version: 66.06
glider: 523
mission: 4
dive: 781
start: 7 23 113 20 15 34
data:
$ID,523
$MISSION,4
$DIVE,781
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,0
$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,-51839.426
$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,32
$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
$GPS1,200724,2103.573,-15754.431,15,1.4,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.5
$GPS2,201516,2103.487,-15754.387,24,0.8,24,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,2114.286,-15754.387
$TGT_RADIUS,1852.000
$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,350.2,20000,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-87.22,0.000,6,0.000,0.000,29,1906,3396,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.5,-4.8,14,125,9.60,2.30,0.00,0.000,4,0.216,0.055,2374,3328,3398,0,0,0,0,0,0
$GC,174,-0.76,-146.0,16.4,-13.2,25,182,0.00,2.25,0.00,0.000,6,0.000,0.048,2374,1938,3400,0,0,0,0,0,0
$GC,343,-0.76,-146.0,32.9,-10.4,56,350,0.00,2.35,0.00,0.000,4,0.000,0.066,2374,511,3400,0,0,0,0,0,0
$GC,494,-0.76,-146.0,50.9,-13.3,83,500,0.12,2.17,0.00,0.000,6,0.162,0.041,2396,1912,3400,0,0,0,0,0,0
$GC,827,-0.76,-146.0,82.7,-8.2,141,831,0.00,2.30,0.00,0.000,4,0.000,0.063,2397,499,3401,0,0,0,0,0,0
$GC,968,-0.76,-146.0,94.5,-7.6,153,973,0.00,2.25,0.00,0.000,6,0.000,0.042,2389,1926,3400,0,0,0,0,0,0
$GC,1301,-0.76,-146.0,115.8,-8.0,184,1305,0.00,2.33,0.00,0.000,4,0.000,0.063,2389,501,3402,0,0,0,0,0,0
$GC,1527,-0.76,-146.0,135.1,-8.2,204,1531,0.00,2.22,0.00,0.000,6,0.000,0.041,2379,1929,3402,0,0,0,0,0,0
$GC,1854,-0.76,-146.0,162.3,-8.0,234,1859,0.00,2.35,0.00,0.000,4,0.000,0.063,2379,503,3402,0,0,0,0,0,0
$GC,1940,-0.76,-146.0,168.7,-7.7,241,1944,0.00,2.20,0.00,0.000,6,0.000,0.041,2370,1923,3402,0,0,0,0,0,0
$GC,2268,-0.76,-146.0,193.3,-7.9,271,2272,0.00,2.33,0.00,0.000,4,0.000,0.062,2370,508,3402,0,0,0,0,0,0
$GC,2366,-0.76,-146.0,200.5,-6.1,279,2373,0.10,2.22,0.00,0.000,6,0.126,0.041,2393,1921,3403,0,0,0,0,0,0
$GC,2685,-0.76,-146.0,216.8,-6.4,295,2689,0.00,2.30,0.00,0.000,4,0.000,0.061,2393,504,3403,0,0,0,0,0,0
$GC,2876,-0.76,-146.0,231.3,-6.6,303,2881,0.00,2.22,0.00,0.000,6,0.000,0.040,2385,1932,3403,0,0,0,0,0,0
$GC,3195,-0.76,-146.0,251.5,-6.4,319,3198,0.00,2.35,0.00,0.000,4,0.000,0.060,2385,499,3402,0,0,0,0,0,0
$GC,3263,-0.76,-146.0,256.0,-6.1,322,3267,0.00,2.22,0.00,0.000,6,0.000,0.041,2376,1924,3402,0,0,0,0,0,0
$GC,3593,-0.76,-146.0,271.5,-4.2,338,3597,0.00,2.33,0.00,0.000,4,0.000,0.060,2376,505,3402,0,0,0,0,0,0
