version: 66.06
glider: 523
mission: 4
dive: 758
start: 7 20 113 15 15 22
data:
$ID,523
$MISSION,4
$DIVE,758
$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,-51336.359
$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,14
$R_STBD_OVSHOOT,29
$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
$GPS1,150335,2106.713,-15755.931,40,0.8,40,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.5
$GPS2,151429,2106.647,-15756.116,17,1.1,17,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,-0.023
$KALMAN_X,-56120.1,-1090.5,-728.0,53400.8,-657.8
$KALMAN_Y,5159.4,-322.4,-119.9,-9119.3,101.0
$MHEAD_RNG_PITCHd_Wd,85.4,22857,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-80.80,0.000,6,0.000,0.000,51,1924,3397,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.2,-4.4,13,118,9.65,2.30,0.00,0.000,4,0.224,0.061,2387,509,3398,0,0,0,0,0,0
$GC,219,-0.76,-146.0,21.9,-13.4,34,227,0.00,2.25,0.00,0.000,6,0.000,0.042,2379,1918,3399,0,0,0,0,0,0
$GC,391,-0.76,-146.0,41.1,-10.3,65,396,0.00,2.30,0.00,0.000,4,0.000,0.063,2379,510,3400,0,0,0,0,0,0
$GC,438,-0.76,-146.0,46.4,-11.1,73,444,0.00,2.22,0.00,0.000,6,0.000,0.042,2370,1926,3400,0,0,0,0,0,0
$GC,779,-0.76,-146.0,81.9,-8.3,133,783,0.00,2.33,0.00,0.000,4,0.000,0.066,2370,507,3400,0,0,0,0,0,0
$GC,944,-0.76,-146.0,96.5,-10.2,147,948,0.12,2.20,0.00,0.000,6,0.157,0.041,2393,1927,3400,0,0,0,0,0,0
$GC,1276,-0.76,-146.0,122.5,-6.8,178,1280,0.00,2.33,0.00,0.000,4,0.000,0.065,2393,504,3401,0,0,0,0,0,0
$GC,1372,-0.76,-146.0,129.9,-7.6,186,1381,0.00,2.25,0.00,0.000,6,0.000,0.043,2385,1918,3401,0,0,0,0,0,0
$GC,1700,-0.76,-146.0,146.0,-4.8,217,1704,0.00,2.30,0.00,0.000,4,0.000,0.065,2385,511,3401,0,0,0,0,0,0
$GC,1843,-0.76,-146.0,155.8,-7.9,229,1847,0.00,2.22,0.00,0.000,6,0.000,0.043,2376,1940,3401,0,0,0,0,0,0
$GC,2170,-0.76,-146.0,185.0,-7.9,259,2177,0.00,2.35,0.00,0.000,4,0.000,0.064,2376,511,3401,0,0,0,0,0,0
$GC,2391,-0.76,-146.0,200.8,-5.4,279,2395,0.00,2.22,0.00,0.000,6,0.000,0.044,2366,1925,3401,0,0,0,0,0,0
$GC,2721,-0.76,-146.0,218.0,-6.0,295,2725,0.00,2.35,0.00,0.000,4,0.000,0.064,2366,511,3402,0,0,0,0,0,0
$GC,2765,-0.76,-146.0,221.3,-7.1,297,2770,0.15,2.20,0.00,0.000,6,0.150,0.044,2397,1930,3401,0,0,0,0,0,0
$GC,3089,-0.76,-146.0,239.6,-6.7,313,3094,0.00,2.33,0.00,0.000,4,0.000,0.064,2398,508,3401,0,0,0,0,0,0
$GC,3150,-0.76,-146.0,244.5,-7.8,315,3156,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,1929,3401,0,0,0,0,0,0
$GC,3470,-0.76,-146.0,265.6,-5.5,331,3474,0.00,2.35,0.00,0.000,4,0.000,0.064,2390,508,3401,0,0,0,0,0,0
