version: 66.06
glider: 523
mission: 4
dive: 776
start: 7 23 113 3 26 18
data:
$ID,523
$MISSION,4
$DIVE,776
$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,-51736.836
$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,46
$R_STBD_OVSHOOT,27
$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
$GPS1,031541,2104.916,-15752.938,17,1.1,17,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.7
$GPS2,032525,2104.888,-15753.032,16,0.9,17,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.256,0.020
$KALMAN_X,-93150.6,-143.9,-611.1,94699.8,-1182.0
$KALMAN_Y,5231.1,105.8,-281.4,-12707.2,-66.3
$MHEAD_RNG_PITCHd_Wd,75.8,17559,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-84.03,0.000,6,0.000,0.000,43,1892,3395,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.7,-5.4,14,125,9.68,2.20,0.00,0.000,4,0.222,0.059,2383,533,3397,0,0,0,0,0,0
$GC,170,-0.76,-146.0,16.8,-13.6,24,178,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1914,3398,0,0,0,0,0,0
$GC,343,-0.76,-146.0,36.1,-9.9,55,349,0.00,2.25,0.00,0.000,4,0.000,0.063,2376,533,3398,0,0,0,0,0,0
$GC,433,-0.76,-146.0,46.0,-10.8,71,438,0.00,2.17,0.00,0.000,6,0.000,0.041,2366,1922,3398,0,0,0,0,0,0
$GC,764,-0.76,-146.0,74.9,-7.2,132,772,0.00,2.30,0.00,0.000,4,0.000,0.062,2356,3323,3399,0,0,0,0,0,0
$GC,819,-0.76,-146.0,78.7,-7.7,141,825,0.15,2.20,0.00,0.000,6,0.144,0.048,2396,1938,3400,0,0,0,0,0,0
$GC,1147,-0.76,-146.0,104.6,-7.6,173,1154,0.00,2.33,0.00,0.000,4,0.000,0.069,2396,502,3400,0,0,0,0,0,0
$GC,1403,-0.76,-146.0,121.6,-5.5,196,1407,0.00,2.22,0.00,0.000,6,0.000,0.041,2389,1923,3400,0,0,0,0,0,0
$GC,1730,-0.76,-146.0,143.4,-7.3,226,1734,0.00,2.33,0.00,0.000,4,0.000,0.064,2389,507,3401,0,0,0,0,0,0
$GC,1979,-0.76,-146.0,163.6,-8.2,248,1986,0.00,2.25,0.00,0.000,6,0.000,0.043,2379,1925,3401,0,0,0,0,0,0
$GC,2306,-0.76,-146.0,187.7,-7.0,279,2310,0.00,2.33,0.00,0.000,4,0.000,0.064,2379,508,3401,0,0,0,0,0,0
$GC,2445,-0.76,-146.0,197.2,-5.7,291,2453,0.00,2.25,0.00,0.000,6,0.000,0.042,2370,1926,3401,0,0,0,0,0,0
$GC,2766,-0.76,-146.0,215.4,-5.0,310,2770,0.00,2.33,0.00,0.000,4,0.000,0.063,2370,504,3401,0,0,0,0,0,0
$GC,2817,-0.76,-146.0,218.1,-5.0,312,2821,0.12,2.22,0.00,0.000,6,0.155,0.042,2393,1930,3401,0,0,0,0,0,0
$GC,3132,-0.76,-146.0,239.5,-7.6,327,3137,0.00,2.33,0.00,0.000,4,0.000,0.062,2393,508,3401,0,0,0,0,0,0
$GC,3384,-0.76,-146.0,257.5,-6.3,338,3388,0.00,2.20,0.00,0.000,6,0.000,0.040,2385,1932,3401,0,0,0,0,0,0
$GC,3709,-0.76,-146.0,276.0,-5.3,354,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1932,3400,0,0,0,0,0,0
$GC,4015,-0.76,-146.0,293.6,-4.9,369,4019,0.00,2.30,0.00,0.000,4,0.000,0.060,2385,505,3400,0,0,0,0,0,0
$GC,4136,-0.76,-146.0,300.9,-6.5,374,4140,0.00,2.22,0.00,0.000,6,0.000,0.040,2377,1929,3400,0,0,0,0,0,0
$GC,4468,-0.76,-146.0,320.4,-5.9,382,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1929,3398,0,0,0,0,0,0
$GC,4794,-0.76,-146.0,341.9,-7.0,390,4798,0.00,2.30,0.00,0.000,4,0.000,0.060,2376,503,3397,0,0,0,0,0,0
$GC,4956,-0.76,-146.0,352.5,-6.1,393,4960,0.00,2.20,0.00,0.000,6,0.000,0.041,2367,1921,3395,0,0,0,0,0,0
$GC,5293,-0.76,-146.0,367.8,-4.8,402,5297,0.00,2.28,0.00,0.000,4,0.000,0.061,2367,509,3395,0,0,0,0,0,0
$GC,5415,-0.76,-146.0,376.0,-7.4,404,5419,0.12,2.22,0.00,0.000,6,0.157,0.042,2390,1924,3394,0,0,0,0,0,0
$GC,5747,-0.76,-146.0,399.4,-7.4,412,5754,0.00,2.30,0.00,0.000,4,0.000,0.062,2391,506,3393,0,0,0,0,0,0
$GC,5822,-0.76,-146.0,405.5,-8.1,413,5826,0.00,2.22,0.00,0.000,6,0.000,0.043,2383,1922,3392,0,0,0,0,0,0
$GC,6160,-0.76,-146.0,424.8,-5.3,422,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1922,3390,0,0,0,0,0,0
