version: 66.06
glider: 523
mission: 4
dive: 782
start: 7 23 113 23 39 29
data:
$ID,523
$MISSION,4
$DIVE,782
$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,-51859.203
$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,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
$GPS1,233128,2103.615,-15754.602,37,0.9,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.3
$GPS2,233911,2103.521,-15754.613,18,0.9,18,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,2114.320,-15754.613
$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,-146.0,0.0,0.0,0,95,0.00,0.00,-76.45,0.000,2,0.000,0.000,26,1912,3331,0,0,0,0,0,0
$GC,99,-0.76,-146.0,3.0,-3.6,12,121,9.62,2.35,-1.52,0.000,4,0.218,0.072,2376,3323,3397,0,0,0,0,0,0
$GC,168,-0.76,-146.0,15.2,-12.9,23,175,0.00,2.28,0.00,0.000,6,0.000,0.051,2376,1927,3397,0,0,0,0,0,0
$GC,334,-0.76,-146.0,35.6,-12.1,54,342,0.00,2.38,0.00,0.000,4,0.000,0.070,2376,502,3398,0,0,0,0,0,0
$GC,521,-0.76,-146.0,55.7,-10.2,88,529,0.00,2.25,0.00,0.000,6,0.000,0.042,2366,1912,3399,0,0,0,0,0,0
$GC,862,-0.76,-146.0,89.6,-8.7,141,869,0.00,2.33,0.00,0.000,4,0.000,0.064,2366,504,3400,0,0,0,0,0,0
$GC,1115,-0.76,-146.0,113.7,-10.6,164,1120,0.15,2.22,0.00,0.000,6,0.148,0.042,2398,1921,3400,0,0,0,0,0,0
$GC,1443,-0.76,-146.0,136.6,-6.1,194,1447,0.00,2.35,0.00,0.000,4,0.000,0.066,2398,498,3401,0,0,0,0,0,0
$GC,1574,-0.76,-146.0,144.4,-5.6,205,1581,0.00,2.28,0.00,0.000,6,0.000,0.043,2390,1926,3401,0,0,0,0,0,0
$GC,1901,-0.76,-146.0,161.3,-5.6,236,1905,0.00,2.33,0.00,0.000,4,0.000,0.065,2390,506,3402,0,0,0,0,0,0
$GC,1921,-0.76,-146.0,162.5,-5.7,237,1925,0.00,2.22,0.00,0.000,6,0.000,0.044,2381,1930,3402,0,0,0,0,0,0
$GC,2249,-0.76,-146.0,184.7,-6.6,267,2253,0.00,2.33,0.00,0.000,4,0.000,0.064,2380,506,3402,0,0,0,0,0,0
$GC,2372,-0.76,-146.0,193.9,-7.6,278,2376,0.00,2.22,0.00,0.000,6,0.000,0.042,2371,1925,3402,0,0,0,0,0,0
$GC,2696,-0.76,-146.0,216.8,-7.3,298,2700,0.00,2.25,0.00,0.000,4,0.000,0.066,2362,3327,3402,0,0,0,0,0,0
$GC,2730,-0.76,-146.0,219.5,-7.9,299,2738,0.12,2.28,0.00,0.000,6,0.143,0.051,2395,1913,3402,0,0,0,0,0,0
$GC,3048,-0.76,-146.0,237.4,-5.3,315,3052,0.00,2.30,0.00,0.000,4,0.000,0.067,2396,502,3402,0,0,0,0,0,0
$GC,3246,-0.76,-146.0,248.5,-7.0,323,3252,0.00,2.20,0.00,0.000,6,0.000,0.040,2389,1923,3402,0,0,0,0,0,0
$GC,3565,-0.76,-146.0,270.4,-5.4,339,3569,0.00,2.33,0.00,0.000,4,0.000,0.062,2388,502,3402,0,0,0,0,0,0