$GC,3617,-0.76,-146.0,273.7,-5.4,337,3623,0.00,2.22,0.00,0.000,6,0.000,0.041,2380,1930,3401,0,0,0,0,0,0
$GC,3936,-0.76,-146.0,291.5,-6.5,353,3940,0.00,2.35,0.00,0.000,4,0.000,0.064,2380,505,3400,0,0,0,0,0,0
$GC,3997,-0.76,-146.0,296.3,-7.3,355,4002,0.00,2.22,0.00,0.000,6,0.000,0.041,2371,1926,3400,0,0,0,0,0,0
$GC,4310,-0.76,-146.0,319.3,-8.2,365,4314,0.00,2.30,0.00,0.000,4,0.000,0.063,2361,3340,3399,0,0,0,0,0,0
$GC,4391,-0.76,-146.0,325.1,-7.5,366,4397,0.12,2.28,0.00,0.000,6,0.141,0.051,2394,1919,3399,0,0,0,0,0,0
$GC,4723,-0.76,-146.0,341.3,-4.6,375,4727,0.00,2.28,0.00,0.000,4,0.000,0.061,2395,510,3397,0,0,0,0,0,0
$GC,4919,-0.76,-146.0,354.3,-7.1,379,4923,0.00,2.20,0.00,0.000,6,0.000,0.042,2387,1927,3395,0,0,0,0,0,0
$GC,5264,-0.76,-146.0,370.3,-3.2,388,5268,0.00,2.35,0.00,0.000,4,0.000,0.062,2387,509,3395,0,0,0,0,0,0
$GC,5425,-0.76,-146.0,374.9,-3.5,391,5430,0.00,2.22,0.00,0.000,6,0.000,0.043,2378,1924,3394,0,0,0,0,0,0
$GC,5768,-0.76,-146.0,389.1,-5.2,400,5772,0.00,2.28,0.00,0.000,4,0.000,0.056,2367,3338,3392,0,0,0,0,0,0
$GC,5829,-0.76,-146.0,393.2,-6.9,401,5833,0.00,2.25,0.00,0.000,6,0.000,0.049,2367,1921,3392,0,0,0,0,0,0
$GC,6178,-0.76,-146.0,415.4,-6.7,410,6182,0.00,2.28,0.00,0.000,4,0.000,0.061,2367,508,3390,0,0,0,0,0,0
$GC,6368,-0.76,-146.0,430.9,-8.8,414,6372,0.15,2.20,0.00,0.000,6,0.152,0.044,2397,1930,3389,0,0,0,0,0,0
$STATE,6674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6674,begin apogee
$GC,6684,-0.17,0.0,452.6,7.1,422,6811,0.57,0.00,124.07,0.751,6,0.110,0.000,2585,2005,2800,0,0,0,0,0,0
$STATE,6812,end apogee,CONTROL_FINISHED_OK
$STATE,6812,begin climb
$GC,6815,0.76,146.0,454.5,0.0,425,6954,0.85,2.33,128.75,0.728,4,0.067,0.062,2888,3394,2201,0,0,0,0,0,0
$GC,7049,0.76,146.0,430.2,12.8,430,7053,0.00,2.25,0.00,0.000,6,0.000,0.048,2896,1996,2196,0,0,0,0,0,0
$GC,7391,0.76,146.0,395.3,9.6,439,7395,0.00,2.28,0.00,0.000,4,0.000,0.058,2896,3396,2194,0,0,0,0,0,0
$GC,7525,0.76,146.0,378.8,13.3,442,7529,0.00,2.22,0.00,0.000,6,0.000,0.048,2906,1991,2192,0,0,0,0,0,0
$GC,7850,0.76,146.0,333.9,14.2,450,7854,0.00,2.28,0.00,0.000,4,0.000,0.061,2906,3398,2191,0,0,0,0,0,0
$GC,7912,0.76,146.0,325.6,13.3,451,7916,0.00,2.25,0.00,0.000,6,0.000,0.050,2915,1996,2192,0,0,0,0,0,0
$GC,8235,0.76,146.0,290.7,10.9,461,8239,0.00,2.28,0.00,0.000,4,0.000,0.063,2916,3397,2191,0,0,0,0,0,0
$GC,8335,0.76,146.0,280.0,10.1,465,8341,0.12,2.22,0.00,0.000,6,0.146,0.051,2890,1996,2190,0,0,0,0,0,0