$GC,3750,-0.76,-146.0,279.4,-5.2,345,3754,0.00,2.20,0.00,0.000,6,0.000,0.041,2366,1926,3401,0,0,0,0,0,0
$GC,4076,-0.76,-146.0,297.8,-6.3,361,4080,0.00,2.35,0.00,0.000,4,0.000,0.061,2367,499,3400,0,0,0,0,0,0
$GC,4161,-0.76,-146.0,303.1,-5.5,364,4165,0.12,2.22,0.00,0.000,6,0.153,0.041,2390,1923,3399,0,0,0,0,0,0
$GC,4493,-0.76,-146.0,320.0,-4.9,372,4500,0.00,2.33,0.00,0.000,4,0.000,0.061,2391,498,3398,0,0,0,0,0,0
$GC,4692,-0.76,-146.0,331.0,-5.8,376,4696,0.00,2.22,0.00,0.000,6,0.000,0.041,2383,1929,3397,0,0,0,0,0,0
$GC,5041,-0.76,-146.0,350.3,-5.5,385,5045,0.00,2.35,0.00,0.000,4,0.000,0.062,2383,502,3395,0,0,0,0,0,0
$GC,5272,-0.76,-146.0,362.9,-5.3,390,5276,0.00,2.22,0.00,0.000,6,0.000,0.042,2374,1930,3394,0,0,0,0,0,0
$GC,5586,-0.76,-146.0,380.4,-6.0,398,5590,0.00,2.38,0.00,0.000,4,0.000,0.063,2374,496,3393,0,0,0,0,0,0
$GC,5718,-0.76,-146.0,389.2,-6.4,401,5723,0.12,2.25,0.00,0.000,6,0.153,0.043,2396,1930,3392,0,0,0,0,0,0
$GC,6050,-0.76,-146.0,407.2,-5.6,409,6054,0.00,2.35,0.00,0.000,4,0.000,0.064,2397,505,3390,0,0,0,0,0,0
$GC,6111,-0.76,-146.0,411.4,-6.2,410,6115,0.00,2.22,0.00,0.000,6,0.000,0.044,2389,1922,3389,0,0,0,0,0,0
$GC,6463,-0.76,-146.0,430.9,-5.6,419,6467,0.00,2.35,0.00,0.000,4,0.000,0.065,2389,505,3388,0,0,0,0,0,0
$GC,6542,-0.76,-146.0,435.2,-5.6,420,6547,0.00,2.25,0.00,0.000,6,0.000,0.045,2380,1922,3388,0,0,0,0,0,0
$STATE,6832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6832,begin apogee
$GC,6840,-0.17,0.0,450.7,5.7,428,6967,0.62,0.00,124.38,0.759,6,0.110,0.000,2583,2002,2800,0,0,0,0,0,0
$STATE,6968,end apogee,CONTROL_FINISHED_OK
$STATE,6968,begin climb
$GC,6971,0.76,146.0,452.0,0.0,431,7109,0.85,2.30,129.20,0.735,4,0.065,0.054,2886,3404,2202,0,0,0,0,0,0
$GC,7224,0.76,146.0,426.9,11.9,436,7229,0.00,2.25,0.00,0.000,6,0.000,0.044,2896,1989,2197,0,0,0,0,0,0
$GC,7555,0.76,146.0,391.4,10.7,445,7559,0.00,2.30,0.00,0.000,4,0.000,0.053,2896,3419,2195,0,0,0,0,0,0
$GC,7685,0.76,146.0,375.2,12.4,448,7689,0.00,2.25,0.00,0.000,6,0.000,0.043,2906,1993,2193,0,0,0,0,0,0
$GC,8014,0.76,146.0,340.2,10.1,456,8018,0.00,2.25,0.00,0.000,4,0.000,0.054,2906,3410,2193,0,0,0,0,0,0
$GC,8059,0.76,146.0,335.2,11.5,457,8063,0.00,2.20,0.00,0.000,6,0.000,0.042,2916,1996,2193,0,0,0,0,0,0
$GC,8378,0.76,146.0,302.6,10.3,465,8382,0.00,2.25,0.00,0.000,4,0.000,0.054,2916,3414,2192,0,0,0,0,0,0
$GC,8518,0.76,146.0,285.0,13.0,470,8523,0.12,2.20,0.00,0.000,6,0.148,0.041,2891,2000,2190,0,0,0,0,0,0
$GC,8839,0.77,153.6,253.0,9.2,486,8850,0.00,2.28,5.85,0.520,4,0.000,0.052,2891,3423,2173,0,0,0,0,0,0
