version: 66.06
glider: 523
mission: 4
dive: 774
start: 7 22 113 20 41 1
data:
$ID,523
$MISSION,4
$DIVE,774
$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,-51699.551
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,203242,2105.879,-15752.933,13,1.5,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.3
$GPS2,204008,2105.762,-15752.951,18,0.9,18,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.253,-0.042
$KALMAN_X,-87966.5,-1095.6,-241.2,90222.6,797.9
$KALMAN_Y,6758.3,-538.7,-8.3,-12248.5,409.0
$MHEAD_RNG_PITCHd_Wd,89.5,17336,-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,-78.62,0.000,6,0.000,0.000,27,1918,3396,0,0,0,0,0,0
$GC,104,-0.76,-146.0,4.1,-6.6,13,118,9.73,2.30,0.00,0.000,4,0.221,0.061,2383,504,3398,0,0,0,0,0,0
$GC,175,-0.76,-146.0,18.5,-13.4,25,182,0.00,2.25,0.00,0.000,6,0.000,0.044,2375,1907,3398,0,0,0,0,0,0
$GC,344,-0.76,-146.0,38.6,-11.5,56,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1907,3399,0,0,0,0,0,0
$GC,680,-0.76,-146.0,72.1,-9.7,117,685,0.00,2.30,0.00,0.000,4,0.000,0.065,2375,513,3400,0,0,0,0,0,0
$GC,805,-0.76,-146.0,85.0,-10.1,135,816,0.00,2.22,0.00,0.000,6,0.000,0.044,2366,1911,3401,0,0,0,0,0,0
$GC,1134,-0.76,-146.0,115.2,-7.3,166,1138,0.00,2.33,0.00,0.000,4,0.000,0.064,2356,3334,3401,0,0,0,0,0,0
$GC,1154,-0.76,-146.0,116.9,-8.1,167,1159,0.15,2.25,0.00,0.000,6,0.145,0.050,2395,1917,3402,0,0,0,0,0,0
$GC,1481,-0.76,-146.0,138.3,-7.1,197,1486,0.00,2.30,0.00,0.000,4,0.000,0.070,2396,506,3403,0,0,0,0,0,0
$GC,1728,-0.76,-146.0,158.4,-6.6,219,1732,0.00,2.20,0.00,0.000,6,0.000,0.041,2387,1924,3403,0,0,0,0,0,0
$GC,2056,-0.76,-146.0,179.5,-6.2,249,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1924,3403,0,0,0,0,0,0
$GC,2384,-0.76,-146.0,200.4,-6.3,280,2388,0.00,2.33,0.00,0.000,4,0.000,0.062,2388,503,3403,0,0,0,0,0,0
$GC,2439,-0.76,-146.0,204.7,-7.1,282,2446,0.00,2.20,0.00,0.000,6,0.000,0.041,2378,1922,3402,0,0,0,0,0,0
$GC,2758,-0.76,-146.0,224.6,-5.7,298,2763,0.00,2.33,0.00,0.000,4,0.000,0.061,2378,511,3403,0,0,0,0,0,0
$GC,2848,-0.76,-146.0,229.7,-5.1,302,2852,0.00,2.20,0.00,0.000,6,0.000,0.041,2369,1927,3403,0,0,0,0,0,0
$GC,3185,-0.76,-146.0,250.2,-6.7,318,3189,0.00,2.33,0.00,0.000,4,0.000,0.061,2369,510,3403,0,0,0,0,0,0
$GC,3287,-0.76,-146.0,257.6,-7.0,322,3292,0.12,2.20,0.00,0.000,6,0.153,0.041,2392,1926,3402,0,0,0,0,0,0
$GC,3606,-0.76,-146.0,272.2,-4.3,337,3610,0.00,2.33,0.00,0.000,4,0.000,0.061,2392,503,3402,0,0,0,0,0,0
