version: 66.06
glider: 523
mission: 4
dive: 780
start: 7 23 113 16 49 34
data:
$ID,523
$MISSION,4
$DIVE,780
$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,-51813.84
$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,20
$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
$GPS1,164134,2103.673,-15754.730,34,0.7,34,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.0
$GPS2,164842,2103.663,-15754.783,16,0.9,16,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,0.050
$KALMAN_X,-103965.5,-1081.0,-691.7,103499.1,-1313.7
$KALMAN_Y,1854.6,-557.9,-459.8,-10758.5,-270.1
$MHEAD_RNG_PITCHd_Wd,68.9,20885,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.75,0.000,6,0.000,0.000,31,1921,3394,0,0,0,0,0,0
$GC,103,-0.76,-146.0,4.0,-6.0,13,118,9.68,2.30,0.00,0.000,4,0.219,0.056,2378,3330,3395,0,0,0,0,0,0
$GC,227,-0.76,-146.0,25.1,-13.1,36,235,0.00,2.33,0.00,0.000,6,0.000,0.051,2378,1920,3397,0,0,0,0,0,0
$GC,401,-0.76,-146.0,43.0,-11.0,67,407,0.00,2.35,0.00,0.000,4,0.000,0.069,2378,509,3397,0,0,0,0,0,0
$GC,612,-0.76,-146.0,61.9,-9.0,105,617,0.00,2.20,0.00,0.000,6,0.000,0.040,2368,1915,3398,0,0,0,0,0,0
$GC,943,-0.76,-146.0,86.6,-5.6,156,947,0.00,2.35,0.00,0.000,4,0.000,0.066,2358,3331,3399,0,0,0,0,0,0
$GC,996,-0.76,-146.0,90.6,-7.5,160,1000,0.12,2.28,0.00,0.000,6,0.146,0.051,2390,1919,3399,0,0,0,0,0,0
$GC,1324,-0.76,-146.0,115.5,-8.2,190,1328,0.00,2.30,0.00,0.000,4,0.000,0.067,2391,508,3400,0,0,0,0,0,0
$GC,1573,-0.76,-146.0,136.2,-8.4,212,1580,0.00,2.22,0.00,0.000,6,0.000,0.041,2383,1912,3400,0,0,0,0,0,0
$GC,1900,-0.76,-146.0,164.8,-9.8,243,1904,0.00,2.33,0.00,0.000,4,0.000,0.063,2383,507,3400,0,0,0,0,0,0
$GC,2110,-0.76,-146.0,183.4,-7.5,262,2117,0.00,2.25,0.00,0.000,6,0.000,0.042,2374,1925,3401,0,0,0,0,0,0
$GC,2445,-0.76,-146.0,201.9,-4.6,292,2449,0.00,2.28,0.00,0.000,4,0.000,0.066,2364,3331,3400,0,0,0,0,0,0
$GC,2455,-0.76,-146.0,202.6,-4.7,292,2461,0.12,2.28,0.00,0.000,6,0.143,0.051,2397,1919,3401,0,0,0,0,0,0
$GC,2773,-0.76,-146.0,219.4,-6.2,308,2777,0.00,2.30,0.00,0.000,4,0.000,0.067,2397,508,3401,0,0,0,0,0,0
$GC,2953,-0.76,-146.0,231.4,-6.1,316,2958,0.00,2.22,0.00,0.000,6,0.000,0.040,2389,1935,3401,0,0,0,0,0,0
$GC,3283,-0.76,-146.0,252.5,-6.8,332,3287,0.00,2.33,0.00,0.000,4,0.000,0.061,2389,500,3401,0,0,0,0,0,0
$GC,3357,-0.76,-146.0,258.2,-7.3,335,3361,0.00,2.20,0.00,0.000,6,0.000,0.041,2379,1921,3401,0,0,0,0,0,0
$GC,3675,-0.76,-146.0,278.6,-6.1,350,3679,0.00,2.30,0.00,0.000,4,0.000,0.061,2380,506,3401,0,0,0,0,0,0
