4057,0.00,2.25,0.00,0.000,4,0.000,0.064,2369,3346,3398,0,0,0,0,0,0
$GC,4076,-0.76,-146.0,314.4,-5.5,351,4080,0.00,2.22,0.00,0.000,6,0.000,0.050,2369,1941,3398,0,0,0,0,0,0
$GC,4420,-0.76,-146.0,336.9,-7.2,360,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1941,3397,0,0,0,0,0,0
$GC,4744,-0.76,-146.0,357.4,-6.1,368,4748,0.00,2.33,0.00,0.000,4,0.000,0.067,2369,518,3395,0,0,0,0,0,0
$GC,4970,-0.76,-146.0,373.4,-6.7,373,4974,0.12,2.20,0.00,0.000,6,0.154,0.041,2392,1940,3394,0,0,0,0,0,0
$GC,5298,-0.76,-146.0,391.2,-5.2,381,5302,0.00,2.33,0.00,0.000,4,0.000,0.062,2392,525,3393,0,0,0,0,0,0
$GC,5377,-0.76,-146.0,395.7,-5.2,382,5382,0.00,2.20,0.00,0.000,6,0.000,0.041,2384,1943,3392,0,0,0,0,0,0
$GC,5708,-0.76,-146.0,414.3,-6.2,391,5712,0.00,2.28,0.00,0.000,4,0.000,0.066,2374,3355,3391,0,0,0,0,0,0
$GC,5742,-0.76,-146.0,416.7,-7.0,391,5747,0.00,2.28,0.00,0.000,6,0.000,0.051,2374,1934,3391,0,0,0,0,0,0
$GC,6076,-0.76,-146.0,440.3,-7.1,400,6081,0.00,2.33,0.00,0.000,4,0.000,0.068,2374,515,3389,0,0,0,0,0,0
$STATE,6200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6200,begin apogee
$GC,6210,-0.17,0.0,450.5,7.5,402,6336,0.65,0.00,123.22,0.755,6,0.121,0.000,2573,1996,2800,0,0,0,0,0,0
$STATE,6337,end apogee,CONTROL_FINISHED_OK
$STATE,6337,begin climb
$GC,6340,0.76,146.0,452.9,0.0,406,6477,0.88,2.35,128.57,0.732,4,0.071,0.064,2881,3395,2201,0,0,0,0,0,0
$GC,6512,0.76,146.0,438.3,11.7,410,6516,0.00,2.33,0.00,0.000,6,0.000,0.048,2890,1974,2198,0,0,0,0,0,0
$GC,6830,0.76,146.0,403.3,11.1,418,6834,0.00,2.33,0.00,0.000,4,0.000,0.060,2890,3392,2194,0,0,0,0,0,0
$GC,6879,0.76,146.0,396.8,13.4,419,6884,0.00,2.25,0.00,0.000,6,0.000,0.048,2899,1981,2194,0,0,0,0,0,0
$GC,7193,0.76,146.0,359.0,11.9,427,7197,0.00,2.30,0.00,0.000,4,0.000,0.067,2910,577,2192,0,0,0,0,0,0
$GC,7232,0.76,146.0,354.4,12.4,428,7236,0.00,2.22,0.00,0.000,6,0.000,0.044,2910,1983,2192,0,0,0,0,0,0
$GC,7557,0.76,146.0,317.0,11.3,436,7561,0.00,2.28,0.00,0.000,4,0.000,0.066,2910,3396,2191,0,0,0,0,0,0
$GC,7763,0.76,146.0,292.6,11.6,441,7768,0.12,2.28,0.00,0.000,6,0.145,0.048,2885,1978,2190,0,0,0,0,0,0
$GC,8080,0.80,176.7,265.6,8.2,456,8108,0.00,0.00,25.95,0.644,6,0.000,0.000,2885,1978,2079,0,0,0,0,0,0
$GC,8409,0.90,257.8,241.9,6.0,472,8490,0.12,2.42,71.70,0.634,4,0.073,0.068,2976,568,1748,0,0,0,0,0,0
$GC,8516,0.90,257.8,231.2,10.9,477,8521,0.17,2.30,0.00,0.000,6,0.122,0.045,2925,1985,1747,0,0,0,0,0,0
$GC,8843,0.90,257.8,199.7,10.5,493,8847,0.00,2.33,0.00,0.000,4,0.000,0.063,2933,574,1745,0,0,0,0,0,0
$GC,8917,0.90,257.8,192.1,10.8,499,8921,0.00,2.25,0.00,0.000,6,0.000,0.044,2933,1986,1745,0,0,0,0,0,0
$GC,9244,0.90,257.8,160.0,10.3,529,9248,0.00,2.30,0.00,0.000,4,0.000,0.060,2933,3405,1744,0,0,0,0,0,0
$GC,9372,0.91,266.7,146.3,9.2,540,9387,0.00,2.28,9.05,0.500,6,0.000,0.047,2942,1980,1711,0,0,0,0,0,0
$GC,9715,0.93,279.4,115.1,9.0,572,9732,0.00,2.30,12.32,0.496,4,0.000,0.060,2941,3398,1660,0,0,0,0,0,0
$GC,9790,0.93,279.4,107.6,10.7,578,9794,0.00,2.25,0.00,0.000,6,0.000,0.050,2950,1988,1659,0,0,0,0,0,0
$GC,10119,0.93,279.4,75.5,10.6,611,10124,0.00,2.30,0.00,0.000,4,0.000,0.061,2950,3398,1659,0,0,0,0,0,0
$GC,10148,0.93,279.4,72.1,10.8,616,10156,0.00,2.30,0.00,0.000,6,0.000,0.051,2958,1988,1659,0,0,0,0,0,0
$GC,10483,0.93,279.4,37.7,11.7,677,10488,0.00,2.28,0.00,0.000,4,0.000,0.058,2958,3398,1659,0,0,0,0,0,0
$GC,10551,0.93,279.4,30.0,11.0,689,10556,0.00,2.22,0.00,0.000,6,0.000,0.044,2966,1971,1659,0,0,0,0,0,0
$STATE,10831,end climb,SURFACE_DEPTH_REACHED
$STATE,10831,begin surface coast
$FINISH,0.9,1.023396
$STATE,10864,end surface coast,CONTROL_FINISHED_OK
$STATE,10867,begin surface
$SM_CCo,10885,11.35,0.400,0,0,1575,300.24
$SM_GC,1.42,0.00,0.00,11.35,0.000,0.000,0.400,39,1967,1575,-8.12,0.76,300.24
$IRIDIUM_FIX,2101.76,-15750.89,121002,060649
$TT8_MAMPS,0.028379
$HUMID,69.25
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,24.2,64.482
$10V_AH,9.9,71.493
$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,19.500,100.575,370.825,11.350,0.000,44.694,76.839,348.036,19.250,0.000,20.251,1373.286,6471.713,442.144,2501.114,804.234,33.345,1319.145,0.000,2450.840,0.000,117.288,0.000
$DEVICE_MAMPS,220.896,68.263,755.495,399.607,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,509.604,438.732,1463.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,41211,748
$CAP_FILE_SIZE,121855,0
$CFSIZE,260165632,217726976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180713,094949,2107.767,-15754.030,25,0.8,26,9.8