version: 66.06
glider: 523
mission: 4
dive: 744
start: 7 18 113 16 29 55
data:
$ID,523
$MISSION,4
$DIVE,744
$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,-51055.02
$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,30
$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
$GPS1,162143,2107.734,-15754.625,14,0.8,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.2
$GPS2,162904,2107.753,-15754.768,39,0.9,39,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,-0.052
$KALMAN_X,-22322.1,-1188.6,-227.8,21523.8,-496.2
$KALMAN_Y,3063.8,16.1,126.9,-5565.1,158.4
$MHEAD_RNG_PITCHd_Wd,91.8,20787,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.97,0.000,6,0.000,0.000,41,1922,3395,0,0,0,0,0,0
$GC,105,-0.76,-146.0,4.0,-6.3,13,119,9.68,2.30,0.00,0.000,4,0.223,0.052,2373,3347,3397,0,0,0,0,0,0
$GC,128,-0.76,-146.0,12.0,-24.7,16,136,0.00,2.30,0.00,0.000,6,0.000,0.051,2373,1938,3398,0,0,0,0,0,0
$GC,295,-0.76,-146.0,32.2,-11.5,47,300,0.00,2.30,0.00,0.000,4,0.000,0.067,2373,524,3398,0,0,0,0,0,0
$GC,406,-0.76,-146.0,44.8,-10.1,67,412,0.00,2.20,0.00,0.000,6,0.000,0.043,2364,1934,3398,0,0,0,0,0,0
$GC,736,-0.76,-146.0,79.9,-9.8,128,744,0.00,2.35,0.00,0.000,4,0.000,0.064,2364,525,3399,0,0,0,0,0,0
$GC,829,-0.76,-146.0,89.6,-10.5,137,836,0.12,2.22,0.00,0.000,6,0.162,0.042,2386,1950,3399,0,0,0,0,0,0
$GC,1164,-0.76,-146.0,116.1,-8.1,168,1168,0.00,2.35,0.00,0.000,4,0.000,0.065,2386,528,3400,0,0,0,0,0,0
$GC,1420,-0.76,-146.0,140.3,-9.2,190,1427,0.00,2.25,0.00,0.000,6,0.000,0.042,2379,1947,3401,0,0,0,0,0,0
$GC,1748,-0.76,-146.0,169.5,-7.7,221,1753,0.00,2.35,0.00,0.000,4,0.000,0.065,2378,516,3401,0,0,0,0,0,0
$GC,1918,-0.76,-146.0,179.8,-4.6,236,1927,0.00,2.25,0.00,0.000,6,0.000,0.041,2369,1940,3401,0,0,0,0,0,0
$GC,2246,-0.76,-146.0,196.4,-7.5,267,2250,0.00,2.35,0.00,0.000,4,0.000,0.065,2369,522,3401,0,0,0,0,0,0
$GC,2408,-0.76,-146.0,208.4,-6.0,276,2413,0.12,2.20,0.00,0.000,6,0.152,0.040,2393,1943,3402,0,0,0,0,0,0
$GC,2725,-0.76,-146.0,229.9,-6.9,291,2730,0.00,2.33,0.00,0.000,4,0.000,0.064,2393,526,3402,0,0,0,0,0,0
$GC,2801,-0.76,-146.0,235.0,-6.4,294,2805,0.00,2.17,0.00,0.000,6,0.000,0.040,2385,1941,3402,0,0,0,0,0,0
$GC,3124,-0.76,-146.0,253.3,-5.0,310,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1941,3402,0,0,0,0,0,0
$GC,3433,-0.76,-146.0,270.2,-5.6,325,3437,0.00,2.33,0.00,0.000,4,0.000,0.063,2385,527,3401,0,0,0,0,0,0
$GC,3562,-0.76,-146.0,278.1,-5.7,330,3567,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1948,3401,0,0,0,0,0,0
