version: 66.06
glider: 523
mission: 4
dive: 772
start: 7 22 113 14 2 13
data:
$ID,523
$MISSION,4
$DIVE,772
$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,-51647.137
$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,16
$R_STBD_OVSHOOT,31
$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
$GPS1,134956,2106.325,-15753.383,18,0.7,19,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.0
$GPS2,140122,2106.275,-15753.463,42,0.7,42,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.256,0.019
$KALMAN_X,-84611.4,-772.1,-115.2,85549.0,-2210.0
$KALMAN_Y,7484.4,-455.4,-135.4,-11980.4,-189.5
$MHEAD_RNG_PITCHd_Wd,75.9,18240,-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,-146.0,0.0,0.0,0,101,0.00,0.00,-82.30,0.000,2,0.000,0.000,39,1921,3393,0,0,0,0,0,0
$GC,105,-0.76,-146.0,3.1,-3.9,13,120,9.75,2.30,0.00,0.000,4,0.222,0.064,2385,507,3395,0,0,0,0,0,0
$GC,221,-0.76,-146.0,22.6,-12.4,34,229,0.00,2.22,0.00,0.000,6,0.000,0.042,2377,1905,3396,0,0,0,0,0,0
$GC,396,-0.76,-146.0,42.5,-9.8,65,402,0.00,2.33,0.00,0.000,4,0.000,0.067,2377,504,3396,0,0,0,0,0,0
$GC,574,-0.76,-146.0,62.4,-9.1,97,580,0.00,2.25,0.00,0.000,6,0.000,0.044,2368,1925,3397,0,0,0,0,0,0
$GC,914,-0.76,-146.0,91.8,-7.9,146,918,0.00,2.33,0.00,0.000,4,0.000,0.063,2368,499,3397,0,0,0,0,0,0
$GC,1166,-0.76,-146.0,117.0,-10.5,168,1174,0.10,2.25,0.00,0.000,6,0.130,0.044,2390,1910,3398,0,0,0,0,0,0
$GC,1494,-0.76,-146.0,142.0,-6.8,199,1498,0.00,2.30,0.00,0.000,4,0.000,0.064,2391,507,3398,0,0,0,0,0,0
$GC,1744,-0.76,-146.0,159.8,-6.8,221,1755,0.00,2.25,0.00,0.000,6,0.000,0.044,2383,1921,3398,0,0,0,0,0,0
$GC,2072,-0.76,-146.0,184.9,-7.5,252,2076,0.00,2.30,0.00,0.000,4,0.000,0.063,2383,507,3398,0,0,0,0,0,0
$GC,2239,-0.76,-146.0,197.8,-7.1,267,2244,0.00,2.22,0.00,0.000,6,0.000,0.043,2374,1930,3398,0,0,0,0,0,0
$GC,2567,-0.76,-146.0,223.3,-7.8,284,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1930,3398,0,0,0,0,0,0
$GC,2876,-0.76,-146.0,242.8,-5.9,299,2880,0.00,2.35,0.00,0.000,4,0.000,0.061,2374,503,3398,0,0,0,0,0,0
$GC,3128,-0.76,-146.0,258.6,-6.5,310,3133,0.12,2.20,0.00,0.000,6,0.156,0.041,2397,1921,3398,0,0,0,0,0,0
$GC,3445,-0.76,-146.0,279.5,-6.3,325,3449,0.00,2.30,0.00,0.000,4,0.000,0.060,2398,506,3398,0,0,0,0,0,0
$GC,3531,-0.76,-146.0,284.3,-5.2,329,3535,0.00,2.20,0.00,0.000,6,0.000,0.041,2389,1925,3398,0,0,0,0,0,0
$GC,3860,-0.76,-146.0,299.4,-4.9,345,3864,0.00,2.30,0.00,0.000,4,0.000,0.065,2379,3327,3398,0,0,0,0,0,0
