version: 66.06
glider: 523
mission: 4
dive: 777
start: 7 23 113 6 44 21
data:
$ID,523
$MISSION,4
$DIVE,777
$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,-51756.871
$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,19
$R_STBD_OVSHOOT,23
$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
$GPS1,063534,2104.776,-15753.151,28,0.9,28,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.1
$GPS2,064330,2104.737,-15753.177,18,0.9,18,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.254,0.031
$KALMAN_X,-95459.9,101.6,-1111.8,97007.4,112.8
$KALMAN_Y,4593.3,249.2,-230.6,-12548.4,-9.9
$MHEAD_RNG_PITCHd_Wd,73.3,17837,-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,-146.0,0.0,0.0,0,107,0.00,0.00,-88.57,0.000,6,0.000,0.000,42,1919,3397,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.3,-4.0,14,126,9.73,2.28,0.00,0.000,4,0.223,0.060,2383,508,3398,0,0,0,0,0,0
$GC,161,-0.76,-146.0,15.0,-18.7,22,169,0.00,2.25,0.00,0.000,6,0.000,0.042,2376,1915,3400,0,0,0,0,0,0
$GC,336,-0.76,-146.0,37.7,-11.6,53,341,0.00,2.33,0.00,0.000,4,0.000,0.064,2376,503,3400,0,0,0,0,0,0
$GC,461,-0.76,-146.0,53.0,-10.6,76,468,0.00,2.28,0.00,0.000,6,0.000,0.045,2367,1923,3400,0,0,0,0,0,0
$GC,794,-0.76,-146.0,86.9,-9.0,130,798,0.00,2.30,0.00,0.000,4,0.000,0.066,2356,3331,3401,0,0,0,0,0,0
$GC,879,-0.76,-146.0,93.4,-7.0,137,883,0.15,2.25,0.00,0.000,6,0.147,0.051,2396,1914,3401,0,0,0,0,0,0
$GC,1206,-0.76,-146.0,116.2,-8.6,167,1210,0.00,2.28,0.00,0.000,4,0.000,0.067,2397,509,3401,0,0,0,0,0,0
$GC,1457,-0.76,-146.0,140.7,-8.9,190,1461,0.00,2.20,0.00,0.000,6,0.000,0.042,2389,1924,3402,0,0,0,0,0,0
$GC,1790,-0.76,-146.0,160.9,-4.7,221,1794,0.00,2.33,0.00,0.000,4,0.000,0.064,2389,508,3402,0,0,0,0,0,0
$GC,1934,-0.76,-146.0,169.0,-7.0,233,1942,0.00,2.25,0.00,0.000,6,0.000,0.041,2379,1925,3403,0,0,0,0,0,0
$GC,2262,-0.76,-146.0,197.3,-9.5,264,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1926,3403,0,0,0,0,0,0
$GC,2580,-0.76,-146.0,211.6,-2.3,281,2584,0.00,2.33,0.00,0.000,4,0.000,0.062,2379,503,3403,0,0,0,0,0,0
$GC,2653,-0.76,-146.0,215.5,-6.0,284,2657,0.00,2.22,0.00,0.000,6,0.000,0.041,2370,1931,3403,0,0,0,0,0,0
$GC,2978,-0.76,-146.0,230.6,-4.9,300,2982,0.00,2.30,0.00,0.000,4,0.000,0.061,2370,511,3403,0,0,0,0,0,0
$GC,3102,-0.76,-146.0,238.0,-6.0,305,3107,0.12,2.20,0.00,0.000,6,0.152,0.041,2393,1919,3403,0,0,0,0,0,0
$GC,3422,-0.76,-146.0,259.3,-7.8,320,3427,0.00,2.30,0.00,0.000,4,0.000,0.061,2393,508,3402,0,0,0,0,0,0
