version: 66.06
glider: 523
mission: 4
dive: 771
start: 7 22 113 10 37 41
data:
$ID,523
$MISSION,4
$DIVE,771
$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,-51603.863
$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,43
$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
$GPS1,102204,2106.767,-15752.671,40,0.8,40,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.5
$GPS2,103650,2106.608,-15752.621,18,1.2,18,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,0.030
$KALMAN_X,-82171.7,-68.9,426.9,83310.7,-1527.8
$KALMAN_Y,7765.0,-49.7,45.2,-12230.4,-363.9
$MHEAD_RNG_PITCHd_Wd,73.4,16829,-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,-146.0,0.0,0.0,0,107,0.00,0.00,-84.88,0.000,6,0.000,0.000,40,1890,3395,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.6,-5.5,14,125,9.70,2.22,0.00,0.000,4,0.221,0.060,2388,521,3397,0,0,0,0,0,0
$GC,277,-0.76,-146.0,28.8,-11.8,44,284,0.00,2.22,0.00,0.000,6,0.000,0.042,2380,1914,3398,0,0,0,0,0,0
$GC,452,-0.76,-146.0,47.5,-10.0,75,457,0.00,2.25,0.00,0.000,4,0.000,0.064,2380,535,3398,0,0,0,0,0,0
$GC,706,-0.76,-146.0,70.5,-7.4,121,712,0.00,2.20,0.00,0.000,6,0.000,0.043,2371,1933,3399,0,0,0,0,0,0
$GC,1036,-0.76,-146.0,94.7,-7.7,163,1041,0.00,2.30,0.00,0.000,4,0.000,0.064,2371,529,3399,0,0,0,0,0,0
$GC,1292,-0.76,-146.0,116.4,-8.3,186,1296,0.12,2.17,0.00,0.000,6,0.158,0.041,2394,1923,3399,0,0,0,0,0,0
$GC,1620,-0.76,-146.0,137.4,-5.7,216,1624,0.00,2.28,0.00,0.000,4,0.000,0.063,2394,534,3400,0,0,0,0,0,0
$GC,1871,-0.76,-146.0,154.7,-7.6,238,1879,0.00,2.17,0.00,0.000,6,0.000,0.042,2387,1913,3400,0,0,0,0,0,0
$GC,2198,-0.76,-146.0,176.4,-7.1,269,2202,0.00,2.25,0.00,0.000,4,0.000,0.062,2387,528,3400,0,0,0,0,0,0
$GC,2293,-0.76,-146.0,183.8,-8.1,277,2297,0.00,2.17,0.00,0.000,6,0.000,0.041,2378,1919,3400,0,0,0,0,0,0
$GC,2616,-0.76,-146.0,210.7,-8.4,301,2620,0.00,2.28,0.00,0.000,4,0.000,0.062,2378,534,3400,0,0,0,0,0,0
$GC,2667,-0.76,-146.0,215.1,-7.5,303,2671,0.00,2.15,0.00,0.000,6,0.000,0.041,2369,1920,3400,0,0,0,0,0,0
$GC,2991,-0.76,-146.0,237.3,-7.4,319,2995,0.00,2.30,0.00,0.000,4,0.000,0.061,2368,532,3399,0,0,0,0,0,0
$GC,3036,-0.76,-146.0,241.1,-8.8,321,3041,0.12,2.15,0.00,0.000,6,0.153,0.041,2392,1922,3400,0,0,0,0,0,0
$GC,3358,-0.76,-146.0,265.6,-7.6,337,3362,0.00,2.25,0.00,0.000,4,0.000,0.061,2392,533,3400,0,0,0,0,0,0
$GC,3459,-0.76,-146.0,274.2,-8.2,341,3465,0.00,2.15,0.00,0.000,6,0.000,0.041,2385,1923,3399,0,0,0,0,0,0