$GC,6484,-0.76,-146.0,443.4,-6.2,430,6489,0.00,2.30,0.00,0.000,4,0.000,0.063,2383,509,3388,0,0,0,0,0,0
$STATE,6578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6578,begin apogee
$GC,6587,-0.17,0.0,450.2,7.0,432,6714,0.62,0.00,123.65,0.749,6,0.116,0.000,2577,1999,2799,0,0,0,0,0,0
$STATE,6715,end apogee,CONTROL_FINISHED_OK
$STATE,6715,begin climb
$GC,6718,0.76,146.0,451.9,0.0,435,6856,0.88,2.38,128.60,0.726,4,0.067,0.066,2886,3405,2202,0,0,0,0,0,0
$GC,6931,0.76,146.0,428.1,14.6,440,6935,0.00,2.30,0.00,0.000,6,0.000,0.048,2896,1993,2198,0,0,0,0,0,0
$GC,7255,0.76,146.0,384.7,12.9,448,7259,0.00,2.30,0.00,0.000,4,0.000,0.062,2895,3405,2196,0,0,0,0,0,0
$GC,7372,0.76,146.0,370.6,11.0,450,7376,0.00,2.25,0.00,0.000,6,0.000,0.047,2905,1994,2194,0,0,0,0,0,0
$GC,7703,0.78,155.7,340.0,9.1,458,7718,0.00,2.35,8.30,0.593,4,0.000,0.063,2905,3404,2164,0,0,0,0,0,0
$GC,7814,0.78,155.7,327.0,12.4,460,7818,0.00,2.22,0.00,0.000,6,0.000,0.050,2914,2002,2163,0,0,0,0,0,0
$GC,8137,0.78,155.7,288.4,11.9,470,8141,0.00,2.30,0.00,0.000,4,0.000,0.061,2914,3412,2162,0,0,0,0,0,0
$GC,8272,0.78,155.7,270.6,12.3,476,8277,0.12,2.22,0.00,0.000,6,0.146,0.047,2889,1990,2161,0,0,0,0,0,0
$GC,8593,0.81,184.8,242.1,8.3,492,8627,0.00,2.35,26.52,0.622,4,0.000,0.052,2889,3417,2044,0,0,0,0,0,0
$GC,8673,0.82,191.2,234.9,9.3,495,8686,0.00,2.25,6.97,0.519,6,0.000,0.046,2896,2001,2019,0,0,0,0,0,0
$GC,9011,0.84,207.9,205.0,8.8,512,9033,0.00,2.25,16.12,0.574,4,0.000,0.051,2896,3411,1950,0,0,0,0,0,0
$GC,9066,0.84,207.9,199.0,11.3,514,9070,0.00,2.25,0.00,0.000,6,0.000,0.044,2904,1996,1949,0,0,0,0,0,0
$GC,9393,0.87,231.0,168.6,8.5,544,9420,0.00,2.33,21.40,0.559,4,0.000,0.053,2904,3412,1857,0,0,0,0,0,0
$GC,9509,0.91,262.1,158.8,8.2,554,9543,0.00,2.28,28.58,0.553,6,0.000,0.047,2907,2002,1731,0,0,0,0,0,0
$GC,9867,0.96,302.6,131.4,7.8,587,9915,0.12,2.33,36.12,0.535,4,0.076,0.054,3001,3409,1565,0,0,0,0,0,0
$GC,10015,0.96,302.6,112.8,13.6,600,10020,0.20,2.22,0.00,0.000,6,0.130,0.044,2953,1993,1564,0,0,0,0,0,0
$GC,10342,0.96,302.6,78.3,9.8,631,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1993,1564,0,0,0,0,0,0
$GC,10672,0.97,312.6,47.4,9.1,692,10691,0.00,2.33,10.00,0.430,4,0.000,0.056,2953,3414,1523,0,0,0,0,0,0
$GC,10728,0.97,312.6,42.2,10.0,701,10733,0.00,2.20,0.00,0.000,6,0.000,0.043,2960,1997,1523,0,0,0,0,0,0
$GC,11054,1.03,358.6,14.5,7.5,762,11101,0.00,2.30,39.03,0.443,4,0.000,0.054,2960,3406,1336,0,0,0,0,0,0
$GC,11110,1.04,367.2,9.4,9.2,770,11124,0.00,2.25,8.25,0.386,6,0.000,0.042,2967,1997,1301,0,0,0,0,0,0
$STATE,11177,end climb,SURFACE_DEPTH_REACHED
$STATE,11177,begin surface coast
$FINISH,0.7,0.997376
$STATE,11213,end surface coast,CONTROL_FINISHED_OK
$STATE,11213,begin surface
$SM_CCo,11292,0.00,0.000,0,0,1297,368.68
$SM_GC,1.65,7.53,0.00,0.00,0.024,0.000,0.000,42,1921,1297,-8.00,0.11,368.68
$IRIDIUM_FIX,2059.45,-15801.19,171002,030301
$TT8_MAMPS,0.027612
$HUMID,68.11
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.90
$XPDR_PINGS,3
$24V_AH,24.2,68.025
$10V_AH,10.0,75.517
$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,19.550,104.625,453.550,0.000,0.000,56.276,112.122,199.217,19.500,0.000,18.198,1433.482,6599.301,457.399,2686.427,691.861,33.352,1446.579,0.000,2637.307,0.000,117.283,0.000
$DEVICE_MAMPS,221.663,104.312,748.592,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,535.215,451.359,1562.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,44462,788
$CAP_FILE_SIZE,124906,0
$CFSIZE,260165632,215490560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230713,063534,2104.776,-15753.151,28,0.9,28,9.8