$GC,3918,-0.76,-146.0,302.7,-5.8,347,3922,0.00,2.28,0.00,0.000,6,0.000,0.050,2379,1914,3398,0,0,0,0,0,0
$GC,4266,-0.76,-146.0,324.6,-6.1,356,4270,0.00,2.28,0.00,0.000,4,0.000,0.065,2379,507,3396,0,0,0,0,0,0
$GC,4367,-0.76,-146.0,329.3,-4.8,358,4371,0.00,2.20,0.00,0.000,6,0.000,0.040,2370,1930,3395,0,0,0,0,0,0
$GC,4687,-0.76,-146.0,345.1,-5.3,366,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1930,3394,0,0,0,0,0,0
$GC,5012,-0.76,-146.0,358.9,-4.2,374,5016,0.00,2.33,0.00,0.000,4,0.000,0.061,2370,509,3393,0,0,0,0,0,0
$GC,5214,-0.76,-146.0,369.0,-5.1,378,5218,0.12,2.20,0.00,0.000,6,0.153,0.041,2393,1930,3392,0,0,0,0,0,0
$GC,5553,-0.76,-146.0,380.2,-2.9,387,5557,0.00,2.33,0.00,0.000,4,0.000,0.062,2393,509,3389,0,0,0,0,0,0
$GC,5733,-0.76,-146.0,390.7,-6.7,391,5737,0.00,2.22,0.00,0.000,6,0.000,0.042,2385,1923,3388,0,0,0,0,0,0
$GC,6053,-0.76,-146.0,411.8,-6.4,399,6057,0.00,2.28,0.00,0.000,4,0.000,0.067,2375,3331,3387,0,0,0,0,0,0
$GC,6121,-0.76,-146.0,416.5,-7.0,400,6125,0.00,2.28,0.00,0.000,6,0.000,0.051,2375,1915,3387,0,0,0,0,0,0
$GC,6460,-0.76,-146.0,441.5,-7.7,409,6464,0.00,2.30,0.00,0.000,4,0.000,0.068,2375,508,3386,0,0,0,0,0,0
$STATE,6575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6575,begin apogee
$GC,6586,-0.17,0.0,450.2,7.3,411,6713,0.68,0.00,123.38,0.751,6,0.119,0.000,2583,2001,2800,0,0,0,0,0,0
$STATE,6714,end apogee,CONTROL_FINISHED_OK
$STATE,6714,begin climb
$GC,6717,0.76,146.0,451.8,0.0,414,6855,0.85,2.30,128.73,0.727,4,0.067,0.064,2884,3406,2202,0,0,0,0,0,0
$GC,6918,0.76,146.0,431.6,11.7,418,6922,0.00,2.28,0.00,0.000,6,0.000,0.048,2893,2000,2199,0,0,0,0,0,0
$GC,7255,0.76,146.0,395.7,10.0,427,7258,0.00,2.30,0.00,0.000,4,0.000,0.062,2893,3413,2195,0,0,0,0,0,0
$GC,7293,0.76,146.0,391.2,12.3,427,7299,0.00,2.28,0.00,0.000,6,0.000,0.049,2901,1997,2194,0,0,0,0,0,0
$GC,7625,0.76,146.0,355.3,10.8,436,7629,0.00,2.30,0.00,0.000,4,0.000,0.063,2901,3411,2193,0,0,0,0,0,0
$GC,7665,0.76,146.0,350.4,12.7,437,7669,0.00,2.25,0.00,0.000,6,0.000,0.051,2910,1998,2193,0,0,0,0,0,0
$GC,7989,0.79,168.1,317.7,8.6,445,8013,0.00,2.35,19.17,0.655,4,0.000,0.064,2910,3413,2112,0,0,0,0,0,0
$GC,8127,0.80,177.2,305.6,9.2,448,8141,0.00,2.28,9.25,0.592,6,0.000,0.052,2920,1998,2077,0,0,0,0,0,0
$GC,8453,0.80,177.2,275.7,10.8,462,8457,0.00,2.30,0.00,0.000,4,0.000,0.064,2919,3408,2074,0,0,0,0,0,0