$GC,3777,-0.76,-146.0,293.0,-4.9,357,3781,0.00,2.25,0.00,0.000,4,0.000,0.064,2375,3331,3398,0,0,0,0,0,0
$GC,3857,-0.76,-146.0,296.6,-4.8,360,3863,0.00,2.22,0.00,0.000,6,0.000,0.049,2374,1940,3398,0,0,0,0,0,0
$GC,4191,-0.76,-146.0,311.5,-4.3,371,4195,0.00,2.33,0.00,0.000,4,0.000,0.066,2374,504,3397,0,0,0,0,0,0
$GC,4448,-0.76,-146.0,328.0,-6.6,376,4453,0.12,2.22,0.00,0.000,6,0.154,0.040,2397,1926,3394,0,0,0,0,0,0
$GC,4782,-0.76,-146.0,346.2,-5.7,384,4786,0.00,2.35,0.00,0.000,4,0.000,0.062,2398,501,3393,0,0,0,0,0,0
$GC,4958,-0.76,-146.0,357.0,-6.2,388,4962,0.00,2.22,0.00,0.000,6,0.000,0.041,2390,1918,3393,0,0,0,0,0,0
$GC,5283,-0.76,-146.0,374.8,-5.4,396,5288,0.00,2.33,0.00,0.000,4,0.000,0.063,2390,510,3391,0,0,0,0,0,0
$GC,5463,-0.76,-146.0,387.4,-7.7,400,5466,0.00,2.20,0.00,0.000,6,0.000,0.042,2381,1921,3389,0,0,0,0,0,0
$GC,5794,-0.76,-146.0,408.1,-5.7,408,5798,0.00,2.30,0.00,0.000,4,0.000,0.067,2371,3331,3388,0,0,0,0,0,0
$GC,5850,-0.76,-146.0,411.3,-5.6,409,5854,0.00,2.28,0.00,0.000,6,0.000,0.051,2371,1921,3388,0,0,0,0,0,0
$GC,6164,-0.76,-146.0,429.2,-5.9,417,6168,0.00,2.33,0.00,0.000,4,0.000,0.068,2371,504,3387,0,0,0,0,0,0
$GC,6321,-0.76,-146.0,440.8,-7.4,420,6326,0.12,2.22,0.00,0.000,6,0.155,0.042,2393,1929,3385,0,0,0,0,0,0
$STATE,6458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6458,begin apogee
$GC,6466,-0.17,0.0,450.1,6.8,424,6592,0.60,0.00,123.00,0.752,6,0.109,0.000,2589,2015,2800,0,0,0,0,0,0
$STATE,6593,end apogee,CONTROL_FINISHED_OK
$STATE,6593,begin climb
$GC,6596,0.76,146.0,452.1,0.0,427,6734,0.82,2.33,128.52,0.729,4,0.067,0.064,2883,3401,2202,0,0,0,0,0,0
$GC,6763,0.76,146.0,438.0,11.8,431,6767,0.00,2.28,0.00,0.000,6,0.000,0.045,2892,1998,2199,0,0,0,0,0,0
$GC,7088,0.76,146.0,405.4,10.3,439,7092,0.00,2.28,0.00,0.000,4,0.000,0.059,2892,3405,2195,0,0,0,0,0,0
$GC,7173,0.76,146.0,395.3,12.6,441,7177,0.00,2.22,0.00,0.000,6,0.000,0.047,2902,1999,2194,0,0,0,0,0,0
$GC,7497,0.76,146.0,362.3,9.9,449,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1999,2193,0,0,0,0,0,0
$GC,7822,0.76,146.0,327.3,10.5,457,7826,0.00,2.30,0.00,0.000,4,0.000,0.061,2902,3406,2192,0,0,0,0,0,0
$GC,7970,0.76,146.0,311.0,10.8,460,7974,0.00,2.25,0.00,0.000,6,0.000,0.048,2911,1997,2190,0,0,0,0,0,0
$GC,8301,0.77,147.8,278.3,9.5,473,8305,0.00,2.30,0.00,0.000,4,0.000,0.062,2911,3402,2189,0,0,0,0,0,0
$GC,8441,0.77,147.8,263.8,9.9,479,8446,0.12,2.25,0.00,0.000,6,0.144,0.050,2885,2000,2189,0,0,0,0,0,0
