version: 66.06
glider: 523
mission: 4
dive: 779
start: 7 23 113 13 29 9
data:
$ID,523
$MISSION,4
$DIVE,779
$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,-51796.707
$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,53
$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
$GPS1,131553,2104.192,-15753.771,39,0.7,39,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.9
$GPS2,132818,2104.152,-15753.770,19,0.7,19,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.236,0.100
$KALMAN_X,-101435.3,-646.3,238.8,101369.0,-2575.3
$KALMAN_Y,2876.6,-212.4,-34.9,-11641.0,-997.0
$MHEAD_RNG_PITCHd_Wd,57.3,19001,-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,-87.80,0.000,6,0.000,0.000,26,1886,3397,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.3,-4.6,14,126,9.65,2.17,0.00,0.000,4,0.218,0.059,2387,539,3398,0,0,0,0,0,0
$GC,312,-0.76,-146.0,33.8,-11.3,51,318,0.00,2.15,0.00,0.000,6,0.000,0.038,2379,1916,3400,0,0,0,0,0,0
$GC,642,-0.76,-146.0,64.7,-8.3,112,649,0.00,2.33,0.00,0.000,4,0.000,0.064,2369,3329,3400,0,0,0,0,0,0
$GC,665,-0.76,-146.0,66.4,-8.4,115,670,0.00,2.20,0.00,0.000,6,0.000,0.051,2369,1949,3400,0,0,0,0,0,0
$GC,1000,-0.76,-146.0,96.1,-8.4,160,1004,0.00,2.22,0.00,0.000,4,0.000,0.058,2359,3328,3401,0,0,0,0,0,0
$GC,1087,-0.76,-146.0,103.4,-7.8,167,1095,0.10,2.28,0.00,0.000,6,0.122,0.049,2391,1917,3401,0,0,0,0,0,0
$GC,1415,-0.76,-146.0,124.7,-6.7,198,1422,0.00,2.28,0.00,0.000,4,0.000,0.070,2392,509,3401,0,0,0,0,0,0
$GC,1674,-0.76,-146.0,146.0,-8.7,221,1678,0.00,2.17,0.00,0.000,6,0.000,0.041,2384,1918,3401,0,0,0,0,0,0
$GC,2001,-0.76,-146.0,168.8,-5.9,251,2005,0.00,2.33,0.00,0.000,4,0.000,0.067,2384,508,3401,0,0,0,0,0,0
$GC,2078,-0.76,-146.0,174.3,-6.8,257,2085,0.00,2.22,0.00,0.000,6,0.000,0.041,2374,1916,3401,0,0,0,0,0,0
$GC,2405,-0.76,-146.0,196.1,-6.4,288,2410,0.00,2.33,0.00,0.000,4,0.000,0.065,2374,504,3401,0,0,0,0,0,0
$GC,2499,-0.76,-146.0,203.4,-7.6,294,2503,0.00,2.22,0.00,0.000,6,0.000,0.041,2365,1930,3401,0,0,0,0,0,0
$GC,2817,-0.76,-146.0,229.7,-8.7,309,2825,0.10,2.38,0.00,0.000,4,0.163,0.064,2391,511,3401,0,0,0,0,0,0
$GC,3078,-0.76,-146.0,249.4,-7.0,320,3082,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1919,3401,0,0,0,0,0,0
$GC,3396,-0.76,-146.0,269.5,-6.7,335,3403,0.00,2.35,0.00,0.000,4,0.000,0.064,2383,503,3401,0,0,0,0,0,0
$GC,3432,-0.76,-146.0,272.5,-7.8,336,3436,0.00,2.20,0.00,0.000,6,0.000,0.041,2374,1922,3401,0,0,0,0,0,0
$GC,3750,-0.76,-146.0,294.0,-6.4,351,3754,0.00,2.30,0.00,0.000,4,0.000,0.065,2364,3336,3400,0,0,0,0,0,0
