version: 66.06
glider: 523
mission: 4
dive: 769
start: 7 22 113 3 53 22
data:
$ID,523
$MISSION,4
$DIVE,769
$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,-51565.418
$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,1920
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,26
$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
$GPS1,034533,2106.987,-15753.812,38,1.1,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.2
$GPS2,035230,2106.964,-15753.846,16,1.3,16,9.8
$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,-78741.0,309.5,-853.6,78662.7,-507.9
$KALMAN_Y,7526.2,437.8,-77.5,-11700.7,6.2
$MHEAD_RNG_PITCHd_Wd,85.4,19001,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,113,0.00,0.00,-89.12,0.000,6,0.000,0.000,44,1893,3395,0,0,0,0,0,0
$GC,117,-0.76,-146.0,4.0,-6.3,15,132,9.70,2.20,0.00,0.000,4,0.223,0.059,2383,538,3397,0,0,0,0,0,0
$GC,212,-0.76,-146.0,21.3,-11.8,32,220,0.00,2.20,0.00,0.000,6,0.000,0.042,2376,1915,3398,0,0,0,0,0,0
$GC,385,-0.76,-146.0,41.8,-10.6,63,390,0.00,2.28,0.00,0.000,4,0.000,0.065,2376,538,3398,0,0,0,0,0,0
$GC,463,-0.76,-146.0,51.6,-12.4,77,469,0.00,2.17,0.00,0.000,6,0.000,0.041,2367,1925,3398,0,0,0,0,0,0
$GC,803,-0.76,-146.0,88.3,-9.0,131,807,0.00,2.25,0.00,0.000,4,0.000,0.063,2367,539,3399,0,0,0,0,0,0
$GC,1053,-0.76,-146.0,114.9,-10.3,153,1064,0.10,2.17,0.00,0.000,6,0.135,0.041,2388,1913,3400,0,0,0,0,0,0
$GC,1382,-0.76,-146.0,142.4,-7.5,184,1386,0.00,2.22,0.00,0.000,4,0.000,0.063,2389,542,3400,0,0,0,0,0,0
$GC,1610,-0.76,-146.0,159.0,-6.7,204,1614,0.00,2.15,0.00,0.000,6,0.000,0.041,2381,1932,3401,0,0,0,0,0,0
$GC,1938,-0.76,-146.0,178.7,-5.6,234,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1932,3401,0,0,0,0,0,0
$GC,2265,-0.76,-146.0,199.3,-5.1,265,2269,0.00,2.30,0.00,0.000,4,0.000,0.064,2380,538,3401,0,0,0,0,0,0
$GC,2378,-0.76,-146.0,206.3,-6.0,270,2382,0.00,2.15,0.00,0.000,6,0.000,0.041,2372,1926,3401,0,0,0,0,0,0
$GC,2702,-0.76,-146.0,227.1,-6.4,286,2706,0.00,2.28,0.00,0.000,4,0.000,0.064,2372,542,3401,0,0,0,0,0,0
$GC,2854,-0.76,-146.0,238.2,-7.4,293,2858,0.12,2.15,0.00,0.000,6,0.152,0.041,2395,1920,3401,0,0,0,0,0,0
$GC,3181,-0.76,-146.0,261.0,-6.5,309,3185,0.00,2.28,0.00,0.000,4,0.000,0.063,2396,538,3401,0,0,0,0,0,0
$GC,3439,-0.76,-146.0,277.2,-6.8,320,3444,0.00,2.15,0.00,0.000,6,0.000,0.041,2389,1924,3400,0,0,0,0,0,0
$GC,3755,-0.76,-146.0,293.4,-5.6,336,3758,0.00,2.25,0.00,0.000,4,0.000,0.061,2388,541,3400,0,0,0,0,0,0
$GC,3824,-0.76,-146.0,297.7,-6.9,339,3828,0.00,2.15,0.00,0.000,6,0.000,0.041,2379,1929,3400,0,0,0,0,0,0
$GC,4168,-0.76,-146.0,317.0,-5.4,349,4172,0.00,2.28,0.00,0.000,4,0.000,0.061,2379,542,3398,0,0,0,0,0,0
$GC,4246,-0.76,-146.0,321.0,-4.8,350,4252,0.00,2.17,0.00,0.000,6,0.000,0.041,2370,1929,3398,0,0,0,0,0,0
$GC,4578,-0.76,-146.0,337.9,-5.1,359,4582,0.00,2.30,0.00,0.000,4,0.000,0.062,2370,530,3396,0,0,0,0,0,0
$GC,4656,-0.76,-146.0,342.7,-6.5,360,4662,0.12,2.17,0.00,0.000,6,0.153,0.041,2394,1921,3396,0,0,0,0,0,0
$GC,4988,-0.76,-146.0,354.9,-2.9,369,4993,0.00,2.28,0.00,0.000,4,0.000,0.063,2394,538,3395,0,0,0,0,0,0
$GC,5066,-0.76,-146.0,357.9,-4.2,370,5070,0.00,2.17,0.00,0.000,6,0.000,0.042,2386,1923,3394,0,0,0,0,0,0
$GC,5403,-0.76,-146.0,378.4,-7.2,379,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1923,3393,0,0,0,0,0,0
$GC,5730,-0.76,-146.0,400.2,-6.4,387,5734,0.00,2.28,0.00,0.000,4,0.000,0.064,2387,531,3391,0,0,0,0,0,0
$GC,5837,-0.76,-146.0,407.0,-6.6,389,5841,0.00,2.20,0.00,0.000,6,0.000,0.043,2378,1924,3390,0,0,0,0,0,0
$GC,6180,-0.76,-146.0,429.6,-6.8,398,6184,0.00,2.30,0.00,0.000,4,0.000,0.064,2378,532,3388,0,0,0,0,0,0
