version: 66.06
glider: 523
mission: 4
dive: 746
start: 7 18 113 23 10 39
data:
$ID,523
$MISSION,4
$DIVE,746
$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,-51113.605
$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,1935
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,24
$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
$GPS1,225834,2107.586,-15754.389,36,0.8,36,9.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.8
$GPS2,230948,2107.568,-15754.595,20,1.0,20,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,-0.028
$KALMAN_X,-27175.5,-388.3,-378.5,26037.7,-992.4
$KALMAN_Y,3410.5,196.4,-63.7,-6243.0,32.4
$MHEAD_RNG_PITCHd_Wd,86.4,20435,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,102,0.00,0.00,-80.55,0.000,6,0.000,0.000,29,1940,3397,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.6,-5.6,13,121,9.68,2.30,0.00,0.000,4,0.221,0.059,2380,516,3398,0,0,0,0,0,0
$GC,188,-0.76,-146.0,18.5,-11.9,27,195,0.00,2.25,0.00,0.000,6,0.000,0.042,2372,1927,3399,0,0,0,0,0,0
$GC,357,-0.76,-146.0,37.9,-11.0,58,364,0.00,2.38,0.00,0.000,4,0.000,0.066,2372,526,3400,0,0,0,0,0,0
$GC,486,-0.76,-146.0,51.8,-10.4,81,491,0.00,2.20,0.00,0.000,6,0.000,0.042,2363,1941,3400,0,0,0,0,0,0
$GC,826,-0.76,-146.0,81.1,-8.1,142,830,0.00,2.35,0.00,0.000,4,0.000,0.065,2363,518,3401,0,0,0,0,0,0
$GC,867,-0.76,-146.0,84.7,-8.6,145,875,0.15,2.22,0.00,0.000,6,0.153,0.041,2392,1937,3401,0,0,0,0,0,0
$GC,1202,-0.76,-146.0,112.6,-8.1,176,1206,0.00,2.35,0.00,0.000,4,0.000,0.065,2393,516,3401,0,0,0,0,0,0
$GC,1376,-0.76,-146.0,127.8,-8.2,191,1380,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1937,3402,0,0,0,0,0,0
$GC,1704,-0.76,-146.0,154.0,-8.3,221,1708,0.00,2.35,0.00,0.000,4,0.000,0.065,2385,516,3402,0,0,0,0,0,0
$GC,1954,-0.76,-146.0,175.4,-8.9,243,1962,0.00,2.25,0.00,0.000,6,0.000,0.041,2376,1938,3402,0,0,0,0,0,0
$GC,2282,-0.76,-146.0,199.9,-7.5,274,2286,0.00,2.33,0.00,0.000,4,0.000,0.064,2376,517,3403,0,0,0,0,0,0
$GC,2413,-0.76,-146.0,209.5,-6.5,280,2418,0.00,2.20,0.00,0.000,6,0.000,0.041,2367,1947,3402,0,0,0,0,0,0
$GC,2733,-0.76,-146.0,230.3,-6.0,296,2737,0.00,2.35,0.00,0.000,4,0.000,0.064,2367,518,3402,0,0,0,0,0,0
$GC,2990,-0.76,-146.0,249.8,-7.5,307,2997,0.12,2.20,0.00,0.000,6,0.158,0.040,2389,1935,3402,0,0,0,0,0,0
$GC,3310,-0.76,-146.0,266.5,-5.6,323,3314,0.00,2.35,0.00,0.000,4,0.000,0.062,2389,524,3402,0,0,0,0,0,0
$GC,3466,-0.76,-146.0,277.6,-7.4,330,3470,0.00,2.17,0.00,0.000,6,0.000,0.040,2381,1938,3402,0,0,0,0,0,0
