version: 66.06
glider: 523
mission: 4
dive: 762
start: 7 21 113 4 29 0
data:
$ID,523
$MISSION,4
$DIVE,762
$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,-51417.102
$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,18
$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
$GPS1,042107,2106.787,-15754.994,18,1.4,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.5
$GPS2,042807,2106.749,-15755.088,17,1.4,17,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.256,-0.002
$KALMAN_X,-64774.2,253.1,-832.6,62582.8,-294.9
$KALMAN_Y,5550.6,411.4,-68.4,-10110.2,-156.7
$MHEAD_RNG_PITCHd_Wd,80.6,21099,-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,-82.22,0.000,2,0.000,0.000,33,1921,3349,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.2,-4.7,13,126,9.68,2.35,-1.08,0.000,4,0.221,0.077,2384,514,3397,0,0,0,0,0,0
$GC,175,-0.76,-146.0,16.3,-12.6,25,183,0.00,2.22,0.00,0.000,6,0.000,0.042,2377,1912,3398,0,0,0,0,0,0
$GC,347,-0.76,-146.0,37.2,-11.7,56,354,0.00,2.33,0.00,0.000,4,0.000,0.064,2377,515,3398,0,0,0,0,0,0
$GC,371,-0.76,-146.0,40.4,-12.0,60,379,0.00,2.28,0.00,0.000,6,0.000,0.044,2367,1933,3398,0,0,0,0,0,0
$GC,707,-0.76,-146.0,80.1,-11.6,121,711,0.00,2.35,0.00,0.000,4,0.000,0.065,2367,513,3399,0,0,0,0,0,0
$GC,896,-0.76,-146.0,99.6,-8.7,137,903,0.10,2.22,0.00,0.000,6,0.135,0.043,2389,1916,3400,0,0,0,0,0,0
$GC,1224,-0.76,-146.0,125.2,-8.4,168,1228,0.00,2.33,0.00,0.000,4,0.000,0.066,2389,512,3401,0,0,0,0,0,0
$GC,1236,-0.76,-146.0,126.3,-7.9,168,1243,0.00,2.25,0.00,0.000,6,0.000,0.044,2382,1923,3401,0,0,0,0,0,0
$GC,1563,-0.76,-146.0,147.8,-6.5,199,1567,0.00,2.30,0.00,0.000,4,0.000,0.067,2372,3340,3401,0,0,0,0,0,0
$GC,1660,-0.76,-146.0,154.1,-6.2,207,1668,0.00,2.28,0.00,0.000,6,0.000,0.049,2371,1933,3402,0,0,0,0,0,0
$GC,1988,-0.76,-146.0,175.5,-6.2,238,1993,0.00,2.33,0.00,0.000,4,0.000,0.070,2372,504,3402,0,0,0,0,0,0
$GC,2237,-0.76,-146.0,196.0,-8.0,260,2245,0.08,2.25,0.00,0.000,6,0.138,0.041,2387,1931,3402,0,0,0,0,0,0
$GC,2565,-0.76,-146.0,214.7,-5.2,279,2570,0.00,2.33,0.00,0.000,4,0.000,0.061,2387,508,3402,0,0,0,0,0,0
$GC,2736,-0.76,-146.0,225.0,-6.3,286,2740,0.00,2.20,0.00,0.000,6,0.000,0.040,2379,1934,3402,0,0,0,0,0,0
$GC,3055,-0.76,-146.0,245.1,-5.5,301,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1935,3402,0,0,0,0,0,0
$GC,3362,-0.76,-146.0,263.8,-6.6,316,3366,0.00,2.30,0.00,0.000,4,0.000,0.061,2379,510,3402,0,0,0,0,0,0
$GC,3494,-0.76,-146.0,272.2,-6.6,322,3498,0.00,2.20,0.00,0.000,6,0.000,0.040,2370,1937,3402,0,0,0,0,0,0
$GC,3824,-0.76,-146.0,295.6,-7.4,338,3828,0.00,2.30,0.00,0.000,4,0.000,0.060,2370,510,3402,0,0,0,0,0,0
$GC,3919,-0.76,-146.0,303.1,-7.0,342,3924,0.12,2.22,0.00,0.000,6,0.154,0.040,2393,1936,3401,0,0,0,0,0,0
$GC,4232,-0.76,-146.0,319.6,-5.1,350,4237,0.00,2.30,0.00,0.000,4,0.000,0.060,2394,510,3400,0,0,0,0,0,0
$GC,4365,-0.76,-146.0,327.3,-5.3,353,4369,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1929,3400,0,0,0,0,0,0
$GC,4696,-0.76,-146.0,348.4,-6.4,361,4700,0.00,2.30,0.00,0.000,4,0.000,0.061,2387,511,3399,0,0,0,0,0,0
$GC,4838,-0.76,-146.0,357.7,-6.1,364,4842,0.00,2.22,0.00,0.000,6,0.000,0.041,2377,1933,3398,0,0,0,0,0,0
$GC,5157,-0.76,-146.0,375.0,-5.1,372,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1933,3396,0,0,0,0,0,0
$GC,5482,-0.76,-146.0,391.4,-5.2,380,5486,0.00,2.33,0.00,0.000,4,0.000,0.064,2377,509,3394,0,0,0,0,0,0
$GC,5684,-0.76,-146.0,402.9,-5.6,384,5688,0.00,2.22,0.00,0.000,6,0.000,0.043,2367,1924,3393,0,0,0,0,0,0
$GC,6021,-0.76,-146.0,424.3,-7.2,393,6025,0.00,2.30,0.00,0.000,4,0.000,0.067,2357,3337,3392,0,0,0,0,0,0
