version: 66.06
glider: 523
mission: 4
dive: 765
start: 7 21 113 14 25 28
data:
$ID,523
$MISSION,4
$DIVE,765
$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,-51468.238
$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,45
$R_STBD_OVSHOOT,17
$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
$GPS1,141701,2106.746,-15755.630,36,1.3,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.1
$GPS2,142435,2106.748,-15755.696,14,1.3,14,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.256,0.011
$KALMAN_X,-71938.2,-842.0,-518.1,69485.3,-1644.6
$KALMAN_Y,6026.8,-272.5,116.5,-10090.3,-159.7
$MHEAD_RNG_PITCHd_Wd,77.8,22146,-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,-87.47,0.000,6,0.000,0.000,38,1884,3396,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.2,-4.0,14,125,9.70,2.35,0.00,0.000,4,0.222,0.054,2376,3351,3398,0,0,0,0,0,0
$GC,143,-0.76,-146.0,11.7,-24.1,19,151,0.00,2.28,0.00,0.000,6,0.000,0.048,2375,1944,3399,0,0,0,0,0,0
$GC,313,-0.76,-146.0,36.2,-15.8,50,320,0.00,2.38,0.00,0.000,4,0.000,0.067,2375,508,3399,0,0,0,0,0,0
$GC,467,-0.76,-146.0,59.1,-12.5,78,474,0.00,2.25,0.00,0.000,6,0.000,0.042,2366,1920,3399,0,0,0,0,0,0
$GC,808,-0.76,-146.0,94.5,-6.5,125,812,0.00,2.30,0.00,0.000,4,0.000,0.064,2366,511,3400,0,0,0,0,0,0
$GC,974,-0.76,-146.0,106.4,-6.8,140,979,0.15,2.22,0.00,0.000,6,0.152,0.044,2396,1937,3401,0,0,0,0,0,0
$GC,1301,-0.76,-146.0,127.6,-5.9,170,1305,0.00,2.33,0.00,0.000,4,0.000,0.064,2397,508,3401,0,0,0,0,0,0
$GC,1507,-0.76,-146.0,141.8,-7.7,188,1511,0.00,2.22,0.00,0.000,6,0.000,0.043,2389,1937,3402,0,0,0,0,0,0
$GC,1835,-0.76,-146.0,165.3,-7.5,218,1839,0.00,2.33,0.00,0.000,4,0.000,0.061,2389,509,3402,0,0,0,0,0,0
$GC,1977,-0.76,-146.0,177.6,-8.8,230,1981,0.00,2.20,0.00,0.000,6,0.000,0.042,2379,1926,3402,0,0,0,0,0,0
$GC,2313,-0.76,-146.0,203.2,-7.8,259,2317,0.00,2.28,0.00,0.000,4,0.000,0.063,2369,3343,3402,0,0,0,0,0,0
$GC,2343,-0.76,-146.0,205.8,-8.3,260,2347,0.00,2.25,0.00,0.000,6,0.000,0.048,2369,1914,3402,0,0,0,0,0,0
$GC,2662,-0.76,-146.0,226.3,-5.4,275,2666,0.00,2.25,0.00,0.000,4,0.000,0.067,2369,515,3402,0,0,0,0,0,0
$GC,2870,-0.76,-146.0,238.5,-6.0,284,2875,0.12,2.17,0.00,0.000,6,0.157,0.041,2392,1928,3402,0,0,0,0,0,0
$GC,3190,-0.76,-146.0,254.5,-4.7,299,3194,0.00,2.25,0.00,0.000,4,0.000,0.061,2383,3333,3402,0,0,0,0,0,0
$GC,3219,-0.76,-146.0,256.0,-4.4,300,3223,0.00,2.22,0.00,0.000,6,0.000,0.048,2383,1927,3402,0,0,0,0,0,0
$GC,3542,-0.76,-146.0,273.5,-7.0,316,3546,0.00,2.30,0.00,0.000,4,0.000,0.064,2383,505,3401,0,0,0,0,0,0
$GC,3784,-0.76,-146.0,289.9,-5.8,327,3791,0.00,2.22,0.00,0.000,6,0.000,0.040,2374,1934,3402,0,0,0,0,0,0
$GC,4121,-0.76,-146.0,303.4,-3.4,341,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1934,3400,0,0,0,0,0,0
$GC,4443,-0.76,-146.0,323.0,-6.9,349,4447,0.00,2.33,0.00,0.000,4,0.000,0.059,2374,511,3399,0,0,0,0,0,0
$GC,4568,-0.76,-146.0,331.4,-6.2,351,4574,0.12,2.20,0.00,0.000,6,0.155,0.041,2397,1925,3399,0,0,0,0,0,0
$GC,4903,-0.76,-146.0,346.3,-4.5,360,4907,0.00,2.33,0.00,0.000,4,0.000,0.061,2397,507,3396,0,0,0,0,0,0
$GC,5039,-0.76,-146.0,353.0,-5.0,363,5043,0.00,2.20,0.00,0.000,6,0.000,0.042,2390,1927,3396,0,0,0,0,0,0
$GC,5365,-0.76,-146.0,369.5,-5.0,371,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1927,3395,0,0,0,0,0,0
$GC,5690,-0.76,-146.0,386.7,-6.3,379,5694,0.00,2.30,0.00,0.000,4,0.000,0.061,2390,510,3393,0,0,0,0,0,0
$GC,5909,-0.76,-146.0,404.6,-8.3,384,5913,0.00,2.22,0.00,0.000,6,0.000,0.044,2380,1929,3392,0,0,0,0,0,0
$GC,6241,-0.76,-146.0,423.5,-4.8,392,6245,0.00,2.28,0.00,0.000,4,0.000,0.065,2370,3334,3390,0,0,0,0,0,0