$GC,3811,-0.76,-146.0,303.9,-7.2,346,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1938,3401,0,0,0,0,0,0
$GC,4133,-0.76,-146.0,324.3,-6.1,354,4137,0.00,2.35,0.00,0.000,4,0.000,0.061,2382,524,3400,0,0,0,0,0,0
$GC,4211,-0.76,-146.0,329.4,-6.4,355,4217,0.00,2.20,0.00,0.000,6,0.000,0.040,2373,1936,3400,0,0,0,0,0,0
$GC,4543,-0.76,-146.0,348.7,-5.6,364,4547,0.00,2.33,0.00,0.000,4,0.000,0.061,2373,519,3399,0,0,0,0,0,0
$GC,4628,-0.76,-146.0,354.2,-6.7,366,4632,0.00,2.20,0.00,0.000,6,0.000,0.041,2363,1940,3398,0,0,0,0,0,0
$GC,4956,-0.76,-146.0,376.9,-7.1,374,4960,0.00,2.33,0.00,0.000,4,0.000,0.062,2363,525,3396,0,0,0,0,0,0
$GC,5041,-0.76,-146.0,384.1,-8.1,376,5045,0.12,2.20,0.00,0.000,6,0.155,0.042,2386,1941,3395,0,0,0,0,0,0
$GC,5367,-0.76,-146.0,404.3,-5.7,384,5371,0.00,2.33,0.00,0.000,4,0.000,0.063,2386,516,3395,0,0,0,0,0,0
$GC,5480,-0.76,-146.0,409.9,-4.4,386,5485,0.00,2.22,0.00,0.000,6,0.000,0.042,2378,1946,3394,0,0,0,0,0,0
$GC,5823,-0.76,-146.0,422.6,-3.7,395,5827,0.00,2.33,0.00,0.000,4,0.000,0.063,2378,526,3392,0,0,0,0,0,0
$GC,5856,-0.76,-146.0,424.0,-3.9,395,5862,0.00,2.22,0.00,0.000,6,0.000,0.044,2369,1936,3392,0,0,0,0,0,0
$GC,6188,-0.76,-146.0,437.7,-4.4,404,6192,0.00,2.33,0.00,0.000,4,0.000,0.064,2369,526,3390,0,0,0,0,0,0
$GC,6373,-0.76,-146.0,448.6,-6.6,408,6378,0.12,2.22,0.00,0.000,6,0.190,0.044,2390,1947,3389,0,0,0,0,0,0
$STATE,6401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6401,begin apogee
$GC,6409,-0.17,0.0,450.2,6.3,409,6536,0.57,0.00,124.03,0.751,6,0.111,0.000,2579,1985,2800,0,0,0,0,0,0
$STATE,6537,end apogee,CONTROL_FINISHED_OK
$STATE,6537,begin climb
$GC,6540,0.76,146.0,451.7,0.0,412,6673,0.85,0.00,129.40,0.728,6,0.070,0.000,2880,1984,2203,0,0,0,0,0,0
$GC,6989,0.78,154.7,410.7,9.2,423,7004,0.00,2.35,7.85,0.601,4,0.000,0.064,2880,3400,2168,0,0,0,0,0,0
$GC,7201,0.78,154.7,390.4,9.6,427,7205,0.00,2.28,0.00,0.000,6,0.000,0.048,2890,1983,2166,0,0,0,0,0,0
$GC,7533,0.78,154.7,357.8,10.1,435,7537,0.00,2.33,0.00,0.000,4,0.000,0.063,2890,3402,2165,0,0,0,0,0,0
$GC,7751,0.78,154.7,332.5,11.2,439,7757,0.00,2.28,0.00,0.000,6,0.000,0.049,2899,1984,2165,0,0,0,0,0,0
$GC,8083,0.78,154.7,298.7,10.1,448,8087,0.00,2.30,0.00,0.000,4,0.000,0.059,2899,3408,2163,0,0,0,0,0,0
$GC,8215,0.78,154.7,283.9,11.8,454,8219,0.00,2.25,0.00,0.000,6,0.000,0.042,2908,1979,2162,0,0,0,0,0,0