$GC,3720,-0.76,-146.0,279.4,-6.5,346,3724,0.00,2.20,0.00,0.000,6,0.000,0.040,2378,1922,3402,0,0,0,0,0,0
$GC,4049,-0.76,-146.0,299.5,-6.2,362,4053,0.00,2.25,0.00,0.000,4,0.000,0.064,2368,3329,3402,0,0,0,0,0,0
$GC,4099,-0.76,-146.0,302.0,-4.8,364,4104,0.00,2.25,0.00,0.000,6,0.000,0.051,2368,1916,3401,0,0,0,0,0,0
$GC,4415,-0.76,-146.0,317.7,-6.3,372,4419,0.00,2.30,0.00,0.000,4,0.000,0.067,2368,505,3401,0,0,0,0,0,0
$GC,4672,-0.76,-146.0,336.9,-8.9,377,4678,0.12,2.22,0.00,0.000,6,0.148,0.041,2392,1921,3400,0,0,0,0,0,0
$GC,5004,-0.76,-146.0,359.6,-6.4,386,5008,0.00,2.33,0.00,0.000,4,0.000,0.062,2392,501,3399,0,0,0,0,0,0
$GC,5066,-0.76,-146.0,363.2,-5.4,387,5070,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1931,3398,0,0,0,0,0,0
$GC,5416,-0.76,-146.0,382.6,-6.0,396,5420,0.00,2.33,0.00,0.000,4,0.000,0.062,2384,508,3397,0,0,0,0,0,0
$GC,5479,-0.76,-146.0,387.3,-7.2,397,5483,0.00,2.22,0.00,0.000,6,0.000,0.042,2375,1921,3396,0,0,0,0,0,0
$GC,5822,-0.76,-146.0,405.4,-4.2,406,5826,0.00,2.33,0.00,0.000,4,0.000,0.064,2375,509,3394,0,0,0,0,0,0
$GC,5977,-0.76,-146.0,412.4,-5.2,409,5981,0.00,2.25,0.00,0.000,6,0.000,0.042,2366,1931,3393,0,0,0,0,0,0
$GC,6320,-0.76,-146.0,432.1,-6.2,418,6325,0.10,2.30,0.00,0.000,4,0.163,0.066,2383,3326,3392,0,0,0,0,0,0
$GC,6348,-0.76,-146.0,433.9,-5.8,418,6353,0.00,2.28,0.00,0.000,6,0.000,0.052,2382,1920,3392,0,0,0,0,0,0
$STATE,6637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6637,begin apogee
$GC,6644,-0.17,0.0,451.7,6.2,425,6773,0.62,0.00,125.30,0.755,6,0.110,0.000,2585,2030,2800,0,0,0,0,0,0
$STATE,6773,end apogee,CONTROL_FINISHED_OK
$STATE,6774,begin climb
$GC,6777,0.76,146.0,453.2,0.0,428,6915,0.85,2.25,129.27,0.732,4,0.063,0.061,2891,3385,2202,0,0,0,0,0,0
$GC,7083,0.76,146.0,421.1,10.7,435,7087,0.00,2.22,0.00,0.000,6,0.000,0.048,2899,1998,2196,0,0,0,0,0,0
$GC,7401,0.76,146.0,386.2,11.2,443,7405,0.00,2.28,0.00,0.000,4,0.000,0.063,2900,3384,2194,0,0,0,0,0,0
$GC,7519,0.76,146.0,372.1,11.8,445,7523,0.00,2.22,0.00,0.000,6,0.000,0.049,2908,1999,2193,0,0,0,0,0,0
$GC,7850,0.77,153.9,340.4,9.2,453,7864,0.00,2.33,6.62,0.568,4,0.000,0.063,2908,3384,2171,0,0,0,0,0,0
$GC,7948,0.77,153.9,330.1,11.4,455,7952,0.00,2.20,0.00,0.000,6,0.000,0.050,2917,2000,2171,0,0,0,0,0,0
$GC,8262,0.77,153.9,297.4,9.8,463,8266,0.00,2.28,0.00,0.000,4,0.000,0.064,2918,3384,2169,0,0,0,0,0,0
$GC,8379,0.77,153.9,286.6,10.4,468,8384,0.12,2.20,0.00,0.000,6,0.145,0.042,2892,1985,2169,0,0,0,0,0,0