$GC,8906,0.77,153.6,246.8,9.6,489,8910,0.00,2.22,0.00,0.000,6,0.000,0.041,2900,1992,2172,0,0,0,0,0,0
$GC,9234,0.82,190.8,220.0,7.9,505,9275,0.00,2.33,34.10,0.622,4,0.000,0.053,2899,3419,2021,0,0,0,0,0,0
$GC,9304,0.86,227.5,214.6,7.9,508,9343,0.00,2.25,33.90,0.607,6,0.000,0.042,2908,1998,1871,0,0,0,0,0,0
$GC,9667,0.91,260.5,187.3,8.1,532,9703,0.00,2.28,29.80,0.584,4,0.000,0.051,2908,3410,1738,0,0,0,0,0,0
$GC,9771,0.91,260.5,177.3,10.0,541,9775,0.00,2.22,0.00,0.000,6,0.000,0.041,2917,1993,1736,0,0,0,0,0,0
$GC,10098,0.92,273.1,147.9,9.0,571,10116,0.00,2.28,12.45,0.520,4,0.000,0.052,2917,3413,1687,0,0,0,0,0,0
$GC,10163,0.92,273.1,141.7,10.7,576,10167,0.00,2.22,0.00,0.000,6,0.000,0.041,2925,1989,1686,0,0,0,0,0,0
$GC,10490,0.92,273.1,107.9,10.4,606,10494,0.00,2.25,0.00,0.000,4,0.000,0.061,2935,591,1686,0,0,0,0,0,0
$GC,10522,0.92,273.1,104.2,10.4,608,10530,0.00,2.25,0.00,0.000,6,0.000,0.041,2934,2008,1686,0,0,0,0,0,0
$GC,10850,0.92,276.1,69.6,9.4,649,10863,0.00,2.33,4.47,0.367,4,0.000,0.061,2942,600,1673,0,0,0,0,0,0
$GC,10943,0.92,276.1,60.0,11.5,665,10948,0.00,2.20,0.00,0.000,6,0.000,0.041,2942,2007,1673,0,0,0,0,0,0
$GC,11275,0.93,282.0,29.0,9.3,726,11289,0.00,0.00,6.78,0.396,6,0.000,0.000,2942,2007,1650,0,0,0,0,0,0
$GC,11452,0.96,305.5,12.9,8.5,758,11480,0.00,2.20,21.92,0.439,4,0.000,0.051,2943,3412,1552,0,0,0,0,0,0
$GC,11520,0.96,305.5,6.8,9.8,769,11527,0.00,2.25,0.00,0.000,6,0.000,0.041,2950,1995,1551,0,0,0,0,0,0
$STATE,11564,end climb,SURFACE_DEPTH_REACHED
$STATE,11564,begin surface coast
$FINISH,0.8,1.010062
$STATE,11602,end surface coast,CONTROL_FINISHED_OK
$STATE,11602,begin surface
$SM_CCo,11681,0.00,0.000,0,0,1549,306.87
$SM_GC,1.55,7.43,0.00,0.00,0.022,0.000,0.000,34,1915,1549,-8.01,-0.11,306.87
$IRIDIUM_FIX,2052.52,-15752.63,171002,161656
$TT8_MAMPS,0.027612
$HUMID,70.75
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,24.2,68.530
$10V_AH,10.0,76.101
$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,19.100,118.200,402.850,0.000,0.000,24.167,40.284,237.204,19.000,0.000,24.955,1470.424,6863.824,440.027,2727.006,640.263,0.000,1441.047,0.000,2661.379,0.000,117.275,0.000
$DEVICE_MAMPS,216.294,103.545,758.563,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,533.556,453.486,1491.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,44333,784
$CAP_FILE_SIZE,130661,0
$CFSIZE,260165632,215158784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230713,233128,2103.615,-15754.602,37,0.9,37,9.8