$GC,8542,0.79,164.6,250.7,9.1,470,8556,0.00,2.30,9.43,0.578,4,0.000,0.054,2908,3409,2128,0,0,0,0,0,0
$GC,8613,0.79,164.6,243.7,9.6,473,8617,0.00,2.22,0.00,0.000,6,0.000,0.042,2918,1983,2127,0,0,0,0,0,0
$GC,8940,0.79,164.6,214.3,9.7,489,8944,0.00,2.25,0.00,0.000,4,0.000,0.058,2927,576,2125,0,0,0,0,0,0
$GC,8962,0.80,172.0,212.2,9.2,490,8979,0.12,2.17,8.02,0.535,6,0.133,0.039,2891,1995,2097,0,0,0,0,0,0
$GC,9297,0.84,206.0,183.8,8.1,515,9333,0.00,2.38,30.98,0.585,4,0.000,0.058,2897,571,1959,0,0,0,0,0,0
$GC,9407,0.93,278.0,175.6,6.4,524,9483,0.08,2.25,64.20,0.575,6,0.043,0.038,2966,1987,1665,0,0,0,0,0,0
$GC,9802,0.93,278.0,136.0,12.6,561,9806,0.00,2.28,0.00,0.000,4,0.000,0.056,2975,580,1663,0,0,0,0,0,0
$GC,9853,0.93,278.0,129.2,13.8,565,9858,0.15,2.20,0.00,0.000,6,0.124,0.040,2932,1993,1663,0,0,0,0,0,0
$GC,10181,0.94,285.4,95.7,9.2,595,10193,0.00,2.33,7.12,0.438,4,0.000,0.068,2937,583,1637,0,0,0,0,0,0
$GC,10271,0.94,285.4,87.5,10.1,603,10276,0.00,2.20,0.00,0.000,6,0.000,0.044,2937,1981,1637,0,0,0,0,0,0
$GC,10599,1.01,348.6,60.6,6.8,656,10664,0.00,2.33,53.95,0.482,4,0.000,0.052,2937,3408,1378,0,0,0,0,0,0
$GC,10695,1.02,351.7,52.6,9.4,672,10707,0.00,2.30,4.47,0.344,6,0.000,0.043,2943,1983,1363,0,0,0,0,0,0
$GC,11033,1.04,366.6,20.4,8.9,734,11054,0.00,2.30,13.50,0.426,4,0.000,0.053,2942,3398,1303,0,0,0,0,0,0
$GC,11134,1.06,387.4,11.0,8.6,752,11161,0.00,2.25,17.83,0.424,6,0.000,0.044,2948,1991,1219,0,0,0,0,0,0
$STATE,11224,end climb,SURFACE_DEPTH_REACHED
$STATE,11224,begin surface coast
$FINISH,0.6,1.023322
$STATE,11259,end surface coast,CONTROL_FINISHED_OK
$STATE,11259,begin surface
$SM_CCo,11339,0.00,0.000,0,0,1215,388.55
$SM_GC,1.50,7.57,0.00,0.00,0.034,0.000,0.000,43,1928,1215,-7.98,-0.11,388.55
$IRIDIUM_FIX,2101.76,-15803.33,121002,232347
$TT8_MAMPS,0.028379
$HUMID,69.13
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.60
$XPDR_PINGS,3
$24V_AH,23.8,64.995
$10V_AH,9.9,72.065
$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,19.550,109.375,470.775,0.000,0.000,52.869,76.564,315.957,19.500,0.000,20.972,1428.845,6641.368,496.355,2652.220,784.952,33.341,1476.457,0.000,2593.078,0.000,119.980,0.000
$DEVICE_MAMPS,220.896,161.070,750.893,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,525.099,434.972,1488.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,44535,774
$CAP_FILE_SIZE,130025,0
$CFSIZE,260165632,217415680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190713,022052,2107.607,-15754.829,38,0.9,38,9.8