version: 66.06
glider: 523
mission: 4
dive: 784
start: 7 24 113 6 21 36
data:
$ID,523
$MISSION,4
$DIVE,784
$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,-51904.91
$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,44
$R_STBD_OVSHOOT,26
$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
$GPS1,061332,2103.446,-15756.724,24,0.8,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.3
$GPS2,062117,2103.477,-15756.798,14,1.2,14,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,2114.276,-15756.798
$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,-146.0,0.0,0.0,0,101,0.00,0.00,-82.57,0.000,2,0.000,0.000,38,1896,3348,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.1,-3.7,13,127,9.60,2.38,-1.10,0.000,4,0.219,0.070,2379,3329,3397,0,0,0,0,0,0
$GC,163,-0.76,-146.0,14.2,-13.4,22,170,0.00,2.28,0.00,0.000,6,0.000,0.050,2378,1942,3398,0,0,0,0,0,0
$GC,332,-0.76,-146.0,35.8,-12.4,53,337,0.00,2.38,0.00,0.000,4,0.000,0.070,2378,509,3398,0,0,0,0,0,0
$GC,413,-0.76,-146.0,44.5,-10.2,67,418,0.00,2.22,0.00,0.000,6,0.000,0.042,2369,1916,3398,0,0,0,0,0,0
$GC,743,-0.76,-146.0,76.8,-7.5,128,750,0.00,2.35,0.00,0.000,4,0.000,0.065,2370,509,3400,0,0,0,0,0,0
$GC,912,-0.76,-146.0,90.6,-7.8,147,919,0.10,2.22,0.00,0.000,6,0.135,0.041,2392,1918,3400,0,0,0,0,0,0
$GC,1240,-0.76,-146.0,112.4,-6.3,178,1244,0.00,2.33,0.00,0.000,4,0.000,0.064,2392,505,3401,0,0,0,0,0,0
$GC,1317,-0.76,-146.0,117.9,-6.7,184,1324,0.00,2.25,0.00,0.000,6,0.000,0.043,2384,1918,3401,0,0,0,0,0,0
$GC,1645,-0.76,-146.0,143.9,-8.7,215,1649,0.00,2.33,0.00,0.000,4,0.000,0.064,2384,506,3402,0,0,0,0,0,0
$GC,1708,-0.76,-146.0,149.6,-8.7,220,1712,0.00,2.25,0.00,0.000,6,0.000,0.043,2375,1933,3402,0,0,0,0,0,0
$GC,2041,-0.76,-146.0,176.5,-7.0,251,2045,0.00,2.33,0.00,0.000,4,0.000,0.063,2375,509,3402,0,0,0,0,0,0
$GC,2173,-0.76,-146.0,186.2,-8.5,262,2177,0.00,2.20,0.00,0.000,6,0.000,0.042,2366,1922,3402,0,0,0,0,0,0
$GC,2496,-0.76,-146.0,209.1,-7.0,286,2501,0.10,2.28,0.00,0.000,4,0.163,0.064,2382,3333,3402,0,0,0,0,0,0
$GC,2574,-0.76,-146.0,214.2,-6.1,289,2580,0.00,2.25,0.00,0.000,6,0.000,0.049,2382,1917,3402,0,0,0,0,0,0
$GC,2894,-0.76,-146.0,230.0,-4.9,305,2898,0.00,2.33,0.00,0.000,4,0.000,0.069,2382,502,3402,0,0,0,0,0,0
$GC,3049,-0.76,-146.0,239.9,-7.6,312,3056,0.00,2.22,0.00,0.000,6,0.000,0.041,2373,1924,3402,0,0,0,0,0,0
$GC,3386,-0.76,-146.0,264.4,-6.8,328,3390,0.00,2.30,0.00,0.000,4,0.000,0.061,2373,509,3402,0,0,0,0,0,0