$GC,8757,0.80,178.4,239.2,8.2,494,8791,0.00,2.38,27.27,0.627,4,0.000,0.063,2885,3410,2071,0,0,0,0,0,0
$GC,8810,0.82,193.1,234.5,8.9,496,8830,0.00,2.25,14.48,0.588,6,0.000,0.047,2893,1984,2012,0,0,0,0,0,0
$GC,9154,0.83,202.8,204.0,9.1,513,9168,0.00,2.30,9.57,0.542,4,0.000,0.053,2893,3418,1973,0,0,0,0,0,0
$GC,9197,0.83,202.8,199.4,10.4,514,9204,0.00,2.28,0.00,0.000,6,0.000,0.044,2900,1996,1971,0,0,0,0,0,0
$GC,9525,0.87,232.3,171.2,8.3,545,9560,0.00,2.33,27.20,0.570,4,0.000,0.054,2900,3411,1852,0,0,0,0,0,0
$GC,9618,0.87,232.3,162.6,10.4,553,9622,0.00,2.25,0.00,0.000,6,0.000,0.044,2907,2000,1851,0,0,0,0,0,0
$GC,9945,0.87,232.3,128.6,11.1,583,9949,0.00,2.28,0.00,0.000,4,0.000,0.060,2917,584,1851,0,0,0,0,0,0
$GC,10029,0.87,232.3,119.3,10.9,590,10033,0.00,2.20,0.00,0.000,6,0.000,0.037,2917,2004,1851,0,0,0,0,0,0
$GC,10356,0.89,246.4,88.7,8.9,620,10381,0.00,2.28,13.93,0.483,4,0.000,0.054,2916,3407,1794,0,0,0,0,0,0
$GC,10484,0.93,277.2,78.1,8.2,633,10520,0.00,2.25,28.27,0.494,6,0.000,0.048,2924,1995,1667,0,0,0,0,0,0
$GC,10848,0.99,328.7,55.4,7.3,699,10900,0.10,2.28,44.40,0.478,4,0.088,0.060,3006,590,1457,0,0,0,0,0,0
$GC,10945,0.99,328.7,45.1,12.4,716,10953,0.12,2.25,0.00,0.000,6,0.099,0.041,2962,1994,1455,0,0,0,0,0,0
$GC,11273,0.99,328.7,12.9,9.8,777,11281,0.00,2.25,0.00,0.000,4,0.000,0.054,2962,3398,1455,0,0,0,0,0,0
$STATE,11369,end climb,SURFACE_DEPTH_REACHED
$STATE,11369,begin surface coast
$FINISH,0.7,1.023103
$STATE,11399,end surface coast,CONTROL_FINISHED_OK
$STATE,11399,begin surface
$SM_CCo,11480,0.00,0.000,0,0,1452,330.41
$SM_GC,1.65,7.45,0.00,0.00,0.022,0.000,0.000,42,1923,1452,-8.01,0.14,330.41
$IRIDIUM_FIX,2052.52,-15751.76,161002,101002
$TT8_MAMPS,0.027612
$HUMID,71.69
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,24.2,67.515
$10V_AH,10.0,74.939
$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,19.425,113.075,416.650,0.000,0.000,83.517,109.358,385.055,19.250,0.000,18.987,1468.592,6740.532,445.859,2756.677,943.128,33.352,1444.314,0.000,2700.000,0.000,117.281,0.000
$DEVICE_MAMPS,220.896,101.244,752.427,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,543.802,461.764,1565.491,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,44495,800
$CAP_FILE_SIZE,134414,0
$CFSIZE,260165632,215805952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220713,134956,2106.325,-15753.383,18,0.7,19,9.8