version: 66.06
glider: 523
mission: 4
dive: 761
start: 7 21 113 1 14 22
data:
$ID,523
$MISSION,4
$DIVE,761
$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,-51398.809
$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,17
$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
$GPS1,010604,2106.701,-15755.129,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.2
$GPS2,011329,2106.666,-15755.256,17,0.8,17,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.256,0.012
$KALMAN_X,-62816.4,-135.3,-325.7,60230.2,-1259.6
$KALMAN_Y,5354.1,335.9,178.9,-10238.8,-197.7
$MHEAD_RNG_PITCHd_Wd,77.5,21376,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-86.03,0.000,6,0.000,0.000,43,1926,3395,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.4,-4.9,14,125,9.65,2.30,0.00,0.000,4,0.222,0.061,2384,505,3397,0,0,0,0,0,0
$GC,174,-0.76,-146.0,16.0,-12.7,25,182,0.00,2.25,0.00,0.000,6,0.000,0.043,2376,1913,3398,0,0,0,0,0,0
$GC,343,-0.76,-146.0,35.1,-11.4,56,350,0.00,2.33,0.00,0.000,4,0.000,0.064,2376,512,3399,0,0,0,0,0,0
$GC,375,-0.76,-146.0,39.1,-11.4,61,381,0.00,2.25,0.00,0.000,6,0.000,0.043,2367,1935,3399,0,0,0,0,0,0
$GC,714,-0.76,-146.0,81.1,-9.6,122,718,0.00,2.33,0.00,0.000,4,0.000,0.064,2367,508,3399,0,0,0,0,0,0
$GC,881,-0.76,-146.0,98.6,-9.3,137,889,0.10,2.25,0.00,0.000,6,0.139,0.043,2388,1930,3400,0,0,0,0,0,0
$GC,1209,-0.76,-146.0,126.6,-7.3,168,1213,0.00,2.30,0.00,0.000,4,0.000,0.064,2388,512,3400,0,0,0,0,0,0
$GC,1384,-0.76,-146.0,139.7,-6.3,183,1395,0.00,2.22,0.00,0.000,6,0.000,0.042,2381,1923,3401,0,0,0,0,0,0
$GC,1713,-0.76,-146.0,161.8,-6.9,214,1717,0.00,2.33,0.00,0.000,4,0.000,0.064,2380,506,3401,0,0,0,0,0,0
$GC,1889,-0.76,-146.0,175.8,-7.1,229,1896,0.00,2.25,0.00,0.000,6,0.000,0.042,2372,1925,3401,0,0,0,0,0,0
$GC,2217,-0.76,-146.0,200.5,-8.8,260,2221,0.00,2.33,0.00,0.000,4,0.000,0.064,2371,513,3401,0,0,0,0,0,0
$GC,2476,-0.76,-146.0,224.1,-9.5,271,2482,0.12,2.20,0.00,0.000,6,0.154,0.041,2394,1926,3401,0,0,0,0,0,0
$GC,2794,-0.76,-146.0,247.0,-6.7,287,2798,0.00,2.33,0.00,0.000,4,0.000,0.061,2395,506,3401,0,0,0,0,0,0
$GC,2884,-0.76,-146.0,253.1,-6.3,291,2888,0.00,2.22,0.00,0.000,6,0.000,0.041,2387,1937,3401,0,0,0,0,0,0
$GC,3207,-0.76,-146.0,269.9,-5.8,307,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1938,3401,0,0,0,0,0,0
$GC,3515,-0.76,-146.0,286.0,-4.6,322,3519,0.00,2.33,0.00,0.000,4,0.000,0.061,2387,511,3401,0,0,0,0,0,0
$GC,3669,-0.76,-146.0,292.1,-3.9,329,3673,0.00,2.22,0.00,0.000,6,0.000,0.041,2378,1938,3401,0,0,0,0,0,0
$GC,4015,-0.76,-146.0,308.5,-5.0,342,4019,0.00,2.33,0.00,0.000,4,0.000,0.061,2378,512,3400,0,0,0,0,0,0
$GC,4257,-0.76,-146.0,324.5,-6.7,347,4261,0.00,2.22,0.00,0.000,6,0.000,0.041,2368,1935,3398,0,0,0,0,0,0
$GC,4602,-0.76,-146.0,346.8,-6.4,356,4606,0.00,2.30,0.00,0.000,4,0.000,0.061,2369,511,3397,0,0,0,0,0,0
$GC,4709,-0.76,-146.0,354.2,-6.9,358,4713,0.12,2.20,0.00,0.000,6,0.156,0.041,2391,1931,3396,0,0,0,0,0,0
$GC,5053,-0.76,-146.0,373.7,-5.8,367,5057,0.00,2.33,0.00,0.000,4,0.000,0.063,2391,509,3395,0,0,0,0,0,0
$GC,5110,-0.76,-146.0,376.9,-5.4,368,5114,0.00,2.22,0.00,0.000,6,0.000,0.041,2383,1924,3395,0,0,0,0,0,0
$GC,5424,-0.76,-146.0,390.7,-4.5,376,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1924,3394,0,0,0,0,0,0
$GC,5748,-0.76,-146.0,409.9,-6.3,384,5755,0.00,2.33,0.00,0.000,4,0.000,0.064,2383,509,3392,0,0,0,0,0,0
$GC,5784,-0.76,-146.0,412.2,-6.6,384,5788,0.00,2.25,0.00,0.000,6,0.000,0.043,2374,1934,3392,0,0,0,0,0,0
$GC,6117,-0.76,-146.0,434.7,-6.9,392,6122,0.00,2.33,0.00,0.000,4,0.000,0.063,2374,507,3389,0,0,0,0,0,0