$GC,3806,-0.76,-146.0,297.5,-5.5,353,3812,0.12,2.30,0.00,0.000,6,0.142,0.051,2397,1912,3400,0,0,0,0,0,0
$GC,4140,-0.76,-146.0,313.0,-4.5,363,4144,0.00,2.30,0.00,0.000,4,0.000,0.061,2390,3334,3399,0,0,0,0,0,0
$GC,4265,-0.76,-146.0,320.5,-6.7,365,4270,0.00,2.25,0.00,0.000,6,0.000,0.050,2390,1919,3398,0,0,0,0,0,0
$GC,4599,-0.76,-146.0,341.7,-6.4,374,4603,0.00,2.30,0.00,0.000,4,0.000,0.061,2380,3330,3396,0,0,0,0,0,0
$GC,4773,-0.76,-146.0,350.9,-4.8,378,4778,0.00,2.25,0.00,0.000,6,0.000,0.051,2380,1916,3395,0,0,0,0,0,0
$GC,5100,-0.76,-146.0,366.4,-5.2,386,5105,0.00,2.30,0.00,0.000,4,0.000,0.069,2380,509,3394,0,0,0,0,0,0
$GC,5359,-0.76,-146.0,383.7,-6.6,391,5365,0.00,2.22,0.00,0.000,6,0.000,0.041,2371,1929,3392,0,0,0,0,0,0
$GC,5692,-0.76,-146.0,400.6,-4.4,400,5696,0.00,2.33,0.00,0.000,4,0.000,0.062,2371,502,3391,0,0,0,0,0,0
$GC,5781,-0.76,-146.0,403.6,-3.2,402,5786,0.12,2.22,0.00,0.000,6,0.153,0.042,2393,1930,3390,0,0,0,0,0,0
$GC,6100,-0.76,-146.0,412.6,-3.3,410,6104,0.00,2.35,0.00,0.000,4,0.000,0.063,2394,505,3389,0,0,0,0,0,0
$GC,6196,-0.76,-146.0,417.6,-5.7,412,6200,0.00,2.25,0.00,0.000,6,0.000,0.043,2386,1928,3388,0,0,0,0,0,0
$GC,6510,-0.76,-146.0,439.6,-7.0,420,6514,0.00,2.28,0.00,0.000,4,0.000,0.065,2376,3326,3386,0,0,0,0,0,0
$GC,6543,-0.76,-146.0,442.0,-6.8,420,6547,0.00,2.28,0.00,0.000,6,0.000,0.054,2376,1922,3386,0,0,0,0,0,0
$STATE,6669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6669,begin apogee
$GC,6676,-0.17,0.0,450.6,6.8,423,6803,0.65,0.00,123.43,0.752,6,0.111,0.000,2585,2029,2800,0,0,0,0,0,0
$STATE,6803,end apogee,CONTROL_FINISHED_OK
$STATE,6804,begin climb
$GC,6807,0.76,146.0,452.3,0.0,426,6945,0.82,2.28,128.38,0.730,4,0.065,0.064,2882,3386,2202,0,0,0,0,0,0
$GC,7007,0.76,146.0,433.3,10.9,430,7011,0.00,2.28,0.00,0.000,6,0.000,0.050,2891,1998,2199,0,0,0,0,0,0
$GC,7345,0.77,148.2,400.9,9.5,439,7348,0.00,2.25,0.00,0.000,4,0.000,0.057,2900,586,2196,0,0,0,0,0,0
$GC,7406,0.77,148.2,394.3,10.3,440,7410,0.00,2.17,0.00,0.000,6,0.000,0.037,2900,1989,2195,0,0,0,0,0,0
$GC,7754,0.77,148.2,357.6,10.6,449,7758,0.00,2.22,0.00,0.000,4,0.000,0.054,2900,3406,2193,0,0,0,0,0,0
$GC,7860,0.77,148.2,346.9,9.7,451,7864,0.00,2.28,0.00,0.000,6,0.000,0.051,2909,1993,2192,0,0,0,0,0,0
$GC,8202,0.77,148.2,316.0,9.6,460,8206,0.00,2.33,0.00,0.000,4,0.000,0.062,2909,3409,2191,0,0,0,0,0,0
$GC,8246,0.77,148.2,311.2,11.2,461,8250,0.00,2.28,0.00,0.000,6,0.000,0.052,2919,2000,2191,0,0,0,0,0,0
$GC,8568,0.77,148.2,276.8,10.0,474,8572,0.00,2.33,0.00,0.000,4,0.000,0.062,2918,3409,2190,0,0,0,0,0,0