$GC,3849,-0.76,-146.0,286.1,-6.1,348,3853,0.00,2.22,0.00,0.000,6,0.000,0.041,2385,1923,3402,0,0,0,0,0,0
$GC,4178,-0.76,-146.0,310.2,-7.8,361,4182,0.00,2.33,0.00,0.000,4,0.000,0.061,2385,509,3400,0,0,0,0,0,0
$GC,4246,-0.76,-146.0,315.8,-7.1,362,4250,0.00,2.22,0.00,0.000,6,0.000,0.041,2375,1927,3399,0,0,0,0,0,0
$GC,4585,-0.76,-146.0,336.6,-6.2,371,4589,0.00,2.35,0.00,0.000,4,0.000,0.061,2376,503,3398,0,0,0,0,0,0
$GC,4686,-0.76,-146.0,342.7,-6.0,373,4690,0.00,2.22,0.00,0.000,6,0.000,0.041,2366,1921,3397,0,0,0,0,0,0
$GC,5036,-0.76,-146.0,357.5,-4.3,382,5040,0.00,2.33,0.00,0.000,4,0.000,0.062,2366,511,3396,0,0,0,0,0,0
$GC,5296,-0.76,-146.0,373.0,-6.4,387,5302,0.15,2.20,0.00,0.000,6,0.147,0.043,2397,1921,3395,0,0,0,0,0,0
$GC,5629,-0.76,-146.0,390.4,-4.8,396,5633,0.00,2.30,0.00,0.000,4,0.000,0.064,2398,510,3394,0,0,0,0,0,0
$GC,5725,-0.76,-146.0,395.7,-5.9,398,5729,0.00,2.20,0.00,0.000,6,0.000,0.043,2390,1920,3393,0,0,0,0,0,0
$GC,6040,-0.76,-146.0,412.2,-5.5,406,6044,0.00,2.38,0.00,0.000,4,0.000,0.064,2390,508,3391,0,0,0,0,0,0
$GC,6119,-0.76,-146.0,416.9,-6.1,407,6124,0.00,2.25,0.00,0.000,6,0.000,0.044,2381,1929,3390,0,0,0,0,0,0
$GC,6451,-0.76,-146.0,430.1,-3.4,416,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1930,3389,0,0,0,0,0,0
$GC,6776,-0.76,-146.0,446.3,-5.8,424,6780,0.00,2.35,0.00,0.000,4,0.000,0.064,2380,511,3388,0,0,0,0,0,0
$STATE,6830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6830,begin apogee
$GC,6840,-0.17,0.0,450.2,7.0,425,6967,0.65,0.00,123.78,0.759,6,0.120,0.000,2580,2008,2799,0,0,0,0,0,0
$STATE,6968,end apogee,CONTROL_FINISHED_OK
$STATE,6968,begin climb
$GC,6971,0.76,146.0,452.5,0.0,428,7110,0.88,2.38,128.60,0.736,4,0.069,0.070,2887,3404,2202,0,0,0,0,0,0
$GC,7155,0.76,146.0,437.2,10.6,432,7159,0.00,2.30,0.00,0.000,6,0.000,0.051,2896,2001,2199,0,0,0,0,0,0
$GC,7504,0.78,155.7,404.4,9.1,441,7518,0.00,2.35,8.80,0.621,4,0.000,0.062,2896,3404,2165,0,0,0,0,0,0
$GC,7693,0.78,157.1,386.8,9.5,445,7697,0.00,2.22,0.00,0.000,6,0.000,0.048,2906,1993,2162,0,0,0,0,0,0
$GC,8006,0.78,158.6,358.1,9.5,453,8010,0.00,2.35,0.00,0.000,4,0.000,0.064,2906,3420,2161,0,0,0,0,0,0
$GC,8067,0.78,158.6,352.0,9.6,454,8071,0.00,2.25,0.00,0.000,6,0.000,0.050,2916,2001,2161,0,0,0,0,0,0
$GC,8414,0.78,158.6,320.7,9.8,463,8418,0.00,2.33,0.00,0.000,4,0.000,0.065,2916,3408,2160,0,0,0,0,0,0
$GC,8448,0.78,158.6,316.8,11.4,463,8454,0.12,2.25,0.00,0.000,6,0.146,0.052,2891,1999,2160,0,0,0,0,0,0
$GC,8761,0.80,174.8,288.3,8.8,474,8786,0.00,2.38,17.67,0.647,4,0.000,0.064,2890,3416,2085,0,0,0,0,0,0