$GC,3640,-0.76,-146.0,274.1,-5.3,329,3645,0.00,2.20,0.00,0.000,6,0.000,0.040,2386,1931,3402,0,0,0,0,0,0
$GC,3961,-0.76,-146.0,290.4,-4.9,345,3965,0.00,2.30,0.00,0.000,4,0.000,0.060,2385,509,3402,0,0,0,0,0,0
$GC,4027,-0.76,-146.0,294.3,-5.6,348,4031,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1929,3401,0,0,0,0,0,0
$GC,4347,-0.76,-146.0,313.4,-6.3,359,4351,0.00,2.33,0.00,0.000,4,0.000,0.061,2377,510,3399,0,0,0,0,0,0
$GC,4605,-0.76,-146.0,330.6,-6.7,364,4611,0.00,2.20,0.00,0.000,6,0.000,0.043,2367,1929,3397,0,0,0,0,0,0
$GC,4939,-0.76,-146.0,351.5,-6.2,373,4943,0.00,2.33,0.00,0.000,4,0.000,0.061,2367,505,3396,0,0,0,0,0,0
$GC,4984,-0.76,-146.0,354.6,-7.1,374,4988,0.12,2.22,0.00,0.000,6,0.153,0.042,2390,1920,3396,0,0,0,0,0,0
$GC,5305,-0.76,-146.0,373.7,-6.2,382,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1920,3395,0,0,0,0,0,0
$GC,5629,-0.76,-146.0,392.1,-5.7,390,5634,0.00,2.33,0.00,0.000,4,0.000,0.062,2390,510,3393,0,0,0,0,0,0
$GC,5774,-0.76,-146.0,400.7,-5.9,393,5778,0.00,2.22,0.00,0.000,6,0.000,0.044,2382,1923,3392,0,0,0,0,0,0
$GC,6087,-0.76,-146.0,419.0,-5.4,401,6091,0.00,2.33,0.00,0.000,4,0.000,0.064,2382,502,3390,0,0,0,0,0,0
$GC,6160,-0.76,-146.0,423.4,-6.9,402,6164,0.00,2.22,0.00,0.000,6,0.000,0.044,2373,1919,3389,0,0,0,0,0,0
$GC,6492,-0.76,-146.0,443.6,-6.3,410,6496,0.00,2.33,0.00,0.000,4,0.000,0.064,2373,510,3388,0,0,0,0,0,0
$GC,6577,-0.76,-146.0,449.4,-6.6,412,6582,0.12,2.22,0.00,0.000,6,0.156,0.044,2396,1924,3388,0,0,0,0,0,0
$STATE,6587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6587,begin apogee
$GC,6594,-0.17,0.0,450.1,6.4,412,6721,0.55,0.00,124.05,0.755,6,0.108,0.000,2582,2004,2800,0,0,0,0,0,0
$STATE,6722,end apogee,CONTROL_FINISHED_OK
$STATE,6722,begin climb
$GC,6725,0.76,146.0,451.5,0.0,415,6864,0.88,2.38,128.77,0.732,4,0.065,0.066,2889,3411,2203,0,0,0,0,0,0
$GC,6911,0.76,146.0,433.3,11.6,420,6915,0.00,2.33,0.00,0.000,6,0.000,0.048,2898,1994,2199,0,0,0,0,0,0
$GC,7236,0.77,151.7,400.9,9.3,428,7246,0.00,2.30,5.15,0.527,4,0.000,0.060,2898,3406,2181,0,0,0,0,0,0
$GC,7380,0.77,151.7,384.8,11.0,431,7384,0.00,2.25,0.00,0.000,6,0.000,0.049,2907,1992,2180,0,0,0,0,0,0
$GC,7730,0.79,169.5,354.3,8.8,440,7754,0.00,2.40,17.27,0.668,4,0.000,0.063,2907,3414,2108,0,0,0,0,0,0
$GC,7872,0.79,169.5,339.0,11.0,443,7876,0.00,2.28,0.00,0.000,6,0.000,0.051,2913,1999,2105,0,0,0,0,0,0
$GC,8191,0.79,169.5,305.7,10.8,451,8195,0.00,2.30,0.00,0.000,4,0.000,0.064,2913,3409,2104,0,0,0,0,0,0
$GC,8302,0.79,169.5,293.1,11.5,454,8306,0.00,2.25,0.00,0.000,6,0.000,0.051,2923,1996,2103,0,0,0,0,0,0
