version: 66.06
glider: 523
mission: 4
dive: 773
start: 7 22 113 17 22 25
data:
$ID,523
$MISSION,4
$DIVE,773
$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,-51680.297
$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,26
$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
$GPS1,171254,2106.094,-15753.799,14,1.4,14,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,6
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.6
$GPS2,172134,2106.025,-15753.860,32,0.8,32,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.253,-0.041
$KALMAN_X,-86361.1,-1182.2,-1001.9,87895.0,3.9
$KALMAN_Y,7151.0,-643.8,-225.1,-11831.6,336.7
$MHEAD_RNG_PITCHd_Wd,89.4,18911,-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,17,-0.76,-146.0,0.0,0.0,0,113,0.00,0.00,-91.93,0.000,6,0.000,0.000,27,1911,3396,0,0,0,0,0,0
$GC,117,-0.76,-146.0,3.3,-4.2,15,132,9.75,2.30,0.00,0.000,4,0.222,0.060,2388,507,3398,0,0,0,0,0,0
$GC,197,-0.76,-146.0,18.1,-14.5,29,205,0.00,2.25,0.00,0.000,6,0.000,0.043,2379,1917,3399,0,0,0,0,0,0
$GC,369,-0.76,-146.0,39.2,-11.8,60,376,0.00,2.33,0.00,0.000,4,0.000,0.064,2379,519,3399,0,0,0,0,0,0
$GC,434,-0.76,-146.0,47.0,-12.1,71,439,0.00,2.22,0.00,0.000,6,0.000,0.044,2371,1925,3399,0,0,0,0,0,0
$GC,772,-0.76,-146.0,82.7,-9.7,131,776,0.00,2.30,0.00,0.000,4,0.000,0.065,2360,3334,3400,0,0,0,0,0,0
$GC,890,-0.76,-146.0,93.2,-7.8,141,895,0.12,2.22,0.00,0.000,6,0.150,0.048,2392,1927,3401,0,0,0,0,0,0
$GC,1218,-0.76,-146.0,116.1,-6.0,171,1222,0.00,2.28,0.00,0.000,4,0.000,0.067,2393,509,3401,0,0,0,0,0,0
$GC,1238,-0.76,-146.0,117.4,-6.1,172,1242,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,1919,3401,0,0,0,0,0,0
$GC,1565,-0.76,-146.0,141.4,-7.6,202,1570,0.00,2.28,0.00,0.000,4,0.000,0.065,2374,3330,3401,0,0,0,0,0,0
$GC,1791,-0.76,-146.0,160.1,-8.4,222,1795,0.00,2.22,0.00,0.000,6,0.000,0.047,2374,1918,3401,0,0,0,0,0,0
$GC,2123,-0.76,-146.0,181.9,-7.1,253,2127,0.00,2.28,0.00,0.000,4,0.000,0.066,2374,505,3402,0,0,0,0,0,0
$GC,2295,-0.76,-146.0,197.3,-8.4,268,2300,0.12,2.22,0.00,0.000,6,0.156,0.042,2397,1924,3402,0,0,0,0,0,0
$GC,2625,-0.76,-146.0,220.5,-6.5,285,2629,0.00,2.30,0.00,0.000,4,0.000,0.061,2398,504,3402,0,0,0,0,0,0
$GC,2769,-0.76,-146.0,228.5,-4.9,291,2773,0.00,2.22,0.00,0.000,6,0.000,0.041,2390,1931,3402,0,0,0,0,0,0
$GC,3088,-0.76,-146.0,245.8,-6.4,306,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1931,3402,0,0,0,0,0,0
$GC,3395,-0.76,-146.0,268.3,-7.8,321,3399,0.00,2.33,0.00,0.000,4,0.000,0.059,2390,511,3402,0,0,0,0,0,0
