version: 66.06
glider: 523
mission: 4
dive: 766
start: 7 21 113 17 48 28
data:
$ID,523
$MISSION,4
$DIVE,766
$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,-51486.973
$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,53
$R_STBD_OVSHOOT,19
$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
$GPS1,173948,2107.137,-15755.295,17,1.1,17,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.6
$GPS2,174735,2107.091,-15755.359,17,1.1,17,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.248,-0.064
$KALMAN_X,-73496.1,-1022.5,-613.0,71885.7,280.0
$KALMAN_Y,6557.2,-262.9,65.3,-9947.3,319.1
$MHEAD_RNG_PITCHd_Wd,94.7,21626,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-81.22,0.000,6,0.000,0.000,46,1885,3397,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.3,-4.4,13,119,9.75,2.17,0.00,0.000,4,0.225,0.061,2383,542,3399,0,0,0,0,0,0
$GC,176,-0.76,-146.0,19.0,-16.9,25,183,0.00,2.22,0.00,0.000,6,0.000,0.044,2376,1929,3400,0,0,0,0,0,0
$GC,345,-0.76,-146.0,41.9,-10.9,56,352,0.00,2.30,0.00,0.000,4,0.000,0.065,2376,551,3400,0,0,0,0,0,0
$GC,445,-0.76,-146.0,54.6,-11.7,74,452,0.00,2.20,0.00,0.000,6,0.000,0.044,2367,1927,3400,0,0,0,0,0,0
$GC,784,-0.76,-146.0,93.4,-7.7,124,788,0.00,2.30,0.00,0.000,4,0.000,0.064,2367,545,3401,0,0,0,0,0,0
$GC,849,-0.76,-146.0,99.2,-9.3,129,853,0.15,2.15,0.00,0.000,6,0.153,0.044,2397,1924,3401,0,0,0,0,0,0
$GC,1176,-0.76,-146.0,119.5,-6.9,159,1180,0.00,2.30,0.00,0.000,4,0.000,0.064,2398,540,3402,0,0,0,0,0,0
$GC,1349,-0.76,-146.0,132.0,-8.1,174,1356,0.00,2.20,0.00,0.000,6,0.000,0.042,2391,1925,3402,0,0,0,0,0,0
$GC,1677,-0.76,-146.0,154.4,-6.9,205,1682,0.00,2.30,0.00,0.000,4,0.000,0.064,2390,538,3403,0,0,0,0,0,0
$GC,1836,-0.76,-146.0,167.6,-7.6,219,1843,0.00,2.20,0.00,0.000,6,0.000,0.042,2381,1927,3403,0,0,0,0,0,0
$GC,2163,-0.76,-146.0,188.7,-5.9,250,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1927,3404,0,0,0,0,0,0
$GC,2499,-0.76,-146.0,206.1,-5.3,277,2503,0.00,2.28,0.00,0.000,4,0.000,0.061,2381,540,3404,0,0,0,0,0,0
$GC,2572,-0.76,-146.0,211.2,-6.9,280,2576,0.00,2.17,0.00,0.000,6,0.000,0.041,2372,1930,3403,0,0,0,0,0,0
$GC,2890,-0.76,-146.0,233.5,-5.7,295,2894,0.00,2.30,0.00,0.000,4,0.000,0.061,2372,542,3403,0,0,0,0,0,0
$GC,2964,-0.76,-146.0,238.1,-6.1,298,2969,0.12,2.15,0.00,0.000,6,0.153,0.041,2395,1934,3403,0,0,0,0,0,0
$GC,3282,-0.76,-146.0,251.1,-4.0,313,3286,0.00,2.28,0.00,0.000,4,0.000,0.063,2387,3331,3403,0,0,0,0,0,0
$GC,3338,-0.76,-146.0,253.9,-4.6,315,3344,0.00,2.17,0.00,0.000,6,0.000,0.049,2387,1959,3403,0,0,0,0,0,0
