version: 66.06
glider: 523
mission: 4
dive: 778
start: 7 23 113 10 5 22
data:
$ID,523
$MISSION,4
$DIVE,778
$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,-51775.637
$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,41
$R_STBD_OVSHOOT,30
$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
$GPS1,095648,2104.763,-15752.980,12,0.8,13,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.5
$GPS2,100429,2104.674,-15752.991,17,1.0,17,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.245,0.076
$KALMAN_X,-98185.9,-124.1,-83.3,99256.8,-834.0
$KALMAN_Y,3964.9,140.9,124.4,-12283.3,-542.0
$MHEAD_RNG_PITCHd_Wd,62.8,17533,-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,-80.97,0.000,6,0.000,0.000,27,1893,3396,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.3,-3.9,13,118,9.75,0.00,0.00,0.000,6,0.223,0.000,2384,1893,3398,0,0,0,0,0,0
$GC,281,-0.76,-146.0,28.8,-13.0,45,288,0.00,2.25,0.00,0.000,4,0.000,0.069,2385,539,3399,0,0,0,0,0,0
$GC,450,-0.76,-146.0,49.0,-11.4,75,455,0.00,2.17,0.00,0.000,6,0.000,0.044,2377,1919,3400,0,0,0,0,0,0
$GC,781,-0.76,-146.0,79.6,-6.6,136,791,0.00,2.33,0.00,0.000,4,0.000,0.067,2377,531,3400,0,0,0,0,0,0
$GC,1040,-0.76,-146.0,101.4,-7.7,160,1044,0.00,2.17,0.00,0.000,6,0.000,0.042,2368,1929,3401,0,0,0,0,0,0
$GC,1367,-0.76,-146.0,127.0,-6.5,190,1371,0.00,2.28,0.00,0.000,4,0.000,0.066,2368,532,3401,0,0,0,0,0,0
$GC,1582,-0.76,-146.0,144.3,-8.5,209,1587,0.12,2.20,0.00,0.000,6,0.153,0.042,2392,1932,3402,0,0,0,0,0,0
$GC,1915,-0.76,-146.0,166.7,-5.5,240,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1933,3403,0,0,0,0,0,0
$GC,2243,-0.76,-146.0,184.6,-6.5,271,2250,0.00,2.28,0.00,0.000,4,0.000,0.065,2391,532,3403,0,0,0,0,0,0
$GC,2383,-0.76,-146.0,196.0,-8.8,283,2390,0.00,2.20,0.00,0.000,6,0.000,0.043,2384,1916,3403,0,0,0,0,0,0
$GC,2703,-0.76,-146.0,220.6,-6.1,301,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1916,3403,0,0,0,0,0,0
$GC,3009,-0.76,-146.0,238.7,-6.1,316,3013,0.00,2.28,0.00,0.000,4,0.000,0.064,2384,528,3403,0,0,0,0,0,0
$GC,3105,-0.76,-146.0,245.8,-7.5,320,3109,0.00,2.17,0.00,0.000,6,0.000,0.041,2375,1928,3403,0,0,0,0,0,0
$GC,3430,-0.76,-146.0,265.6,-5.8,336,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1928,3403,0,0,0,0,0,0
$GC,3736,-0.76,-146.0,284.6,-5.4,351,3743,0.00,2.30,0.00,0.000,4,0.000,0.064,2364,3336,3403,0,0,0,0,0,0
$GC,3919,-0.76,-146.0,296.9,-6.6,359,3924,0.12,2.22,0.00,0.000,6,0.143,0.050,2398,1937,3402,0,0,0,0,0,0
$GC,4266,-0.76,-146.0,316.7,-5.6,369,4270,0.00,2.30,0.00,0.000,4,0.000,0.066,2398,508,3400,0,0,0,0,0,0
$GC,4491,-0.76,-146.0,328.9,-5.6,374,4495,0.00,2.20,0.00,0.000,6,0.000,0.040,2390,1922,3399,0,0,0,0,0,0
$GC,4815,-0.76,-146.0,349.1,-6.7,382,4819,0.00,2.33,0.00,0.000,4,0.000,0.061,2390,498,3398,0,0,0,0,0,0
$GC,4876,-0.76,-146.0,354.0,-8.1,383,4880,0.00,2.22,0.00,0.000,6,0.000,0.041,2380,1927,3397,0,0,0,0,0,0
$GC,5228,-0.76,-146.0,376.8,-6.0,392,5232,0.00,2.33,0.00,0.000,4,0.000,0.063,2380,508,3395,0,0,0,0,0,0
$GC,5335,-0.76,-146.0,383.8,-6.3,394,5339,0.00,2.20,0.00,0.000,6,0.000,0.041,2372,1919,3395,0,0,0,0,0,0
$GC,5680,-0.76,-146.0,406.8,-7.3,403,5684,0.00,2.30,0.00,0.000,4,0.000,0.063,2371,506,3394,0,0,0,0,0,0
$GC,5812,-0.76,-146.0,416.7,-7.6,406,5816,0.12,2.22,0.00,0.000,6,0.155,0.043,2394,1923,3393,0,0,0,0,0,0
$GC,6144,-0.76,-146.0,439.2,-6.8,414,6148,0.00,2.30,0.00,0.000,4,0.000,0.064,2385,3340,3391,0,0,0,0,0,0
$GC,6192,-0.76,-146.0,442.6,-7.3,415,6196,0.00,2.28,0.00,0.000,6,0.000,0.045,2385,1909,3391,0,0,0,0,0,0
$STATE,6310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6310,begin apogee