$GC,8874,0.80,174.8,277.2,9.7,479,8878,0.00,2.22,0.00,0.000,6,0.000,0.041,2898,1985,2084,0,0,0,0,0,0
$GC,9200,0.84,205.5,249.6,8.2,495,9235,0.00,2.33,28.10,0.638,4,0.000,0.053,2898,3407,1961,0,0,0,0,0,0
$GC,9317,0.84,205.5,238.1,10.6,500,9321,0.00,2.22,0.00,0.000,6,0.000,0.041,2907,1996,1959,0,0,0,0,0,0
$GC,9638,0.86,223.2,207.5,8.8,516,9659,0.00,2.35,16.70,0.591,4,0.000,0.052,2907,3426,1889,0,0,0,0,0,0
$GC,9789,0.86,223.2,191.2,11.6,525,9796,0.00,2.25,0.00,0.000,6,0.000,0.041,2911,2006,1888,0,0,0,0,0,0
$GC,10116,0.93,277.0,161.6,7.2,556,10174,0.00,2.33,48.12,0.580,4,0.000,0.053,2911,3413,1669,0,0,0,0,0,0
$GC,10224,0.93,277.0,152.9,9.6,565,10228,0.00,2.22,0.00,0.000,6,0.000,0.041,2920,1994,1669,0,0,0,0,0,0
$GC,10551,0.93,277.0,122.2,9.9,595,10555,0.00,2.25,0.00,0.000,4,0.000,0.056,2929,585,1668,0,0,0,0,0,0
$GC,10582,0.93,277.0,119.1,11.3,597,10587,0.00,2.20,0.00,0.000,6,0.000,0.035,2929,2024,1668,0,0,0,0,0,0
$GC,10910,0.93,277.2,86.1,9.5,627,10913,0.00,2.20,0.00,0.000,4,0.000,0.056,2929,3408,1667,0,0,0,0,0,0
$GC,10989,0.93,277.2,78.0,10.8,635,10995,0.00,2.17,0.00,0.000,6,0.000,0.041,2938,2000,1667,0,0,0,0,0,0
$GC,11320,0.93,277.2,45.6,10.2,696,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2000,1667,0,0,0,0,0,0
$GC,11648,0.96,307.8,17.2,8.2,757,11681,0.00,2.22,27.33,0.453,4,0.000,0.051,2937,3401,1544,0,0,0,0,0,0
$GC,11707,0.98,319.6,12.3,9.0,766,11729,0.00,2.22,11.70,0.409,6,0.000,0.045,2945,2006,1495,0,0,0,0,0,0
$STATE,11808,end climb,SURFACE_DEPTH_REACHED
$STATE,11808,begin surface coast
$FINISH,0.7,1.005405
$STATE,11838,end surface coast,CONTROL_FINISHED_OK
$STATE,11838,begin surface
$SM_CCo,11918,0.00,0.000,0,0,1490,321.34
$SM_GC,1.58,7.47,0.00,0.00,0.027,0.000,0.000,48,1911,1490,-8.00,-0.20,321.34
$IRIDIUM_FIX,2052.52,-15705.05,161002,171717
$TT8_MAMPS,0.027612
$HUMID,69.84
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,24.2,67.821
$10V_AH,9.9,75.287
$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,19.275,113.950,410.800,0.000,0.000,28.035,40.465,213.960,19.000,0.000,18.624,1455.629,7135.860,444.700,2696.143,623.208,33.357,1438.699,0.000,2643.099,0.000,117.269,0.000
$DEVICE_MAMPS,220.896,105.079,758.563,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,538.463,442.937,1504.810,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,44405,789
$CAP_FILE_SIZE,128433,0
$CFSIZE,260165632,215613440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230713,000055,2105.389,-15752.479,40,2.0,40,9.8