$GC,3520,-0.76,-146.0,277.7,-6.5,326,3525,0.00,2.20,0.00,0.000,6,0.000,0.041,2380,1919,3402,0,0,0,0,0,0
$GC,3837,-0.76,-146.0,292.0,-3.8,342,3841,0.00,2.25,0.00,0.000,4,0.000,0.064,2370,3324,3400,0,0,0,0,0,0
$GC,3985,-0.76,-146.0,298.6,-6.2,348,3990,0.00,2.22,0.00,0.000,6,0.000,0.048,2370,1917,3401,0,0,0,0,0,0
$GC,4299,-0.76,-146.0,323.3,-8.9,357,4303,0.00,2.28,0.00,0.000,4,0.000,0.064,2370,508,3398,0,0,0,0,0,0
$GC,4355,-0.76,-146.0,328.6,-8.9,358,4360,0.12,2.20,0.00,0.000,6,0.153,0.041,2393,1929,3398,0,0,0,0,0,0
$GC,4707,-0.76,-146.0,351.9,-6.6,367,4711,0.00,2.30,0.00,0.000,4,0.000,0.060,2393,508,3396,0,0,0,0,0,0
$GC,4852,-0.76,-146.0,362.7,-6.8,370,4856,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1922,3396,0,0,0,0,0,0
$GC,5202,-0.76,-146.0,380.3,-5.0,379,5206,0.00,2.33,0.00,0.000,4,0.000,0.061,2386,505,3394,0,0,0,0,0,0
$GC,5462,-0.76,-146.0,393.6,-4.2,384,5467,0.00,2.22,0.00,0.000,6,0.000,0.042,2377,1921,3393,0,0,0,0,0,0
$GC,5793,-0.76,-146.0,409.2,-4.9,393,5797,0.00,2.33,0.00,0.000,4,0.000,0.062,2377,505,3391,0,0,0,0,0,0
$GC,5951,-0.76,-146.0,418.4,-5.3,396,5955,0.00,2.22,0.00,0.000,6,0.000,0.044,2368,1926,3390,0,0,0,0,0,0
$GC,6288,-0.76,-146.0,438.0,-6.1,405,6292,0.00,2.35,0.00,0.000,4,0.000,0.064,2367,503,3388,0,0,0,0,0,0
$GC,6433,-0.76,-146.0,447.1,-6.6,408,6437,0.12,2.25,0.00,0.000,6,0.156,0.044,2391,1920,3388,0,0,0,0,0,0
$STATE,6494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6494,begin apogee
$GC,6501,-0.17,0.0,450.1,4.7,410,6627,0.60,0.00,123.47,0.752,6,0.107,0.000,2588,2003,2800,0,0,0,0,0,0
$STATE,6628,end apogee,CONTROL_FINISHED_OK
$STATE,6628,begin climb
$GC,6632,0.76,146.0,450.2,0.0,413,6765,0.88,0.00,129.25,0.729,6,0.067,0.000,2894,2003,2204,0,0,0,0,0,0
$GC,7063,0.76,146.0,407.0,10.4,424,7067,0.00,2.22,0.00,0.000,4,0.000,0.057,2894,3408,2195,0,0,0,0,0,0
$GC,7193,0.77,152.0,394.3,9.3,427,7203,0.00,2.25,5.10,0.519,6,0.000,0.048,2904,1987,2180,0,0,0,0,0,0
$GC,7517,0.79,163.0,364.7,9.1,435,7533,0.00,2.30,11.45,0.640,4,0.000,0.055,2904,3408,2134,0,0,0,0,0,0
$GC,7573,0.79,163.0,359.0,10.1,436,7577,0.00,2.22,0.00,0.000,6,0.000,0.048,2913,1997,2133,0,0,0,0,0,0
$GC,7921,0.79,163.0,319.8,11.5,445,7925,0.00,2.30,0.00,0.000,4,0.000,0.061,2913,3406,2131,0,0,0,0,0,0
$GC,7966,0.79,163.0,314.7,11.6,446,7970,0.00,2.22,0.00,0.000,6,0.000,0.050,2922,1993,2131,0,0,0,0,0,0
$GC,8287,0.79,163.0,279.5,11.9,458,8291,0.00,2.30,0.00,0.000,4,0.000,0.055,2922,3408,2130,0,0,0,0,0,0