$GC,6318,-0.17,0.0,450.8,6.5,418,6446,0.60,0.00,124.50,0.749,6,0.106,0.000,2582,2012,2800,0,0,0,0,0,0
$STATE,6447,end apogee,CONTROL_FINISHED_OK
$STATE,6447,begin climb
$GC,6450,0.76,146.0,452.5,0.0,421,6588,0.85,2.30,128.70,0.726,4,0.064,0.054,2887,3398,2202,0,0,0,0,0,0
$GC,6709,0.76,146.0,425.1,12.2,427,6713,0.00,2.22,0.00,0.000,6,0.000,0.046,2897,1999,2197,0,0,0,0,0,0
$GC,7040,0.76,146.0,389.0,10.5,435,7044,0.00,2.22,0.00,0.000,4,0.000,0.056,2907,594,2195,0,0,0,0,0,0
$GC,7089,0.76,146.0,383.6,11.0,436,7093,0.00,2.17,0.00,0.000,6,0.000,0.035,2907,1998,2195,0,0,0,0,0,0
$GC,7402,0.76,146.0,352.1,10.1,444,7406,0.00,2.20,0.00,0.000,4,0.000,0.053,2907,3401,2193,0,0,0,0,0,0
$GC,7498,0.76,146.0,341.3,11.2,446,7502,0.00,2.20,0.00,0.000,6,0.000,0.044,2915,1991,2192,0,0,0,0,0,0
$GC,7811,0.76,146.0,306.5,11.5,454,7815,0.00,2.20,0.00,0.000,4,0.000,0.055,2926,590,2192,0,0,0,0,0,0
$GC,7861,0.76,146.0,300.5,11.5,455,7866,0.12,2.15,0.00,0.000,6,0.137,0.036,2891,2001,2191,0,0,0,0,0,0
$GC,8179,0.79,167.0,269.9,8.6,470,8204,0.00,2.30,17.73,0.627,4,0.000,0.054,2890,3411,2118,0,0,0,0,0,0
$GC,8334,0.79,167.0,255.8,9.6,477,8338,0.00,2.22,0.00,0.000,6,0.000,0.045,2898,1995,2116,0,0,0,0,0,0
$GC,8662,0.82,191.2,228.2,8.5,493,8691,0.00,2.33,22.25,0.610,4,0.000,0.053,2898,3402,2019,0,0,0,0,0,0
$GC,8789,0.83,200.3,216.8,9.2,498,8803,0.00,2.22,9.57,0.548,6,0.000,0.041,2907,1991,1983,0,0,0,0,0,0
$GC,9125,0.86,221.5,189.0,8.6,520,9151,0.00,2.33,20.20,0.578,4,0.000,0.053,2907,3405,1895,0,0,0,0,0,0
$GC,9183,0.86,223.5,183.5,9.5,525,9187,0.00,2.22,0.00,0.000,6,0.000,0.043,2912,1999,1894,0,0,0,0,0,0
$GC,9511,0.92,270.4,156.9,7.5,555,9558,0.00,0.00,43.88,0.565,6,0.000,0.000,2912,1999,1696,0,0,0,0,0,0
$GC,9877,0.92,270.4,123.0,9.9,589,9881,0.00,2.25,0.00,0.000,4,0.000,0.053,2912,3402,1694,0,0,0,0,0,0
$GC,9919,0.92,270.4,118.7,10.5,592,9923,0.00,2.22,0.00,0.000,6,0.000,0.042,2920,1989,1694,0,0,0,0,0,0
$GC,10246,0.92,274.5,87.2,9.4,622,10260,0.00,2.25,4.90,0.384,4,0.000,0.057,2920,597,1679,0,0,0,0,0,0
$GC,10339,0.93,284.0,79.0,9.1,630,10358,0.00,2.17,10.00,0.453,6,0.000,0.035,2920,2000,1640,0,0,0,0,0,0
$GC,10687,0.94,290.5,49.6,9.3,693,10700,0.00,2.25,7.22,0.407,4,0.000,0.052,2920,588,1615,0,0,0,0,0,0
$GC,10769,0.96,305.7,42.6,8.9,707,10794,0.00,2.17,14.57,0.443,6,0.000,0.034,2920,2000,1552,0,0,0,0,0,0
$GC,11116,1.04,367.0,15.8,6.9,771,11176,0.15,2.33,51.15,0.443,4,0.067,0.057,3002,596,1301,0,0,0,0,0,0
$GC,11191,1.04,367.0,8.7,10.6,782,11199,0.08,2.20,0.00,0.000,6,0.087,0.035,2972,1989,1301,0,0,0,0,0,0
$STATE,11247,end climb,SURFACE_DEPTH_REACHED
$STATE,11247,begin surface coast
$FINISH,0.6,1.010407
$STATE,11277,end surface coast,CONTROL_FINISHED_OK
$STATE,11277,begin surface
$SM_CCo,11356,0.00,0.000,0,0,1297,368.43
$SM_GC,1.42,7.50,0.00,0.00,0.022,0.000,0.000,26,1890,1297,-8.01,-0.85,368.43
$IRIDIUM_FIX,2059.45,-15756.04,171002,060656
$TT8_MAMPS,0.027612
$HUMID,68.78
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,24.2,68.225
$10V_AH,10.0,75.750
$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,19.425,98.950,454.675,0.000,0.000,27.420,36.307,233.174,19.250,0.000,18.138,1450.278,6535.285,456.249,2729.048,637.650,33.354,1457.948,0.000,2675.186,0.000,117.290,0.000
$DEVICE_MAMPS,223.197,72.098,748.592,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,541.631,460.537,1577.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,44334,797
$CAP_FILE_SIZE,125156,0
$CFSIZE,260165632,215359488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230713,131553,2104.192,-15753.771,39,0.7,39,9.8