$GC,3658,-0.76,-146.0,273.0,-6.4,331,3662,0.00,2.38,0.00,0.000,4,0.000,0.064,2387,505,3403,0,0,0,0,0,0
$GC,3815,-0.76,-146.0,282.0,-5.0,338,3819,0.00,2.20,0.00,0.000,6,0.000,0.040,2378,1931,3403,0,0,0,0,0,0
$GC,4138,-0.76,-146.0,298.2,-4.9,354,4142,0.00,2.35,0.00,0.000,4,0.000,0.061,2378,511,3401,0,0,0,0,0,0
$GC,4218,-0.76,-146.0,302.8,-5.5,356,4223,0.00,2.20,0.00,0.000,6,0.000,0.041,2368,1929,3401,0,0,0,0,0,0
$GC,4549,-0.76,-146.0,323.5,-6.9,365,4553,0.00,2.38,0.00,0.000,4,0.000,0.061,2368,505,3400,0,0,0,0,0,0
$GC,4605,-0.76,-146.0,327.8,-8.4,366,4610,0.12,2.22,0.00,0.000,6,0.152,0.041,2392,1925,3399,0,0,0,0,0,0
$GC,4956,-0.76,-146.0,351.1,-6.5,375,4960,0.00,2.33,0.00,0.000,4,0.000,0.061,2392,512,3397,0,0,0,0,0,0
$GC,5099,-0.76,-146.0,361.3,-7.1,378,5103,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1930,3397,0,0,0,0,0,0
$GC,5414,-0.76,-146.0,380.8,-5.9,386,5418,0.00,2.33,0.00,0.000,4,0.000,0.062,2384,508,3395,0,0,0,0,0,0
$GC,5571,-0.76,-146.0,389.7,-5.6,389,5575,0.00,2.22,0.00,0.000,6,0.000,0.041,2375,1926,3395,0,0,0,0,0,0
$GC,5909,-0.76,-146.0,406.4,-4.7,398,5913,0.00,2.30,0.00,0.000,4,0.000,0.066,2365,3331,3393,0,0,0,0,0,0
$GC,5949,-0.76,-146.0,408.4,-5.4,398,5955,0.12,2.25,0.00,0.000,6,0.140,0.051,2398,1923,3393,0,0,0,0,0,0
$GC,6281,-0.76,-146.0,418.8,-2.9,407,6285,0.00,2.30,0.00,0.000,4,0.000,0.069,2398,510,3392,0,0,0,0,0,0
$GC,6539,-0.76,-146.0,433.2,-6.5,412,6544,0.00,2.25,0.00,0.000,6,0.000,0.043,2390,1935,3389,0,0,0,0,0,0
$STATE,6827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6827,begin apogee
$GC,6834,-0.17,0.0,452.2,6.6,420,6962,0.60,0.00,124.55,0.759,6,0.112,0.000,2583,2002,2800,0,0,0,0,0,0
$STATE,6963,end apogee,CONTROL_FINISHED_OK
$STATE,6963,begin climb
$GC,6966,0.76,146.0,454.4,0.0,423,7104,0.85,2.33,129.00,0.736,4,0.068,0.064,2886,3398,2201,0,0,0,0,0,0
$GC,7284,0.76,146.0,423.3,10.4,430,7288,0.00,2.25,0.00,0.000,6,0.000,0.048,2895,1985,2196,0,0,0,0,0,0
$GC,7631,0.76,146.0,388.5,10.4,439,7636,0.00,2.30,0.00,0.000,4,0.000,0.060,2895,3409,2194,0,0,0,0,0,0
$GC,7706,0.76,146.0,380.4,10.6,440,7710,0.00,2.25,0.00,0.000,6,0.000,0.048,2905,1996,2193,0,0,0,0,0,0
$GC,8040,0.76,146.0,345.5,11.0,448,8044,0.00,2.30,0.00,0.000,4,0.000,0.062,2905,3403,2192,0,0,0,0,0,0
$GC,8112,0.76,146.0,335.4,13.9,449,8116,0.00,2.25,0.00,0.000,6,0.000,0.049,2913,1995,2192,0,0,0,0,0,0
$GC,8424,0.76,146.0,295.7,12.2,457,8428,0.00,2.33,0.00,0.000,4,0.000,0.063,2913,3411,2191,0,0,0,0,0,0