$GC,8652,0.85,217.7,259.4,6.4,481,8718,0.00,2.33,61.20,0.645,4,0.000,0.062,2890,3395,1912,0,0,0,0,0,0
$GC,8809,0.85,217.7,244.3,11.8,488,8813,0.00,2.28,0.00,0.000,6,0.000,0.052,2894,1989,1910,0,0,0,0,0,0
$GC,9124,0.85,217.7,209.9,9.7,503,9129,0.00,2.33,0.00,0.000,4,0.000,0.064,2895,3396,1909,0,0,0,0,0,0
$GC,9219,0.88,240.2,201.4,8.6,507,9245,0.00,2.28,21.02,0.584,6,0.000,0.052,2903,1991,1820,0,0,0,0,0,0
$GC,9567,0.91,260.3,175.7,8.7,538,9591,0.00,2.33,18.80,0.559,4,0.000,0.064,2903,3396,1737,0,0,0,0,0,0
$GC,9651,0.91,260.3,167.1,11.2,545,9658,0.00,2.30,0.00,0.000,6,0.000,0.052,2907,2001,1736,0,0,0,0,0,0
$GC,9978,0.93,282.8,135.7,8.6,576,10005,0.10,2.35,21.15,0.532,4,0.088,0.062,2979,3396,1645,0,0,0,0,0,0
$GC,10060,0.93,282.8,125.8,13.1,583,10068,0.12,2.30,0.00,0.000,6,0.110,0.049,2946,1985,1643,0,0,0,0,0,0
$GC,10387,0.93,282.8,91.0,12.1,614,10391,0.00,2.25,0.00,0.000,4,0.000,0.058,2955,583,1643,0,0,0,0,0,0
$GC,10418,0.93,282.8,87.3,12.2,616,10422,0.00,2.20,0.00,0.000,6,0.000,0.035,2954,2005,1643,0,0,0,0,0,0
$GC,10752,0.93,282.8,50.7,10.4,671,10757,0.00,2.22,0.00,0.000,4,0.000,0.054,2954,3398,1643,0,0,0,0,0,0
$GC,10787,0.93,282.8,46.8,11.3,677,10793,0.00,2.25,0.00,0.000,6,0.000,0.048,2962,1988,1643,0,0,0,0,0,0
$GC,11114,0.93,282.8,15.0,10.2,738,11121,0.00,2.33,0.00,0.000,4,0.000,0.058,2962,3398,1643,0,0,0,0,0,0
$GC,11167,0.93,282.8,9.5,11.2,747,11174,0.00,2.28,0.00,0.000,6,0.000,0.051,2971,2000,1643,0,0,0,0,0,0
$STATE,11231,end climb,SURFACE_DEPTH_REACHED
$STATE,11231,begin surface coast
$FINISH,1.0,1.023330
$STATE,11265,end surface coast,CONTROL_FINISHED_OK
$STATE,11266,begin surface
$SM_CCo,11285,9.73,0.395,0,0,1575,300.24
$SM_GC,1.33,0.00,0.00,9.73,0.000,0.000,0.395,42,1916,1575,-8.12,-0.25,300.24
$IRIDIUM_FIX,2052.52,-15742.34,141002,151553
$TT8_MAMPS,0.028379
$HUMID,71.89
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,24.3,66.199
$10V_AH,9.9,73.441
$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,19.525,118.450,375.000,9.725,0.000,56.521,78.373,281.472,19.250,0.000,18.393,1430.408,6657.467,440.417,2640.470,775.713,33.350,1390.661,0.000,2591.906,0.000,117.293,0.000
$DEVICE_MAMPS,223.964,109.681,750.893,395.005,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,521.519,439.547,1479.030,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,41242,765
$CAP_FILE_SIZE,129118,0
$CFSIZE,260165632,216641536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200713,182452,2106.731,-15755.400,36,0.8,36,9.8