version: 66.06
glider: 523
mission: 4
dive: 755
start: 7 20 113 5 4 22
data:
$ID,523
$MISSION,4
$DIVE,755
$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,-51281.48
$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,2642
$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,1925
$C_ROLL_CLIMB,1996
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,12
$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
$GPS1,045558,2107.330,-15754.902,39,0.7,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.3
$GPS2,050329,2107.243,-15754.957,18,0.8,18,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,-0.054
$KALMAN_X,-48688.6,93.6,-569.3,46620.3,-424.0
$KALMAN_Y,5564.5,134.6,-194.3,-8802.7,261.5
$MHEAD_RNG_PITCHd_Wd,92.3,20970,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,112,0.00,0.00,-89.80,0.000,6,0.000,0.000,29,1888,3396,0,0,0,0,0,0
$GC,116,-0.76,-146.0,3.9,-5.3,15,131,9.77,2.17,0.00,0.000,4,0.222,0.060,2387,552,3398,0,0,0,0,0,0
$GC,180,-0.76,-146.0,18.4,-14.8,26,188,0.00,2.20,0.00,0.000,6,0.000,0.041,2380,1933,3399,0,0,0,0,0,0
$GC,353,-0.76,-146.0,36.1,-11.4,57,358,0.00,2.28,0.00,0.000,4,0.000,0.064,2379,544,3399,0,0,0,0,0,0
$GC,551,-0.76,-146.0,57.3,-9.8,93,557,0.00,2.15,0.00,0.000,6,0.000,0.041,2371,1924,3399,0,0,0,0,0,0
$GC,886,-0.76,-146.0,89.6,-9.4,145,893,0.00,2.28,0.00,0.000,4,0.000,0.064,2371,545,3400,0,0,0,0,0,0
$GC,967,-0.76,-146.0,97.6,-9.5,152,972,0.12,2.17,0.00,0.000,6,0.157,0.042,2394,1929,3401,0,0,0,0,0,0
$GC,1294,-0.76,-146.0,121.9,-6.5,182,1298,0.00,2.28,0.00,0.000,4,0.000,0.065,2385,3334,3401,0,0,0,0,0,0
$GC,1326,-0.76,-146.0,124.1,-6.9,184,1330,0.00,2.17,0.00,0.000,6,0.000,0.048,2385,1962,3401,0,0,0,0,0,0
$GC,1653,-0.76,-146.0,147.4,-7.8,214,1657,0.00,2.20,0.00,0.000,4,0.000,0.059,2376,3334,3402,0,0,0,0,0,0
$GC,1834,-0.76,-146.0,160.9,-7.0,230,1838,0.00,2.22,0.00,0.000,6,0.000,0.048,2376,1924,3402,0,0,0,0,0,0
$GC,2161,-0.76,-146.0,181.6,-7.1,260,2165,0.00,2.30,0.00,0.000,4,0.000,0.067,2376,514,3402,0,0,0,0,0,0
$GC,2400,-0.76,-146.0,204.2,-9.8,280,2404,0.00,2.20,0.00,0.000,6,0.000,0.041,2367,1928,3402,0,0,0,0,0,0
$GC,2724,-0.76,-146.0,230.4,-7.1,296,2728,0.00,2.30,0.00,0.000,4,0.000,0.062,2367,514,3402,0,0,0,0,0,0
$GC,2926,-0.76,-146.0,242.8,-5.7,305,2930,0.15,2.20,0.00,0.000,6,0.148,0.041,2398,1931,3402,0,0,0,0,0,0
$GC,3255,-0.76,-146.0,256.1,-4.6,321,3259,0.00,2.35,0.00,0.000,4,0.000,0.062,2398,509,3402,0,0,0,0,0,0
$GC,3413,-0.76,-146.0,265.0,-6.2,328,3417,0.00,2.20,0.00,0.000,6,0.000,0.040,2390,1936,3401,0,0,0,0,0,0
$GC,3738,-0.76,-146.0,285.1,-6.2,344,3743,0.00,2.35,0.00,0.000,4,0.000,0.062,2391,509,3401,0,0,0,0,0,0
