version: 66.06
glider: 523
mission: 4
dive: 775
start: 7 23 113 0 9 10
data:
$ID,523
$MISSION,4
$DIVE,775
$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,-51718.008
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,000055,2105.389,-15752.479,40,2.0,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.9
$GPS2,000817,2105.306,-15752.572,17,0.8,17,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.256,0.005
$KALMAN_X,-90564.2,-701.3,420.7,92436.3,-989.7
$KALMAN_Y,6042.7,-218.1,-3.9,-12698.5,30.4
$MHEAD_RNG_PITCHd_Wd,79.0,16708,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-81.12,0.000,6,0.000,0.000,48,1909,3396,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.4,-4.5,13,118,9.75,0.00,0.00,0.000,6,0.225,0.000,2384,1909,3398,0,0,0,0,0,0
$GC,281,-0.76,-146.0,29.3,-11.8,45,288,0.00,2.30,0.00,0.000,4,0.000,0.067,2385,525,3400,0,0,0,0,0,0
$GC,507,-0.76,-146.0,55.7,-10.3,86,515,0.00,2.20,0.00,0.000,6,0.000,0.043,2377,1902,3400,0,0,0,0,0,0
$GC,851,-0.76,-146.0,85.8,-8.5,142,855,0.00,2.28,0.00,0.000,4,0.000,0.067,2377,525,3402,0,0,0,0,0,0
$GC,1058,-0.76,-146.0,103.7,-8.0,160,1062,0.00,2.17,0.00,0.000,6,0.000,0.042,2368,1926,3402,0,0,0,0,0,0
$GC,1386,-0.76,-146.0,130.6,-9.2,190,1390,0.00,2.30,0.00,0.000,4,0.000,0.066,2368,518,3402,0,0,0,0,0,0
$GC,1636,-0.76,-146.0,156.4,-10.0,212,1644,0.10,2.22,0.00,0.000,6,0.132,0.042,2391,1921,3403,0,0,0,0,0,0
$GC,1964,-0.76,-146.0,182.7,-6.3,243,1968,0.00,2.33,0.00,0.000,4,0.000,0.064,2391,521,3403,0,0,0,0,0,0
$GC,2113,-0.76,-146.0,192.2,-5.9,256,2118,0.00,2.17,0.00,0.000,6,0.000,0.042,2383,1920,3403,0,0,0,0,0,0
$GC,2435,-0.76,-146.0,216.0,-8.3,276,2439,0.00,2.28,0.00,0.000,4,0.000,0.064,2373,3329,3404,0,0,0,0,0,0
$GC,2475,-0.76,-146.0,219.4,-8.1,278,2480,0.00,2.25,0.00,0.000,6,0.000,0.050,2373,1931,3404,0,0,0,0,0,0
$GC,2812,-0.76,-146.0,240.2,-5.6,294,2816,0.00,2.30,0.00,0.000,4,0.000,0.061,2363,3330,3403,0,0,0,0,0,0
$GC,2907,-0.76,-146.0,246.3,-6.2,298,2912,0.12,2.25,0.00,0.000,6,0.143,0.051,2396,1916,3403,0,0,0,0,0,0
$GC,3223,-0.76,-146.0,268.2,-7.6,313,3227,0.00,2.30,0.00,0.000,4,0.000,0.067,2397,508,3403,0,0,0,0,0,0
$GC,3377,-0.76,-146.0,279.1,-5.9,319,3382,0.00,2.20,0.00,0.000,6,0.000,0.040,2389,1933,3403,0,0,0,0,0,0
$GC,3695,-0.76,-146.0,295.2,-4.3,335,3699,0.00,2.33,0.00,0.000,4,0.000,0.063,2389,504,3403,0,0,0,0,0,0
$GC,3825,-0.76,-146.0,301.1,-4.7,340,3831,0.00,2.22,0.00,0.000,6,0.000,0.041,2380,1929,3403,0,0,0,0,0,0
$GC,4158,-0.76,-146.0,320.1,-6.7,349,4162,0.00,2.33,0.00,0.000,4,0.000,0.062,2379,504,3401,0,0,0,0,0,0
$GC,4237,-0.76,-146.0,326.8,-7.8,350,4241,0.00,2.22,0.00,0.000,6,0.000,0.042,2371,1918,3401,0,0,0,0,0,0
$GC,4571,-0.76,-146.0,352.2,-6.2,358,4575,0.00,2.30,0.00,0.000,4,0.000,0.063,2371,509,3400,0,0,0,0,0,0
$GC,4632,-0.76,-146.0,356.5,-6.9,359,4637,0.12,2.22,0.00,0.000,6,0.154,0.043,2393,1922,3400,0,0,0,0,0,0
$GC,4977,-0.76,-146.0,372.6,-4.7,368,4981,0.00,2.33,0.00,0.000,4,0.000,0.062,2394,504,3398,0,0,0,0,0,0
$GC,5122,-0.76,-146.0,380.2,-5.1,371,5126,0.00,2.25,0.00,0.000,6,0.000,0.043,2386,1931,3397,0,0,0,0,0,0
$GC,5435,-0.76,-146.0,395.0,-4.5,379,5439,0.00,2.33,0.00,0.000,4,0.000,0.063,2386,504,3396,0,0,0,0,0,0
$GC,5589,-0.76,-146.0,404.0,-7.1,382,5593,0.00,2.22,0.00,0.000,6,0.000,0.044,2377,1924,3395,0,0,0,0,0,0
$GC,5940,-0.76,-146.0,425.9,-6.7,391,5944,0.00,2.33,0.00,0.000,4,0.000,0.064,2377,509,3393,0,0,0,0,0,0
$GC,6007,-0.76,-146.0,430.8,-6.6,392,6011,0.00,2.22,0.00,0.000,6,0.000,0.044,2368,1929,3393,0,0,0,0,0,0