$GC,8588,0.80,177.2,259.1,11.9,468,8593,0.00,2.28,0.00,0.000,6,0.000,0.053,2929,1997,2073,0,0,0,0,0,0
$GC,8910,0.80,177.2,217.3,12.6,484,8914,0.00,2.28,0.00,0.000,4,0.000,0.055,2929,3413,2072,0,0,0,0,0,0
$GC,8982,0.80,177.2,207.8,12.8,487,8987,0.12,2.22,0.00,0.000,6,0.144,0.043,2902,1983,2072,0,0,0,0,0,0
$GC,9307,0.82,193.8,177.6,8.8,513,9331,0.00,2.33,15.48,0.565,4,0.000,0.052,2902,3415,2008,0,0,0,0,0,0
$GC,9390,0.85,212.1,170.4,8.8,520,9414,0.00,2.20,17.80,0.561,6,0.000,0.042,2909,2000,1933,0,0,0,0,0,0
$GC,9734,0.88,241.8,144.0,8.3,552,9769,0.00,2.30,26.77,0.548,4,0.000,0.051,2909,3410,1813,0,0,0,0,0,0
$GC,9828,0.90,256.7,135.8,8.9,560,9852,0.00,2.22,14.82,0.515,6,0.000,0.042,2918,1992,1752,0,0,0,0,0,0
$GC,10173,0.92,271.5,104.7,8.9,592,10198,0.00,2.30,14.18,0.490,4,0.000,0.060,2919,590,1692,0,0,0,0,0,0
$GC,10245,0.94,291.0,98.5,8.7,598,10270,0.00,2.20,18.62,0.494,6,0.000,0.037,2919,2016,1612,0,0,0,0,0,0
$GC,10591,0.96,308.7,65.8,8.8,643,10615,0.00,2.22,16.30,0.463,4,0.000,0.052,2919,3402,1541,0,0,0,0,0,0
$GC,10651,0.99,327.0,60.5,8.8,653,10675,0.00,2.22,16.83,0.456,6,0.000,0.042,2925,1992,1466,0,0,0,0,0,0
$GC,11005,1.06,388.4,32.2,6.9,717,11067,0.15,2.33,51.10,0.452,4,0.066,0.052,3004,3401,1214,0,0,0,0,0,0
$GC,11089,1.06,388.4,24.4,9.8,730,11096,0.00,2.25,0.00,0.000,6,0.000,0.040,3013,1993,1213,0,0,0,0,0,0
$GC,11258,1.06,388.4,5.6,9.7,761,11265,0.00,2.33,0.00,0.000,4,0.000,0.069,3021,596,1212,0,0,0,0,0,0
$STATE,11281,end climb,SURFACE_DEPTH_REACHED
$STATE,11282,begin surface coast
$FINISH,0.7,0.998346
$STATE,11310,end surface coast,CONTROL_FINISHED_OK
$STATE,11310,begin surface
$SM_CCo,11391,0.00,0.000,0,0,1208,390.51
$SM_GC,1.63,7.65,0.00,0.00,0.025,0.000,0.000,27,1911,1208,-8.01,-0.25,390.51
$IRIDIUM_FIX,2054.83,-15746.61,161002,141418
$TT8_MAMPS,0.027612
$HUMID,68.90
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,24.2,67.626
$10V_AH,9.9,75.056
$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,19.550,113.625,472.425,0.000,0.000,57.366,66.612,304.746,19.000,0.000,42.640,1417.629,6724.251,477.025,2682.304,763.997,33.350,1482.343,0.000,2597.091,0.000,117.271,0.000
$DEVICE_MAMPS,222.430,69.030,750.893,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,523.250,432.669,1489.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,41407,770
$CAP_FILE_SIZE,130148,0
$CFSIZE,260165632,215744512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220713,171254,2106.094,-15753.799,14,1.4,14,9.8