$GC,8702,0.77,148.2,262.0,11.7,480,8707,0.15,2.20,0.00,0.000,6,0.136,0.042,2885,1990,2189,0,0,0,0,0,0
$GC,9029,0.81,179.0,234.1,8.2,496,9064,0.00,2.33,27.75,0.622,4,0.000,0.053,2885,3408,2069,0,0,0,0,0,0
$GC,9099,0.81,182.3,228.0,9.4,499,9108,0.00,2.20,4.22,0.431,6,0.000,0.042,2893,1993,2057,0,0,0,0,0,0
$GC,9425,0.86,227.1,202.8,7.6,515,9470,0.00,2.28,40.38,0.599,4,0.000,0.058,2893,583,1874,0,0,0,0,0,0
$GC,9541,0.91,261.2,193.9,8.1,523,9580,0.12,2.22,31.58,0.579,6,0.071,0.035,2973,2008,1734,0,0,0,0,0,0
$GC,9907,0.91,261.2,150.4,11.8,557,9912,0.15,2.28,0.00,0.000,4,0.130,0.054,2938,593,1733,0,0,0,0,0,0
$GC,9970,0.91,261.2,143.8,10.6,562,9974,0.00,2.20,0.00,0.000,6,0.000,0.035,2938,2007,1732,0,0,0,0,0,0
$GC,10297,0.91,261.2,111.0,9.9,592,10301,0.00,2.25,0.00,0.000,4,0.000,0.053,2948,589,1732,0,0,0,0,0,0
$GC,10360,0.91,261.2,104.4,10.8,597,10364,0.00,2.20,0.00,0.000,6,0.000,0.036,2948,2008,1732,0,0,0,0,0,0
$GC,10690,0.91,261.2,70.9,10.1,635,10696,0.00,2.30,0.00,0.000,4,0.000,0.054,2957,588,1732,0,0,0,0,0,0
$GC,10780,0.91,261.2,61.3,11.1,651,10785,0.00,2.20,0.00,0.000,6,0.000,0.035,2957,2011,1732,0,0,0,0,0,0
$GC,11110,0.93,277.6,29.7,8.8,712,11131,0.00,2.30,15.62,0.446,4,0.000,0.054,2966,584,1668,0,0,0,0,0,0
$GC,11181,0.93,278.3,23.6,9.5,724,11188,0.00,2.22,0.00,0.000,6,0.000,0.037,2965,1999,1667,0,0,0,0,0,0
$GC,11349,0.94,288.9,8.6,9.1,755,11370,0.00,2.25,11.35,0.416,4,0.000,0.055,2966,3399,1621,0,0,0,0,0,0
$STATE,11406,end climb,SURFACE_DEPTH_REACHED
$STATE,11406,begin surface coast
$FINISH,0.8,1.023309
$STATE,11441,end surface coast,CONTROL_FINISHED_OK
$STATE,11441,begin surface
$SM_CCo,11462,9.15,0.397,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,9.15,0.000,0.000,0.397,31,1922,1575,-8.16,0.03,300.24
$IRIDIUM_FIX,2054.83,-15739.33,171002,131315
$TT8_MAMPS,0.028379
$HUMID,70.79
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,24.2,68.331
$10V_AH,9.9,75.868
$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,19.500,122.325,382.700,9.150,0.000,55.215,80.013,372.588,19.250,0.000,20.438,1444.394,6812.244,446.005,2658.228,848.141,33.354,1417.037,0.000,2597.294,0.000,119.967,0.000
$DEVICE_MAMPS,217.828,69.797,752.427,396.539,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,524.359,437.344,1486.374,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,44386,771
$CAP_FILE_SIZE,132743,0
$CFSIZE,260165632,215285760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230713,164134,2103.673,-15754.730,34,0.7,34,9.8