$GC,3879,-0.76,-146.0,291.9,-3.8,346,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1948,3401,0,0,0,0,0,0
$GC,4207,-0.76,-146.0,304.3,-4.3,360,4211,0.00,2.35,0.00,0.000,4,0.000,0.061,2376,526,3400,0,0,0,0,0,0
$GC,4234,-0.76,-146.0,306.0,-5.9,360,4238,0.00,2.22,0.00,0.000,6,0.000,0.041,2367,1941,3399,0,0,0,0,0,0
$GC,4567,-0.76,-146.0,325.3,-6.1,368,4571,0.00,2.35,0.00,0.000,4,0.000,0.063,2367,517,3398,0,0,0,0,0,0
$GC,4709,-0.76,-146.0,334.6,-6.9,371,4717,0.12,2.25,0.00,0.000,6,0.159,0.041,2389,1953,3397,0,0,0,0,0,0
$GC,5039,-0.76,-146.0,353.8,-6.4,379,5043,0.00,2.33,0.00,0.000,4,0.000,0.062,2390,525,3395,0,0,0,0,0,0
$GC,5229,-0.76,-146.0,367.9,-6.9,383,5233,0.00,2.22,0.00,0.000,6,0.000,0.041,2382,1946,3394,0,0,0,0,0,0
$GC,5578,-0.76,-146.0,389.2,-5.8,392,5582,0.00,2.30,0.00,0.000,4,0.000,0.065,2372,3355,3393,0,0,0,0,0,0
$GC,5606,-0.76,-146.0,390.9,-5.6,392,5610,0.00,2.28,0.00,0.000,6,0.000,0.051,2372,1928,3393,0,0,0,0,0,0
$GC,5938,-0.76,-146.0,409.3,-5.4,400,5942,0.00,2.28,0.00,0.000,4,0.000,0.067,2372,524,3392,0,0,0,0,0,0
$GC,6089,-0.76,-146.0,418.3,-6.0,403,6093,0.00,2.22,0.00,0.000,6,0.000,0.041,2362,1939,3391,0,0,0,0,0,0
$GC,6433,-0.76,-146.0,435.8,-4.8,412,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1939,3389,0,0,0,0,0,0
$STATE,6674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6675,begin apogee
$GC,6681,-0.17,0.0,451.1,6.6,418,6809,0.70,0.00,124.07,0.759,6,0.117,0.000,2584,1991,2800,0,0,0,0,0,0
$STATE,6810,end apogee,CONTROL_FINISHED_OK
$STATE,6810,begin climb
$GC,6813,0.76,146.0,452.3,0.0,421,6952,0.88,2.35,129.35,0.733,4,0.070,0.064,2886,3392,2202,0,0,0,0,0,0
$GC,6998,0.76,146.0,434.9,11.6,425,7002,0.00,2.30,0.00,0.000,6,0.000,0.048,2895,1973,2199,0,0,0,0,0,0
$GC,7323,0.76,146.0,398.1,11.4,433,7326,0.00,2.33,0.00,0.000,4,0.000,0.061,2895,3399,2195,0,0,0,0,0,0
$GC,7417,0.76,146.0,386.3,11.9,435,7422,0.00,2.28,0.00,0.000,6,0.000,0.048,2905,1988,2193,0,0,0,0,0,0
$GC,7737,0.76,146.0,353.5,9.9,443,7741,0.00,2.30,0.00,0.000,4,0.000,0.064,2905,3390,2193,0,0,0,0,0,0
$GC,7815,0.76,146.0,345.4,10.4,444,7821,0.12,2.25,0.00,0.000,6,0.149,0.050,2881,1985,2192,0,0,0,0,0,0
$GC,8146,0.78,154.5,314.7,9.2,453,8160,0.00,2.35,6.82,0.568,4,0.000,0.064,2881,3391,2169,0,0,0,0,0,0
$GC,8195,0.78,154.5,309.7,11.2,454,8199,0.00,2.25,0.00,0.000,6,0.000,0.051,2888,1986,2169,0,0,0,0,0,0
$GC,8516,0.78,154.5,272.5,11.6,467,8520,0.00,2.35,0.00,0.000,4,0.000,0.065,2888,3399,2167,0,0,0,0,0,0