$GC,8623,0.79,169.5,255.7,11.7,470,8627,0.00,2.30,0.00,0.000,4,0.000,0.064,2923,3407,2103,0,0,0,0,0,0
$GC,8753,0.79,169.5,241.0,11.1,476,8758,0.12,2.25,0.00,0.000,6,0.143,0.052,2897,1996,2102,0,0,0,0,0,0
$GC,9079,0.81,182.2,212.6,9.0,492,9100,0.00,2.38,11.95,0.578,4,0.000,0.064,2897,3406,2055,0,0,0,0,0,0
$GC,9165,0.81,183.0,204.9,9.5,495,9170,0.00,2.20,0.00,0.000,6,0.000,0.042,2905,1982,2054,0,0,0,0,0,0
$GC,9494,0.86,222.1,179.1,7.8,523,9541,0.00,2.35,36.15,0.592,4,0.000,0.052,2905,3415,1892,0,0,0,0,0,0
$GC,9567,0.86,222.1,172.0,10.4,529,9571,0.00,2.25,0.00,0.000,6,0.000,0.042,2913,1992,1891,0,0,0,0,0,0
$GC,9894,0.87,233.2,138.2,9.1,559,9910,0.00,2.30,10.90,0.514,4,0.000,0.054,2913,3412,1848,0,0,0,0,0,0
$GC,9990,0.90,259.0,129.9,8.4,567,10019,0.00,2.22,24.15,0.540,6,0.000,0.041,2922,1996,1743,0,0,0,0,0,0
$GC,10342,0.91,266.4,99.1,9.2,599,10355,0.00,2.25,7.72,0.455,4,0.000,0.054,2932,583,1714,0,0,0,0,0,0
$GC,10426,0.91,266.4,90.8,10.8,606,10434,0.00,2.22,0.00,0.000,6,0.000,0.035,2932,2007,1714,0,0,0,0,0,0
$GC,10756,0.92,268.6,59.4,9.5,657,10761,0.00,2.25,0.00,0.000,4,0.000,0.054,2941,587,1713,0,0,0,0,0,0
$GC,10826,0.93,282.1,53.3,9.0,669,10850,0.00,2.17,15.65,0.462,6,0.000,0.034,2941,2005,1647,0,0,0,0,0,0
$GC,11178,0.95,298.2,21.0,8.8,733,11199,0.00,2.25,15.12,0.434,4,0.000,0.052,2950,592,1582,0,0,0,0,0,0
$GC,11246,0.98,317.5,15.0,8.7,744,11273,0.00,2.20,17.83,0.430,6,0.000,0.035,2950,2001,1502,0,0,0,0,0,0
$STATE,11380,end climb,SURFACE_DEPTH_REACHED
$STATE,11381,begin surface coast
$FINISH,0.5,0.998863
$STATE,11418,end surface coast,CONTROL_FINISHED_OK
$STATE,11418,begin surface
$SM_CCo,11498,0.00,0.000,0,0,1500,318.88
$SM_GC,1.46,7.40,0.00,0.00,0.021,0.000,0.000,29,1894,1500,-8.01,-0.68,318.88
$IRIDIUM_FIX,2101.76,-15625.94,171002,030340
$TT8_MAMPS,0.027612
$HUMID,70.12
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,24.2,68.123
$10V_AH,10.0,75.632
$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,19.200,113.850,414.725,0.000,0.000,30.447,34.413,245.090,19.000,0.000,19.403,1443.518,6756.827,441.302,2677.055,644.451,33.352,1433.784,0.000,2620.240,0.000,117.268,0.000
$DEVICE_MAMPS,223.197,104.312,755.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,527.399,450.613,1495.306,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,44527,775
$CAP_FILE_SIZE,128927,0
$CFSIZE,260165632,215420928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230713,095648,2104.763,-15752.980,12,0.8,13,9.8