$GC,6337,-0.76,-146.0,428.3,-4.7,394,6341,0.00,2.28,0.00,0.000,6,0.000,0.051,2370,1916,3389,0,0,0,0,0,0
$GC,6651,-0.76,-146.0,443.7,-5.1,402,6656,0.00,2.30,0.00,0.000,4,0.000,0.070,2370,509,3389,0,0,0,0,0,0
$STATE,6782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6782,begin apogee
$GC,6791,-0.17,0.0,450.3,5.1,405,6919,0.73,0.00,124.15,0.753,6,0.121,0.000,2587,1998,2800,0,0,0,0,0,0
$STATE,6920,end apogee,CONTROL_FINISHED_OK
$STATE,6920,begin climb
$GC,6922,0.76,146.0,450.4,0.0,408,7056,0.85,0.00,129.73,0.729,6,0.070,0.000,2887,1998,2203,0,0,0,0,0,0
$GC,7372,0.76,146.0,397.5,12.2,419,7376,0.00,2.28,0.00,0.000,4,0.000,0.066,2887,3405,2195,0,0,0,0,0,0
$GC,7494,0.76,146.0,382.5,11.8,421,7500,0.00,2.28,0.00,0.000,6,0.000,0.049,2896,1990,2194,0,0,0,0,0,0
$GC,7826,0.76,146.0,346.2,11.1,430,7830,0.00,2.30,0.00,0.000,4,0.000,0.064,2896,3404,2193,0,0,0,0,0,0
$GC,8005,0.76,146.0,326.1,10.0,434,8009,0.00,2.25,0.00,0.000,6,0.000,0.050,2906,1991,2192,0,0,0,0,0,0
$GC,8325,0.79,166.9,296.1,8.6,443,8349,0.00,2.35,17.90,0.641,4,0.000,0.064,2906,3398,2118,0,0,0,0,0,0
$GC,8484,0.79,166.9,279.6,11.4,450,8489,0.00,2.22,0.00,0.000,6,0.000,0.051,2915,1989,2115,0,0,0,0,0,0
$GC,8806,0.79,166.9,243.9,11.2,466,8810,0.00,2.28,0.00,0.000,4,0.000,0.053,2915,3409,2114,0,0,0,0,0,0
$GC,8924,0.79,166.9,231.0,10.7,471,8928,0.00,2.25,0.00,0.000,6,0.000,0.051,2924,1996,2114,0,0,0,0,0,0
$GC,9240,0.80,178.4,200.9,9.1,486,9256,0.00,2.25,10.88,0.558,4,0.000,0.051,2924,3417,2073,0,0,0,0,0,0
$GC,9324,0.81,182.6,193.3,9.4,492,9338,0.12,2.25,5.22,0.461,6,0.140,0.046,2898,1993,2055,0,0,0,0,0,0
$GC,9657,0.85,215.9,169.2,8.1,523,9695,0.00,0.00,30.90,0.572,6,0.000,0.000,2898,1993,1918,0,0,0,0,0,0
$GC,10016,0.85,215.9,133.5,10.3,557,10020,0.00,2.25,0.00,0.000,4,0.000,0.061,2905,591,1916,0,0,0,0,0,0
$GC,10038,0.85,215.9,131.4,9.6,558,10042,0.00,2.20,0.00,0.000,6,0.000,0.038,2905,2005,1916,0,0,0,0,0,0
$GC,10365,0.93,281.2,109.1,6.7,588,10429,0.10,2.22,57.72,0.525,4,0.088,0.053,2983,3401,1652,0,0,0,0,0,0
$GC,10543,0.93,281.2,86.9,13.4,603,10547,0.17,2.25,0.00,0.000,6,0.123,0.044,2940,1986,1650,0,0,0,0,0,0
$GC,10873,0.93,281.2,54.2,10.3,657,10878,0.00,2.22,0.00,0.000,4,0.000,0.062,2946,591,1650,0,0,0,0,0,0
$GC,10941,0.93,281.2,47.8,10.2,669,10946,0.00,2.20,0.00,0.000,6,0.000,0.040,2946,2003,1650,0,0,0,0,0,0
$GC,11270,0.98,320.0,24.8,7.9,730,11310,0.00,2.35,33.55,0.446,4,0.000,0.066,2947,588,1494,0,0,0,0,0,0
$GC,11360,0.98,320.0,15.9,11.1,745,11367,0.00,2.25,0.00,0.000,6,0.000,0.044,2947,1985,1493,0,0,0,0,0,0
$STATE,11493,end climb,SURFACE_DEPTH_REACHED
$STATE,11495,begin surface coast
$FINISH,0.8,1.014433
$STATE,11528,end surface coast,CONTROL_FINISHED_OK
$STATE,11528,begin surface
$SM_CCo,11607,0.00,0.000,0,0,1489,321.34
$SM_GC,1.49,7.40,0.00,0.00,0.021,0.000,0.000,47,1888,1489,-7.99,-1.05,321.34
$IRIDIUM_FIX,2057.14,-15756.91,151002,111140
$TT8_MAMPS,0.028379
$HUMID,68.66
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.2,66.896
$10V_AH,10.0,74.241
$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,19.475,104.400,410.050,0.000,0.000,35.752,39.745,219.342,19.000,0.000,14.973,1441.445,6850.951,458.721,2675.379,626.010,33.356,1413.923,0.000,2621.994,0.000,117.274,0.000
$DEVICE_MAMPS,221.663,70.564,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,527.790,447.849,1516.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,44387,776
$CAP_FILE_SIZE,124121,0
$CFSIZE,260165632,216195072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210713,173948,2107.137,-15755.295,17,1.1,17,9.8