$GC,3787,-0.76,-146.0,284.8,-4.5,355,3791,0.00,2.20,0.00,0.000,6,0.000,0.041,2370,1925,3401,0,0,0,0,0,0
$GC,4117,-0.76,-146.0,298.1,-4.3,371,4121,0.00,2.28,0.00,0.000,4,0.000,0.064,2361,3333,3401,0,0,0,0,0,0
$GC,4140,-0.76,-146.0,299.3,-5.0,372,4145,0.12,2.28,0.00,0.000,6,0.140,0.052,2394,1916,3401,0,0,0,0,0,0
$GC,4459,-0.76,-146.0,319.5,-7.3,381,4464,0.00,2.28,0.00,0.000,4,0.000,0.066,2394,509,3399,0,0,0,0,0,0
$GC,4706,-0.76,-146.0,338.2,-5.2,386,4710,0.00,2.17,0.00,0.000,6,0.000,0.040,2386,1921,3399,0,0,0,0,0,0
$GC,5055,-0.76,-146.0,352.0,-4.0,395,5059,0.00,2.33,0.00,0.000,4,0.000,0.061,2386,509,3397,0,0,0,0,0,0
$GC,5192,-0.76,-146.0,359.3,-5.9,398,5196,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1929,3396,0,0,0,0,0,0
$GC,5517,-0.76,-146.0,377.9,-5.9,406,5521,0.00,2.35,0.00,0.000,4,0.000,0.062,2377,504,3395,0,0,0,0,0,0
$GC,5759,-0.76,-146.0,393.7,-7.0,411,5763,0.00,2.22,0.00,0.000,6,0.000,0.042,2368,1919,3394,0,0,0,0,0,0
$GC,6110,-0.76,-146.0,415.9,-6.1,420,6114,0.00,2.30,0.00,0.000,4,0.000,0.063,2368,509,3392,0,0,0,0,0,0
$GC,6235,-0.76,-146.0,423.0,-5.6,422,6241,0.12,2.22,0.00,0.000,6,0.150,0.043,2391,1918,3391,0,0,0,0,0,0
$GC,6568,-0.76,-146.0,437.0,-4.0,431,6573,0.00,2.30,0.00,0.000,4,0.000,0.064,2391,511,3390,0,0,0,0,0,0
$GC,6647,-0.76,-146.0,440.4,-4.1,432,6652,0.00,2.22,0.00,0.000,6,0.000,0.044,2383,1929,3389,0,0,0,0,0,0
$STATE,6937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6937,begin apogee
$GC,6945,-0.17,0.0,451.7,3.7,440,7072,0.62,0.00,124.43,0.755,6,0.109,0.000,2586,2009,2800,0,0,0,0,0,0
$STATE,7073,end apogee,CONTROL_FINISHED_OK
$STATE,7073,begin climb
$GC,7076,0.76,146.0,450.7,0.0,443,7215,0.85,2.35,128.95,0.730,4,0.063,0.064,2890,3405,2201,0,0,0,0,0,0
$GC,7389,0.76,146.0,415.5,10.9,450,7393,0.00,2.30,0.00,0.000,6,0.000,0.051,2899,1992,2195,0,0,0,0,0,0
$GC,7702,0.79,163.9,387.9,8.8,458,7723,0.00,2.33,15.95,0.665,4,0.000,0.061,2899,3410,2130,0,0,0,0,0,0
$GC,7826,0.79,163.9,375.1,10.2,460,7832,0.00,2.28,0.00,0.000,6,0.000,0.051,2907,2000,2127,0,0,0,0,0,0
$GC,8157,0.79,163.9,342.1,10.3,469,8162,0.00,2.35,0.00,0.000,4,0.000,0.063,2907,3413,2125,0,0,0,0,0,0
$GC,8288,0.79,163.9,325.1,13.7,472,8292,0.00,2.28,0.00,0.000,6,0.000,0.051,2917,1986,2125,0,0,0,0,0,0
$GC,8619,0.79,163.9,287.5,10.7,482,8623,0.00,2.30,0.00,0.000,4,0.000,0.053,2917,3412,2124,0,0,0,0,0,0
$GC,8686,0.79,163.9,279.8,11.8,485,8691,0.12,2.20,0.00,0.000,6,0.141,0.042,2892,1991,2124,0,0,0,0,0,0