$GC,8696,0.80,171.0,257.7,8.8,483,8714,0.00,0.00,16.65,0.620,6,0.000,0.000,2892,1985,2102,0,0,0,0,0,0
$GC,9024,0.85,213.3,231.5,7.7,499,9064,0.00,0.00,38.25,0.624,6,0.000,0.000,2892,1985,1930,0,0,0,0,0,0
$GC,9374,0.88,240.0,201.9,8.4,516,9404,0.00,2.25,24.70,0.588,4,0.000,0.059,2894,593,1820,0,0,0,0,0,0
$GC,9481,0.92,272.9,193.6,8.1,524,9518,0.12,2.17,30.55,0.581,6,0.070,0.035,2978,1986,1687,0,0,0,0,0,0
$GC,9837,0.92,272.9,152.9,11.6,557,9842,0.15,2.28,0.00,0.000,4,0.132,0.054,2943,592,1685,0,0,0,0,0,0
$GC,9869,0.92,272.9,149.1,9.7,559,9877,0.00,2.22,0.00,0.000,6,0.000,0.037,2942,1998,1685,0,0,0,0,0,0
$GC,10196,0.92,272.9,116.7,10.2,590,10200,0.00,2.28,0.00,0.000,4,0.000,0.054,2952,591,1684,0,0,0,0,0,0
$GC,10290,0.92,272.9,106.6,11.4,598,10294,0.00,2.20,0.00,0.000,6,0.000,0.036,2952,2006,1685,0,0,0,0,0,0
$GC,10615,0.92,272.9,70.8,10.5,636,10623,0.00,2.28,0.00,0.000,4,0.000,0.056,2952,3405,1685,0,0,0,0,0,0
$GC,10724,0.92,272.9,58.4,11.5,655,10730,0.00,2.22,0.00,0.000,6,0.000,0.047,2962,1992,1685,0,0,0,0,0,0
$GC,11056,0.94,284.9,25.1,9.0,716,11078,0.00,2.30,11.95,0.425,4,0.000,0.054,2962,3405,1637,0,0,0,0,0,0
$GC,11087,0.94,284.9,22.1,9.7,720,11095,0.00,2.25,0.00,0.000,6,0.000,0.045,2968,1999,1637,0,0,0,0,0,0
$GC,11256,0.94,289.1,6.7,9.4,751,11271,0.00,2.30,5.38,0.352,4,0.000,0.053,2969,3411,1619,0,0,0,0,0,0
$STATE,11294,end climb,SURFACE_DEPTH_REACHED
$STATE,11294,begin surface coast
$FINISH,0.7,1.023026
$STATE,11322,end surface coast,CONTROL_FINISHED_OK
$STATE,11322,begin surface
$SM_CCo,11344,8.80,0.399,0,0,1575,300.24
$SM_GC,1.43,0.00,0.00,8.80,0.000,0.000,0.399,25,1914,1575,-8.18,-0.14,300.24
$IRIDIUM_FIX,2052.52,-15740.20,171002,202043
$TT8_MAMPS,0.027612
$HUMID,71.42
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,24.2,68.626
$10V_AH,9.9,76.213
$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,19.525,113.650,388.675,8.800,0.000,30.547,35.212,232.322,19.250,0.000,19.145,1421.683,6706.828,455.035,2592.103,632.379,0.000,1389.666,0.000,2537.375,0.000,119.961,0.000
$DEVICE_MAMPS,217.828,72.098,755.495,398.840,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,519.341,441.034,1466.635,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,41121,762
$CAP_FILE_SIZE,125386,0
$CFSIZE,260165632,215097344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240713,024957,2103.271,-15755.673,33,1.7,35,9.8