$GC,8463,0.76,146.0,290.8,13.2,459,8468,0.12,2.28,0.00,0.000,6,0.144,0.051,2888,1995,2190,0,0,0,0,0,0
$GC,8790,0.81,179.2,260.0,8.1,475,8824,0.00,2.35,28.15,0.644,4,0.000,0.063,2888,3401,2067,0,0,0,0,0,0
$GC,8922,0.86,225.9,249.8,7.5,481,8971,0.00,2.28,42.53,0.636,6,0.000,0.051,2893,1993,1877,0,0,0,0,0,0
$GC,9294,0.91,264.9,222.0,7.8,499,9336,0.12,2.35,35.00,0.610,4,0.074,0.063,2974,3408,1719,0,0,0,0,0,0
$GC,9370,0.91,264.9,212.5,13.6,502,9375,0.17,2.33,0.00,0.000,6,0.134,0.053,2935,1987,1718,0,0,0,0,0,0
$GC,9694,0.91,264.9,175.3,11.6,527,9698,0.00,2.35,0.00,0.000,4,0.000,0.064,2935,3408,1717,0,0,0,0,0,0
$GC,9745,0.91,264.9,168.9,13.1,531,9750,0.00,2.28,0.00,0.000,6,0.000,0.047,2941,1980,1717,0,0,0,0,0,0
$GC,10073,0.93,276.5,133.5,9.0,561,10089,0.00,2.28,11.40,0.512,4,0.000,0.051,2941,3414,1672,0,0,0,0,0,0
$GC,10157,0.93,276.5,125.4,10.0,568,10161,0.00,2.22,0.00,0.000,6,0.000,0.043,2951,1996,1671,0,0,0,0,0,0
$GC,10484,0.93,276.5,94.5,10.6,598,10488,0.00,2.28,0.00,0.000,4,0.000,0.052,2950,3408,1671,0,0,0,0,0,0
$GC,10546,0.93,276.5,87.3,11.8,603,10550,0.00,2.22,0.00,0.000,6,0.000,0.044,2960,1993,1671,0,0,0,0,0,0
$GC,10877,0.94,289.6,54.5,9.0,657,10894,0.00,0.00,12.57,0.459,6,0.000,0.000,2960,1994,1619,0,0,0,0,0,0
$GC,11221,0.97,311.5,21.0,8.6,720,11248,0.00,2.30,20.17,0.445,4,0.000,0.051,2960,3415,1530,0,0,0,0,0,0
$GC,11350,0.97,311.5,6.7,14.0,743,11358,0.00,2.30,0.00,0.000,6,0.000,0.051,2962,1998,1529,0,0,0,0,0,0
$STATE,11384,end climb,SURFACE_DEPTH_REACHED
$STATE,11384,begin surface coast
$FINISH,0.8,1.000712
$STATE,11412,end surface coast,CONTROL_FINISHED_OK
$STATE,11412,begin surface
$SM_CCo,11490,0.00,0.000,0,0,1526,312.26
$SM_GC,1.45,7.50,0.00,0.00,0.025,0.000,0.000,49,1919,1526,-7.99,-0.11,312.26
$IRIDIUM_FIX,2054.83,-15756.91,151002,141429
$TT8_MAMPS,0.027612
$HUMID,71.69
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,24.2,66.995
$10V_AH,9.9,74.352
$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,19.650,113.650,403.375,0.000,0.000,24.212,34.233,254.383,19.000,0.000,18.104,1414.045,6875.368,442.074,2573.292,644.413,33.361,1384.973,0.000,2520.396,0.000,119.241,0.000
$DEVICE_MAMPS,224.731,110.448,758.563,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,514.232,434.221,1433.707,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,41156,754
$CAP_FILE_SIZE,126093,0
$CFSIZE,260165632,216133632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210713,210105,2107.341,-15754.062,31,0.9,31,9.8