$GC,6255,-0.76,-146.0,444.7,-6.7,395,6260,0.12,2.22,0.00,0.000,6,0.156,0.043,2397,1931,3389,0,0,0,0,0,0
$STATE,6339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6339,begin apogee
$GC,6346,-0.17,0.0,450.0,6.1,397,6473,0.57,0.00,123.82,0.746,6,0.110,0.000,2586,1999,2800,0,0,0,0,0,0
$STATE,6474,end apogee,CONTROL_FINISHED_OK
$STATE,6474,begin climb
$GC,6477,0.76,146.0,451.1,0.0,400,6613,0.85,2.38,129.12,0.723,4,0.064,0.064,2887,3402,2202,0,0,0,0,0,0
$GC,6649,0.76,146.0,434.6,12.0,404,6653,0.00,2.33,0.00,0.000,6,0.000,0.047,2896,1983,2199,0,0,0,0,0,0
$GC,6962,0.76,146.0,402.6,10.2,412,6966,0.00,2.33,0.00,0.000,4,0.000,0.060,2896,3410,2195,0,0,0,0,0,0
$GC,7080,0.76,146.0,388.5,12.6,414,7084,0.00,2.25,0.00,0.000,6,0.000,0.046,2906,1990,2194,0,0,0,0,0,0
$GC,7411,0.76,146.0,352.6,10.5,422,7415,0.00,2.30,0.00,0.000,4,0.000,0.061,2906,3402,2193,0,0,0,0,0,0
$GC,7589,0.76,146.0,332.0,11.5,426,7593,0.00,2.22,0.00,0.000,6,0.000,0.048,2916,1990,2192,0,0,0,0,0,0
$GC,7907,0.76,146.0,299.2,10.4,434,7911,0.00,2.33,0.00,0.000,4,0.000,0.061,2916,3408,2191,0,0,0,0,0,0
$GC,8042,0.76,146.0,282.7,13.2,440,8047,0.12,2.25,0.00,0.000,6,0.145,0.049,2890,1996,2191,0,0,0,0,0,0
$GC,8363,0.76,146.0,250.5,10.2,456,8367,0.00,2.30,0.00,0.000,4,0.000,0.061,2890,3403,2190,0,0,0,0,0,0
$GC,8453,0.76,146.0,240.4,11.0,460,8457,0.00,2.25,0.00,0.000,6,0.000,0.050,2897,1996,2189,0,0,0,0,0,0
$GC,8774,0.77,152.0,208.5,9.3,476,8778,0.00,2.30,0.00,0.000,4,0.000,0.062,2897,3402,2188,0,0,0,0,0,0
$GC,8863,0.77,152.0,199.5,9.8,480,8870,0.00,2.28,0.00,0.000,6,0.000,0.051,2906,1998,2189,0,0,0,0,0,0
$GC,9190,0.78,155.2,171.3,9.4,511,9199,0.00,0.00,6.80,0.493,6,0.000,0.000,2906,1998,2167,0,0,0,0,0,0
$GC,9519,0.80,175.8,140.7,8.7,542,9543,0.00,2.30,19.52,0.542,4,0.000,0.061,2906,3402,2082,0,0,0,0,0,0
$GC,9613,0.80,175.8,131.0,9.9,550,9621,0.00,2.28,0.00,0.000,6,0.000,0.047,2915,1985,2080,0,0,0,0,0,0
$GC,9942,0.90,252.7,105.2,6.2,581,10015,0.00,2.25,67.60,0.526,4,0.000,0.055,2923,587,1768,0,0,0,0,0,0
$GC,10040,0.95,296.2,98.1,7.6,589,10088,0.00,2.20,38.78,0.504,6,0.000,0.036,2924,2002,1591,0,0,0,0,0,0
$GC,10406,1.00,339.4,68.1,7.7,636,10449,0.12,2.25,37.25,0.480,4,0.078,0.052,2983,3403,1414,0,0,0,0,0,0
$GC,10513,1.00,339.4,57.4,10.7,654,10521,0.00,2.28,0.00,0.000,6,0.000,0.044,2992,1995,1413,0,0,0,0,0,0
$GC,10847,1.00,339.4,24.4,10.6,715,10855,0.00,2.30,0.00,0.000,4,0.000,0.058,2992,3398,1412,0,0,0,0,0,0
$GC,10963,1.00,339.4,10.7,12.8,736,10971,0.10,2.28,0.00,0.000,6,0.104,0.051,2965,2002,1412,0,0,0,0,0,0
$STATE,11037,end climb,SURFACE_DEPTH_REACHED
$STATE,11037,begin surface coast
$FINISH,1.0,1.023316
$STATE,11072,end surface coast,CONTROL_FINISHED_OK
$STATE,11072,begin surface
$SM_CCo,11151,0.00,0.000,0,0,1411,340.72
$SM_GC,1.49,7.40,0.00,0.00,0.021,0.000,0.000,36,1922,1411,-8.01,0.00,340.72
$IRIDIUM_FIX,2052.52,-15759.92,141002,181837
$TT8_MAMPS,0.028379
$HUMID,70.51
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,24.2,66.497
$10V_AH,10.0,73.784
$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,19.300,105.000,422.900,0.000,0.000,31.691,34.044,215.709,19.000,0.000,18.370,1387.060,6528.982,460.294,2602.734,607.818,33.352,1413.948,0.000,2552.021,0.000,117.278,0.000
$DEVICE_MAMPS,221.663,111.982,745.524,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,513.490,445.324,1490.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,41311,756
$CAP_FILE_SIZE,121426,0
$CFSIZE,260165632,216453120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210713,042107,2106.787,-15754.994,18,1.4,18,9.8