$STATE,6342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6342,begin apogee
$GC,6350,-0.17,0.0,451.0,5.8,401,6478,0.68,0.00,124.93,0.752,6,0.113,0.000,2583,2011,2800,0,0,0,0,0,0
$STATE,6479,end apogee,CONTROL_FINISHED_OK
$STATE,6479,begin climb
$GC,6482,0.76,146.0,451.3,0.0,404,6620,0.85,2.35,128.93,0.730,4,0.067,0.064,2886,3410,2202,0,0,0,0,0,0
$GC,6761,0.76,146.0,419.9,13.2,410,6765,0.00,2.28,0.00,0.000,6,0.000,0.048,2895,1993,2197,0,0,0,0,0,0
$GC,7104,0.76,146.0,380.5,11.4,419,7108,0.00,2.30,0.00,0.000,4,0.000,0.060,2895,3419,2195,0,0,0,0,0,0
$GC,7198,0.76,146.0,369.0,12.5,421,7202,0.00,2.22,0.00,0.000,6,0.000,0.038,2905,1985,2193,0,0,0,0,0,0
$GC,7512,0.76,146.0,335.9,10.0,429,7516,0.00,2.25,0.00,0.000,4,0.000,0.051,2905,3412,2193,0,0,0,0,0,0
$GC,7596,0.76,146.0,326.8,11.2,431,7600,0.00,2.20,0.00,0.000,6,0.000,0.038,2915,1992,2193,0,0,0,0,0,0
$GC,7923,0.76,146.0,291.1,11.1,440,7927,0.00,2.25,0.00,0.000,4,0.000,0.051,2915,3410,2192,0,0,0,0,0,0
$GC,7985,0.76,146.0,283.9,11.8,443,7990,0.12,2.17,0.00,0.000,6,0.146,0.037,2890,1998,2191,0,0,0,0,0,0
$GC,8312,0.81,182.8,255.3,7.9,459,8352,0.00,2.33,31.40,0.637,4,0.000,0.051,2890,3412,2052,0,0,0,0,0,0
$GC,8418,0.84,205.7,247.0,8.5,463,8445,0.00,2.17,21.33,0.612,6,0.000,0.038,2897,2001,1961,0,0,0,0,0,0
$GC,8756,0.90,258.8,221.7,7.2,480,8811,0.10,2.33,47.70,0.613,4,0.087,0.051,2970,3408,1744,0,0,0,0,0,0
$GC,8856,0.90,258.8,210.7,12.2,484,8862,0.17,2.22,0.00,0.000,6,0.132,0.040,2930,2000,1744,0,0,0,0,0,0
$GC,9183,0.93,278.0,180.5,8.7,510,9207,0.00,2.28,18.33,0.561,4,0.000,0.050,2930,3412,1664,0,0,0,0,0,0
$GC,9277,0.93,278.0,170.5,10.5,518,9285,0.00,2.25,0.00,0.000,6,0.000,0.042,2937,1996,1663,0,0,0,0,0,0
$GC,9607,0.95,294.3,143.3,8.8,549,9631,0.00,2.30,15.40,0.524,4,0.000,0.052,2936,3405,1598,0,0,0,0,0,0
$GC,9657,0.95,294.3,138.4,9.9,553,9661,0.00,2.22,0.00,0.000,6,0.000,0.047,2946,1992,1598,0,0,0,0,0,0
$GC,9985,0.95,294.3,102.3,10.5,583,9989,0.00,2.28,0.00,0.000,4,0.000,0.054,2946,3410,1597,0,0,0,0,0,0
$GC,10069,0.95,294.3,92.8,10.5,590,10073,0.00,2.25,0.00,0.000,6,0.000,0.050,2954,2000,1597,0,0,0,0,0,0
$GC,10397,0.95,294.3,60.7,11.1,637,10403,0.00,2.28,0.00,0.000,4,0.000,0.054,2954,3410,1597,0,0,0,0,0,0
$GC,10465,0.95,294.3,53.3,10.9,649,10471,0.00,2.22,0.00,0.000,6,0.000,0.045,2962,1999,1597,0,0,0,0,0,0
$GC,10795,0.99,332.8,23.0,7.9,710,10836,0.00,2.28,33.70,0.450,4,0.000,0.058,2963,598,1441,0,0,0,0,0,0
$GC,10876,1.00,337.2,16.2,9.4,723,10891,0.00,2.22,5.05,0.346,6,0.000,0.040,2963,2003,1424,0,0,0,0,0,0
$STATE,11020,end climb,SURFACE_DEPTH_REACHED
$STATE,11020,begin surface coast
$FINISH,0.8,1.016147
$STATE,11058,end surface coast,CONTROL_FINISHED_OK
$STATE,11058,begin surface
$SM_CCo,11137,0.00,0.000,0,0,1420,338.26
$SM_GC,1.64,7.47,0.00,0.00,0.026,0.000,0.000,48,1893,1420,-7.99,-0.74,338.26
$IRIDIUM_FIX,2104.07,-15747.88,161002,202004
$TT8_MAMPS,0.027612
$HUMID,67.87
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,24.2,67.920
$10V_AH,10.0,75.399
$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,19.500,108.775,426.750,0.000,0.000,31.081,33.900,213.947,19.000,0.000,17.826,1403.563,6527.182,449.729,2582.953,606.984,33.356,1400.119,0.000,2527.060,0.000,121.310,0.000
$DEVICE_MAMPS,224.731,100.477,752.427,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,515.236,440.563,1456.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,41278,757
$CAP_FILE_SIZE,123208,0
$CFSIZE,260165632,215552000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230713,031541,2104.916,-15752.938,17,1.1,17,9.8