$GC,9007,0.80,177.5,250.3,9.0,501,9028,0.00,2.33,12.40,0.599,4,0.000,0.052,2891,3412,2075,0,0,0,0,0,0
$GC,9068,0.80,177.5,243.8,11.1,503,9075,0.00,2.22,0.00,0.000,6,0.000,0.041,2898,1994,2074,0,0,0,0,0,0
$GC,9384,0.87,228.1,217.0,7.3,519,9435,0.00,2.30,45.42,0.617,4,0.000,0.051,2899,3416,1870,0,0,0,0,0,0
$GC,9520,0.88,243.1,206.2,8.9,525,9540,0.00,2.25,14.65,0.567,6,0.000,0.042,2907,2002,1809,0,0,0,0,0,0
$GC,9865,0.88,243.1,170.0,10.8,554,9869,0.00,2.25,0.00,0.000,4,0.000,0.051,2907,3421,1807,0,0,0,0,0,0
$GC,9960,0.88,243.1,159.6,11.0,562,9965,0.00,2.25,0.00,0.000,6,0.000,0.039,2913,1985,1807,0,0,0,0,0,0
$GC,10288,0.91,262.9,131.0,8.7,592,10312,0.00,2.28,18.98,0.529,4,0.000,0.049,2913,3413,1727,0,0,0,0,0,0
$GC,10381,0.93,279.7,123.1,8.8,600,10405,0.00,2.20,16.38,0.512,6,0.000,0.040,2921,1996,1658,0,0,0,0,0,0
$GC,10725,0.93,279.7,90.8,10.4,632,10729,0.00,2.25,0.00,0.000,4,0.000,0.061,2930,595,1657,0,0,0,0,0,0
$GC,10768,0.93,279.7,86.1,10.5,635,10776,0.00,2.22,0.00,0.000,6,0.000,0.038,2929,2010,1657,0,0,0,0,0,0
$GC,11099,0.93,279.7,52.7,9.7,690,11107,0.00,2.22,0.00,0.000,4,0.000,0.054,2930,3403,1657,0,0,0,0,0,0
$GC,11132,0.94,291.3,49.9,9.0,695,11149,0.00,2.20,11.43,0.442,6,0.000,0.043,2936,1991,1611,0,0,0,0,0,0
$GC,11480,1.00,333.4,23.8,7.7,758,11527,0.00,2.33,36.80,0.449,4,0.000,0.054,2936,3406,1438,0,0,0,0,0,0
$GC,11611,1.03,362.3,12.9,8.3,780,11645,0.05,2.25,25.10,0.430,6,0.054,0.044,2999,2004,1320,0,0,0,0,0,0
$STATE,11711,end climb,SURFACE_DEPTH_REACHED
$STATE,11711,begin surface coast
$FINISH,0.7,0.999706
$STATE,11739,end surface coast,CONTROL_FINISHED_OK
$STATE,11739,begin surface
$SM_CCo,11819,0.00,0.000,0,0,1315,364.02
$SM_GC,1.55,7.57,0.00,0.00,0.021,0.000,0.000,29,1909,1315,-8.01,-0.25,364.02
$IRIDIUM_FIX,2054.83,-15751.76,171002,131306
$TT8_MAMPS,0.028379
$HUMID,69.92
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,24.2,68.433
$10V_AH,10.0,75.986
$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,19.400,118.325,450.475,0.000,0.000,30.335,34.309,203.128,19.000,0.000,16.505,1479.294,6907.511,465.598,2769.879,614.875,33.351,1498.126,0.000,2714.771,0.000,119.257,0.000
$DEVICE_MAMPS,219.362,103.545,755.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,545.673,456.681,1512.058,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,44390,802
$CAP_FILE_SIZE,131729,0
$CFSIZE,260165632,215220224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230713,200724,2103.573,-15754.431,15,1.4,15,9.8