$GC,6147,-0.76,-146.0,433.5,-6.9,395,6152,0.15,2.28,0.00,0.000,6,0.140,0.051,2397,1921,3391,0,0,0,0,0,0
$STATE,6435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6436,begin apogee
$GC,6443,-0.17,0.0,452.8,6.8,402,6570,0.57,0.00,124.65,0.752,6,0.107,0.000,2586,2027,2799,0,0,0,0,0,0
$STATE,6571,end apogee,CONTROL_FINISHED_OK
$STATE,6571,begin climb
$GC,6575,0.76,146.0,455.3,0.0,405,6713,0.85,2.28,128.52,0.730,4,0.067,0.064,2890,3385,2202,0,0,0,0,0,0
$GC,6886,0.76,146.0,417.7,13.6,412,6891,0.00,2.25,0.00,0.000,6,0.000,0.048,2899,1992,2197,0,0,0,0,0,0
$GC,7199,0.76,146.0,380.6,11.3,420,7204,0.00,2.28,0.00,0.000,4,0.000,0.061,2899,3386,2195,0,0,0,0,0,0
$GC,7306,0.76,146.0,368.7,11.2,422,7310,0.00,2.22,0.00,0.000,6,0.000,0.051,2908,1994,2194,0,0,0,0,0,0
$GC,7649,0.76,146.0,334.5,9.8,431,7653,0.00,2.25,0.00,0.000,4,0.000,0.062,2908,3385,2192,0,0,0,0,0,0
$GC,7808,0.76,146.0,318.9,10.2,434,7812,0.00,2.22,0.00,0.000,6,0.000,0.050,2917,1997,2192,0,0,0,0,0,0
$GC,8127,0.76,146.0,288.6,10.6,445,8131,0.00,2.25,0.00,0.000,4,0.000,0.062,2917,3387,2191,0,0,0,0,0,0
$GC,8234,0.76,146.0,275.9,12.1,450,8239,0.12,2.20,0.00,0.000,6,0.143,0.050,2892,1998,2191,0,0,0,0,0,0
$GC,8561,0.82,188.0,248.9,7.7,466,8602,0.00,2.28,35.38,0.634,4,0.000,0.061,2891,3387,2033,0,0,0,0,0,0
$GC,8631,0.82,188.4,242.7,9.5,469,8635,0.00,2.25,0.00,0.000,6,0.000,0.051,2896,1995,2032,0,0,0,0,0,0
$GC,8953,0.85,217.1,215.8,8.3,485,8987,0.00,2.35,26.95,0.601,4,0.000,0.061,2907,580,1913,0,0,0,0,0,0
$GC,9044,0.85,217.1,206.2,11.1,489,9048,0.00,2.20,0.00,0.000,6,0.000,0.040,2906,1982,1913,0,0,0,0,0,0
$GC,9371,0.86,219.9,174.7,9.4,517,9383,0.00,2.28,3.90,0.390,4,0.000,0.052,2907,3402,1903,0,0,0,0,0,0
$GC,9433,0.86,219.9,167.6,11.1,522,9441,0.00,2.25,0.00,0.000,6,0.000,0.043,2912,1988,1903,0,0,0,0,0,0
$GC,9761,0.88,239.3,137.1,8.7,553,9784,0.00,2.25,18.27,0.535,4,0.000,0.060,2920,583,1825,0,0,0,0,0,0
$GC,9831,0.88,242.1,130.6,9.4,559,9844,0.00,2.22,4.43,0.393,6,0.000,0.038,2920,2008,1811,0,0,0,0,0,0
$GC,10164,0.91,262.1,100.3,8.7,590,10188,0.00,2.20,19.00,0.504,4,0.000,0.051,2920,3405,1730,0,0,0,0,0,0
$GC,10225,0.91,262.1,94.1,10.7,595,10229,0.00,2.20,0.00,0.000,6,0.000,0.041,2927,1991,1729,0,0,0,0,0,0
$GC,10551,0.98,317.5,64.8,7.1,642,10605,0.00,2.30,48.15,0.491,4,0.000,0.051,2927,3411,1505,0,0,0,0,0,0
$GC,10690,0.98,317.5,52.0,10.8,666,10697,0.00,2.25,0.00,0.000,6,0.000,0.040,2933,1999,1503,0,0,0,0,0,0
$GC,11024,1.01,348.6,24.7,8.2,727,11058,0.10,2.25,27.02,0.445,4,0.090,0.058,2989,589,1377,0,0,0,0,0,0
$GC,11126,1.01,348.6,14.7,11.6,744,11133,0.00,2.22,0.00,0.000,6,0.000,0.041,2989,1990,1375,0,0,0,0,0,0
$STATE,11223,end climb,SURFACE_DEPTH_REACHED
$STATE,11223,begin surface coast
$FINISH,0.8,1.013891
$STATE,11254,end surface coast,CONTROL_FINISHED_OK
$STATE,11254,begin surface
$SM_CCo,11333,0.00,0.000,0,0,1373,349.79
$SM_GC,1.56,7.60,0.00,0.00,0.028,0.000,0.000,30,1891,1373,-8.01,-0.96,349.79
$IRIDIUM_FIX,2059.45,-15801.19,151002,010126
$TT8_MAMPS,0.028379
$HUMID,70.39
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,24.2,66.596
$10V_AH,10.0,73.897
$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,19.375,108.900,436.275,0.000,0.000,28.548,35.855,201.600,19.250,0.000,17.659,1411.302,6648.941,455.071,2644.484,585.885,33.358,1442.784,0.000,2586.989,0.000,119.917,0.000
$DEVICE_MAMPS,220.896,77.467,752.427,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,521.048,437.711,1476.334,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,44349,767
$CAP_FILE_SIZE,125390,0
$CFSIZE,260165632,216391680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210713,073904,2106.883,-15754.550,35,0.9,35,9.8