$GC,6271,-0.76,-146.0,436.2,-7.7,400,6275,0.00,2.17,0.00,0.000,6,0.000,0.044,2369,1920,3388,0,0,0,0,0,0
$STATE,6471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6471,begin apogee
$GC,6478,-0.17,0.0,451.1,7.3,405,6605,0.68,0.00,123.95,0.754,6,0.117,0.000,2583,2003,2800,0,0,0,0,0,0
$STATE,6606,end apogee,CONTROL_FINISHED_OK
$STATE,6606,begin climb
$GC,6609,0.76,146.0,455.4,0.0,408,6748,0.85,2.35,128.70,0.733,4,0.067,0.065,2886,3408,2201,0,0,0,0,0,0
$GC,6832,0.77,153.8,439.8,9.2,413,6846,0.00,2.22,7.60,0.595,6,0.000,0.044,2895,2021,2172,0,0,0,0,0,0
$GC,7191,0.77,153.8,401.7,11.3,422,7195,0.00,2.25,0.00,0.000,4,0.000,0.062,2894,3405,2167,0,0,0,0,0,0
$GC,7320,0.77,153.8,383.8,14.8,425,7324,0.00,2.22,0.00,0.000,6,0.000,0.048,2905,2002,2167,0,0,0,0,0,0
$GC,7651,0.77,153.8,341.0,12.0,433,7655,0.00,2.28,0.00,0.000,4,0.000,0.062,2905,3405,2166,0,0,0,0,0,0
$GC,7780,0.77,153.8,325.4,11.4,436,7784,0.00,2.22,0.00,0.000,6,0.000,0.048,2914,1998,2165,0,0,0,0,0,0
$GC,8105,0.83,200.5,298.2,7.5,444,8151,0.00,2.33,40.95,0.668,4,0.000,0.063,2914,3405,1981,0,0,0,0,0,0
$GC,8298,0.83,200.5,281.9,10.2,453,8302,0.00,2.25,0.00,0.000,6,0.000,0.051,2924,1993,1978,0,0,0,0,0,0
$GC,8625,0.83,200.5,249.0,11.4,469,8629,0.00,2.30,0.00,0.000,4,0.000,0.054,2923,3411,1977,0,0,0,0,0,0
$GC,8658,0.83,200.5,244.9,11.8,470,8663,0.00,2.22,0.00,0.000,6,0.000,0.048,2933,2000,1977,0,0,0,0,0,0
$GC,8973,0.83,200.5,211.4,10.5,486,8977,0.00,2.28,0.00,0.000,4,0.000,0.053,2933,3418,1977,0,0,0,0,0,0
$GC,9131,0.83,200.5,193.8,11.0,495,9139,0.08,2.25,0.00,0.000,6,0.118,0.044,2914,2007,1975,0,0,0,0,0,0
$GC,9459,0.89,248.8,166.2,7.4,526,9508,0.00,2.33,42.70,0.581,4,0.000,0.052,2914,3409,1784,0,0,0,0,0,0
$GC,9552,0.92,274.9,158.8,8.4,534,9588,0.00,2.22,24.25,0.553,6,0.000,0.043,2921,1997,1679,0,0,0,0,0,0
$GC,9907,0.92,274.9,123.3,10.6,567,9911,0.00,2.28,0.00,0.000,4,0.000,0.061,2930,591,1677,0,0,0,0,0,0
$GC,9980,0.92,274.9,115.7,10.2,573,9984,0.00,2.22,0.00,0.000,6,0.000,0.038,2930,2017,1677,0,0,0,0,0,0
$GC,10308,0.92,274.9,82.8,10.5,603,10312,0.00,2.30,0.00,0.000,4,0.000,0.061,2937,591,1677,0,0,0,0,0,0
$GC,10385,0.92,274.9,74.8,10.0,614,10393,0.00,2.22,0.00,0.000,6,0.000,0.038,2936,2003,1677,0,0,0,0,0,0
$GC,10722,0.95,294.3,44.9,8.7,675,10746,0.00,2.22,17.85,0.456,4,0.000,0.054,2936,3404,1600,0,0,0,0,0,0
$GC,10763,0.95,294.3,40.3,10.4,682,10771,0.00,2.28,0.00,0.000,6,0.000,0.049,2944,1993,1599,0,0,0,0,0,0
$GC,11094,0.99,330.0,11.5,8.0,743,11128,0.00,0.00,31.35,0.440,6,0.000,0.000,2944,1993,1453,0,0,0,0,0,0
$STATE,11191,end climb,SURFACE_DEPTH_REACHED
$STATE,11191,begin surface coast
$FINISH,0.7,1.023601
$STATE,11221,end surface coast,CONTROL_FINISHED_OK
$STATE,11221,begin surface
$SM_CCo,11299,0.00,0.000,0,0,1448,331.64
$SM_GC,1.55,7.45,0.00,0.00,0.023,0.000,0.000,32,1908,1448,-8.02,-0.28,331.64
$IRIDIUM_FIX,2101.76,-15800.33,161002,000007
$TT8_MAMPS,0.028379
$HUMID,69.76
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,24.2,67.303
$10V_AH,10.0,74.699
$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,19.100,103.175,417.350,0.000,0.000,29.763,32.814,202.275,19.000,0.000,16.712,1395.461,6649.282,442.735,2643.651,575.487,33.358,1417.476,0.000,2588.710,0.000,121.960,0.000
$DEVICE_MAMPS,223.197,104.312,753.961,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,520.587,437.149,1489.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,41276,765
$CAP_FILE_SIZE,122237,0
$CFSIZE,260165632,215945216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220713,070253,2107.105,-15753.188,36,0.9,36,9.8