$GC,3846,-0.76,-146.0,292.3,-6.1,349,3850,0.00,2.22,0.00,0.000,6,0.000,0.041,2381,1936,3400,0,0,0,0,0,0
$GC,4177,-0.76,-146.0,308.1,-4.5,361,4181,0.00,2.33,0.00,0.000,4,0.000,0.061,2381,513,3399,0,0,0,0,0,0
$GC,4325,-0.76,-146.0,315.7,-6.0,364,4329,0.00,2.20,0.00,0.000,6,0.000,0.041,2372,1934,3398,0,0,0,0,0,0
$GC,4639,-0.76,-146.0,334.0,-6.2,372,4643,0.00,2.35,0.00,0.000,4,0.000,0.061,2372,512,3397,0,0,0,0,0,0
$GC,4683,-0.76,-146.0,337.2,-6.5,373,4688,0.12,2.20,0.00,0.000,6,0.153,0.042,2395,1926,3397,0,0,0,0,0,0
$GC,5005,-0.76,-146.0,357.2,-6.2,381,5009,0.00,2.35,0.00,0.000,4,0.000,0.062,2396,507,3395,0,0,0,0,0,0
$GC,5212,-0.76,-146.0,367.9,-5.1,385,5216,0.00,2.25,0.00,0.000,6,0.000,0.042,2388,1936,3395,0,0,0,0,0,0
$GC,5543,-0.76,-146.0,380.0,-4.2,393,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1936,3393,0,0,0,0,0,0
$GC,5868,-0.76,-146.0,399.9,-6.7,401,5873,0.00,2.35,0.00,0.000,4,0.000,0.063,2388,506,3391,0,0,0,0,0,0
$GC,5963,-0.76,-146.0,407.6,-8.0,403,5967,0.00,2.22,0.00,0.000,6,0.000,0.043,2378,1928,3391,0,0,0,0,0,0
$GC,6292,-0.76,-146.0,432.6,-7.4,411,6295,0.00,2.33,0.00,0.000,4,0.000,0.064,2378,509,3389,0,0,0,0,0,0
$GC,6353,-0.76,-146.0,437.4,-6.9,412,6357,0.00,2.25,0.00,0.000,6,0.000,0.044,2369,1936,3389,0,0,0,0,0,0
$STATE,6577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6577,begin apogee
$GC,6585,-0.17,0.0,451.3,6.0,418,6712,0.68,0.00,124.22,0.753,6,0.117,0.000,2583,2001,2799,0,0,0,0,0,0
$STATE,6713,end apogee,CONTROL_FINISHED_OK
$STATE,6713,begin climb
$GC,6716,0.76,146.0,451.9,0.0,421,6854,0.85,2.33,128.75,0.728,4,0.069,0.056,2883,3409,2201,0,0,0,0,0,0
$GC,6888,0.76,146.0,434.5,12.9,425,6892,0.00,2.33,0.00,0.000,6,0.000,0.050,2893,1993,2199,0,0,0,0,0,0
$GC,7206,0.76,146.0,398.6,11.2,433,7210,0.00,2.30,0.00,0.000,4,0.000,0.060,2893,3407,2196,0,0,0,0,0,0
$GC,7273,0.76,146.0,390.6,11.8,434,7277,0.00,2.28,0.00,0.000,6,0.000,0.051,2900,1991,2195,0,0,0,0,0,0
$GC,7615,0.76,146.0,354.3,10.3,443,7619,0.00,2.33,0.00,0.000,4,0.000,0.062,2900,3412,2193,0,0,0,0,0,0
$GC,7705,0.76,146.0,343.8,11.6,445,7709,0.00,2.25,0.00,0.000,6,0.000,0.051,2909,1997,2192,0,0,0,0,0,0
$GC,8029,0.76,146.0,311.7,9.6,453,8033,0.00,2.30,0.00,0.000,4,0.000,0.063,2909,3406,2191,0,0,0,0,0,0
$GC,8079,0.76,146.0,306.6,10.5,454,8084,0.12,2.28,0.00,0.000,6,0.146,0.052,2885,1987,2190,0,0,0,0,0,0
$GC,8402,0.82,187.7,280.5,7.7,467,8443,0.00,2.33,35.38,0.654,4,0.000,0.061,2885,3403,2033,0,0,0,0,0,0
$GC,8514,0.82,194.0,271.2,9.3,472,8528,0.00,2.22,6.93,0.538,6,0.000,0.041,2892,1987,2009,0,0,0,0,0,0