$GC,8342,0.79,163.0,272.5,11.9,460,8348,0.12,2.22,0.00,0.000,6,0.146,0.043,2897,1992,2129,0,0,0,0,0,0
$GC,8658,0.79,163.0,241.2,10.2,476,8662,0.00,2.25,0.00,0.000,4,0.000,0.054,2897,3409,2129,0,0,0,0,0,0
$GC,8743,0.79,163.0,232.4,10.8,480,8747,0.00,2.20,0.00,0.000,6,0.000,0.041,2905,2000,2129,0,0,0,0,0,0
$GC,9070,0.81,182.5,202.4,8.7,496,9094,0.00,2.30,17.80,0.592,4,0.000,0.054,2905,3406,2053,0,0,0,0,0,0
$GC,9170,0.81,182.5,192.8,10.2,503,9174,0.00,2.20,0.00,0.000,6,0.000,0.041,2915,1993,2051,0,0,0,0,0,0
$GC,9497,0.81,182.5,161.7,10.3,533,9501,0.00,2.22,0.00,0.000,4,0.000,0.060,2925,595,2050,0,0,0,0,0,0
$GC,9614,0.81,182.5,149.1,10.5,543,9619,0.00,2.17,0.00,0.000,6,0.000,0.041,2925,2006,2050,0,0,0,0,0,0
$GC,9941,0.81,182.5,116.9,9.6,573,9945,0.00,2.20,0.00,0.000,4,0.000,0.054,2925,3412,2050,0,0,0,0,0,0
$GC,10028,0.81,182.5,107.4,11.0,580,10036,0.08,2.22,0.00,0.000,6,0.114,0.041,2906,2004,2050,0,0,0,0,0,0
$GC,10356,0.87,234.3,76.3,7.3,615,10407,0.00,2.28,45.45,0.508,4,0.000,0.059,2907,588,1843,0,0,0,0,0,0
$GC,10462,0.91,264.4,68.3,8.2,633,10498,0.00,2.22,27.17,0.486,6,0.000,0.038,2907,2005,1722,0,0,0,0,0,0
$GC,10829,0.97,309.1,40.9,7.6,699,10876,0.12,2.35,38.62,0.468,4,0.077,0.059,2985,596,1540,0,0,0,0,0,0
$GC,10915,0.97,309.1,33.8,9.7,713,10921,0.12,2.22,0.00,0.000,6,0.124,0.042,2948,2000,1539,0,0,0,0,0,0
$GC,11239,0.97,309.1,3.7,10.0,774,11247,0.00,2.25,0.00,0.000,4,0.000,0.054,2948,3405,1539,0,0,0,0,0,0
$STATE,11253,end climb,SURFACE_DEPTH_REACHED
$STATE,11253,begin surface coast
$FINISH,0.6,1.010373
$STATE,11287,end surface coast,CONTROL_FINISHED_OK
$STATE,11287,begin surface
$SM_CCo,11368,0.00,0.000,0,0,1536,310.05
$SM_GC,1.40,7.53,0.00,0.00,0.029,0.000,0.000,27,1920,1536,-8.01,0.03,310.05
$IRIDIUM_FIX,2054.83,-15754.77,161002,141455
$TT8_MAMPS,0.027612
$HUMID,70.35
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,24.2,67.723
$10V_AH,9.9,75.172
$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,19.700,112.925,398.325,0.000,0.000,25.825,43.324,273.292,19.000,0.000,32.527,1437.721,6636.931,461.886,2659.506,681.540,33.352,1400.761,0.000,2593.531,0.000,117.271,0.000
$DEVICE_MAMPS,221.663,103.545,752.427,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,531.525,443.173,1509.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,44407,782
$CAP_FILE_SIZE,126064,0
$CFSIZE,260165632,215683072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220713,203242,2105.879,-15752.933,13,1.5,13,9.8