$GC,8617,0.78,154.5,260.4,11.6,471,8622,0.00,2.28,0.00,0.000,6,0.000,0.052,2897,1985,2167,0,0,0,0,0,0
$GC,8933,0.78,154.5,228.4,10.2,487,8937,0.00,2.35,0.00,0.000,4,0.000,0.065,2897,3396,2166,0,0,0,0,0,0
$GC,9000,0.78,154.5,221.1,10.6,490,9004,0.00,2.22,0.00,0.000,6,0.000,0.044,2906,1978,2166,0,0,0,0,0,0
$GC,9326,0.82,187.0,193.9,8.1,509,9361,0.00,2.28,29.25,0.602,4,0.000,0.051,2906,3400,2038,0,0,0,0,0,0
$GC,9538,0.82,187.0,173.6,9.9,528,9542,0.00,2.22,0.00,0.000,6,0.000,0.041,2915,1984,2035,0,0,0,0,0,0
$GC,9865,0.82,187.5,142.9,9.5,558,9869,0.00,2.28,0.00,0.000,4,0.000,0.053,2916,3405,2034,0,0,0,0,0,0
$GC,9992,0.82,187.5,131.2,9.8,569,9996,0.00,2.22,0.00,0.000,6,0.000,0.042,2925,1986,2034,0,0,0,0,0,0
$GC,10320,0.82,191.0,100.1,9.4,599,10333,0.00,2.28,4.90,0.404,4,0.000,0.054,2925,3390,2020,0,0,0,0,0,0
$GC,10391,0.83,196.8,93.1,9.3,605,10405,0.12,2.20,6.97,0.443,6,0.140,0.042,2899,1984,1997,0,0,0,0,0,0
$GC,10725,0.86,220.7,63.4,8.5,652,10756,0.00,2.30,22.30,0.481,4,0.000,0.053,2898,3399,1899,0,0,0,0,0,0
$GC,10771,0.89,250.3,59.7,8.3,659,10807,0.00,2.22,27.27,0.480,6,0.000,0.044,2905,1986,1777,0,0,0,0,0,0
$GC,11139,0.95,293.1,31.8,7.7,725,11183,0.10,2.33,37.35,0.462,4,0.087,0.058,2980,3405,1605,0,0,0,0,0,0
$GC,11221,0.95,293.1,24.0,11.5,738,11228,0.12,2.33,0.00,0.000,6,0.100,0.053,2944,1995,1604,0,0,0,0,0,0
$GC,11389,1.02,352.8,9.3,6.9,769,11449,0.00,2.40,50.25,0.439,4,0.000,0.069,2952,570,1359,0,0,0,0,0,0
$STATE,11455,end climb,SURFACE_DEPTH_REACHED
$STATE,11455,begin surface coast
$FINISH,0.8,1.022749
$STATE,11485,end surface coast,CONTROL_FINISHED_OK
$STATE,11485,begin surface
$SM_CCo,11565,0.00,0.000,0,0,1356,354.45
$SM_GC,1.65,7.50,0.00,0.00,0.021,0.000,0.000,39,1951,1356,-7.99,0.34,354.45
$IRIDIUM_FIX,2057.14,-15756.91,121002,131320
$TT8_MAMPS,0.027612
$HUMID,68.50
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,24.2,64.784
$10V_AH,10.0,71.836
$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,19.600,114.200,438.550,0.000,0.000,28.531,33.252,204.094,19.000,0.000,40.401,1415.789,6886.646,455.370,2637.607,600.624,33.347,1436.419,0.000,2572.321,0.000,117.288,0.000
$DEVICE_MAMPS,223.197,125.021,758.563,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,532.778,452.288,1499.408,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,44377,784
$CAP_FILE_SIZE,125229,0
$CFSIZE,260165632,217546752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180713,194346,2107.641,-15754.181,30,0.7,30,9.8