$GC,8848,0.85,212.4,242.4,8.7,488,8872,0.00,2.33,18.05,0.607,4,0.000,0.053,2892,3402,1931,0,0,0,0,0,0
$GC,8923,0.85,212.4,234.5,10.5,491,8927,0.00,2.20,0.00,0.000,6,0.000,0.041,2902,1996,1931,0,0,0,0,0,0
$GC,9239,0.85,212.4,199.4,11.2,506,9243,0.00,2.28,0.00,0.000,4,0.000,0.052,2902,3406,1931,0,0,0,0,0,0
$GC,9304,0.85,212.4,192.4,10.6,511,9311,0.00,2.25,0.00,0.000,6,0.000,0.042,2910,1994,1929,0,0,0,0,0,0
$GC,9632,0.93,284.2,168.5,6.4,542,9700,0.00,2.30,62.75,0.579,4,0.000,0.052,2910,3412,1642,0,0,0,0,0,0
$GC,9725,0.94,288.4,160.7,9.4,550,9738,0.00,2.28,5.57,0.439,6,0.000,0.045,2919,1996,1624,0,0,0,0,0,0
$GC,10058,0.95,300.3,130.6,9.0,581,10075,0.00,2.28,12.02,0.506,4,0.000,0.051,2919,3408,1574,0,0,0,0,0,0
$GC,10124,0.95,300.3,123.6,10.4,586,10131,0.00,2.28,0.00,0.000,6,0.000,0.046,2925,2000,1573,0,0,0,0,0,0
$GC,10453,0.97,311.3,95.2,9.1,617,10468,0.00,2.25,10.88,0.472,4,0.000,0.051,2925,3407,1529,0,0,0,0,0,0
$GC,10510,0.97,311.3,89.6,9.7,622,10514,0.00,2.25,0.00,0.000,6,0.000,0.041,2932,1981,1529,0,0,0,0,0,0
$GC,10839,0.97,311.4,56.6,9.6,674,10847,0.00,2.30,0.00,0.000,4,0.000,0.051,2932,3405,1529,0,0,0,0,0,0
$GC,10883,0.97,311.4,52.4,10.4,681,10888,0.00,2.22,0.00,0.000,6,0.000,0.041,2933,1991,1529,0,0,0,0,0,0
$GC,11212,0.97,311.4,20.7,9.7,742,11219,0.00,2.33,0.00,0.000,4,0.000,0.054,2933,3411,1529,0,0,0,0,0,0
$GC,11228,0.97,315.4,19.2,9.4,744,11243,0.00,2.25,5.32,0.355,6,0.000,0.043,2937,2000,1512,0,0,0,0,0,0
$GC,11405,0.98,324.5,3.9,9.2,776,11420,0.00,2.25,8.93,0.391,4,0.000,0.058,2948,580,1475,0,0,0,0,0,0
$STATE,11426,end climb,SURFACE_DEPTH_REACHED
$STATE,11426,begin surface coast
$FINISH,0.8,1.012402
$STATE,11458,end surface coast,CONTROL_FINISHED_OK
$STATE,11458,begin surface
$SM_CCo,11539,0.00,0.000,0,0,1472,325.75
$SM_GC,1.63,7.55,0.00,0.00,0.031,0.000,0.000,51,1942,1472,-8.01,0.51,325.75
$IRIDIUM_FIX,2059.45,-15555.92,141002,010133
$TT8_MAMPS,0.027612
$HUMID,68.86
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,24.2,65.896
$10V_AH,10.0,73.097
$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,19.375,122.300,418.800,0.000,0.000,29.578,44.157,208.585,19.250,0.000,18.546,1452.671,6760.992,454.276,2683.460,630.827,33.350,1440.308,0.000,2629.014,0.000,117.261,0.000
$DEVICE_MAMPS,222.430,109.681,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,535.051,453.926,1535.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,44261,785
$CAP_FILE_SIZE,128774,0
$CFSIZE,260165632,216838144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200713,081752,2106.952,-15754.641,35,0.9,35,9.8