$GC,3436,-0.76,-146.0,268.1,-6.7,330,3440,0.12,2.20,0.00,0.000,6,0.153,0.041,2396,1930,3402,0,0,0,0,0,0
$GC,3760,-0.76,-146.0,283.9,-4.4,346,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1930,3401,0,0,0,0,0,0
$GC,4066,-0.76,-146.0,298.6,-4.9,361,4070,0.00,2.33,0.00,0.000,4,0.000,0.061,2396,507,3401,0,0,0,0,0,0
$GC,4157,-0.76,-146.0,303.5,-6.0,364,4161,0.00,2.20,0.00,0.000,6,0.000,0.041,2388,1921,3401,0,0,0,0,0,0
$GC,4487,-0.76,-146.0,318.1,-3.9,372,4491,0.00,2.25,0.00,0.000,4,0.000,0.063,2378,3327,3400,0,0,0,0,0,0
$GC,4549,-0.76,-146.0,320.7,-4.3,373,4553,0.00,2.25,0.00,0.000,6,0.000,0.051,2378,1921,3399,0,0,0,0,0,0
$GC,4897,-0.76,-146.0,337.3,-5.2,382,4901,0.00,2.33,0.00,0.000,4,0.000,0.068,2378,501,3398,0,0,0,0,0,0
$GC,4998,-0.76,-146.0,342.8,-5.2,384,5002,0.00,2.20,0.00,0.000,6,0.000,0.041,2369,1922,3397,0,0,0,0,0,0
$GC,5347,-0.76,-146.0,356.9,-3.8,393,5351,0.00,2.33,0.00,0.000,4,0.000,0.064,2369,509,3396,0,0,0,0,0,0
$GC,5508,-0.76,-146.0,366.9,-6.8,396,5513,0.12,2.20,0.00,0.000,6,0.151,0.042,2392,1921,3395,0,0,0,0,0,0
$GC,5840,-0.76,-146.0,387.9,-6.3,404,5844,0.00,2.33,0.00,0.000,4,0.000,0.063,2392,508,3393,0,0,0,0,0,0
$GC,5913,-0.76,-146.0,392.2,-5.6,405,5917,0.00,2.22,0.00,0.000,6,0.000,0.042,2384,1928,3392,0,0,0,0,0,0
$GC,6250,-0.76,-146.0,408.9,-4.9,414,6254,0.00,2.35,0.00,0.000,4,0.000,0.064,2384,503,3391,0,0,0,0,0,0
$GC,6335,-0.76,-146.0,413.0,-4.7,416,6339,0.00,2.22,0.00,0.000,6,0.000,0.044,2375,1921,3391,0,0,0,0,0,0
$GC,6662,-0.76,-146.0,426.0,-3.8,424,6666,0.00,2.35,0.00,0.000,4,0.000,0.064,2375,501,3389,0,0,0,0,0,0
$GC,6748,-0.76,-146.0,430.4,-5.5,426,6752,0.00,2.25,0.00,0.000,6,0.000,0.044,2366,1921,3389,0,0,0,0,0,0
$GC,7079,-0.76,-146.0,448.1,-5.1,434,7083,0.00,2.35,0.00,0.000,4,0.000,0.065,2366,504,3387,0,0,0,0,0,0
$STATE,7110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7110,begin apogee
$GC,7119,-0.17,0.0,450.1,5.4,434,7247,0.70,0.00,124.53,0.754,6,0.117,0.000,2580,2000,2799,0,0,0,0,0,0
$STATE,7248,end apogee,CONTROL_FINISHED_OK
$STATE,7248,begin climb
$GC,7251,0.76,146.0,448.4,0.0,438,7389,0.85,2.33,129.15,0.730,4,0.068,0.058,2883,3412,2203,0,0,0,0,0,0
$GC,7480,0.76,146.0,419.7,14.0,443,7484,0.00,2.30,0.00,0.000,6,0.000,0.050,2892,1993,2198,0,0,0,0,0,0
$GC,7827,0.76,146.0,380.4,10.8,452,7831,0.00,2.33,0.00,0.000,4,0.000,0.063,2892,3407,2196,0,0,0,0,0,0
$GC,7872,0.76,146.0,375.2,12.1,453,7876,0.00,2.28,0.00,0.000,6,0.000,0.050,2902,1994,2195,0,0,0,0,0,0
$GC,8191,0.76,146.0,342.7,9.8,461,8195,0.00,2.30,0.00,0.000,4,0.000,0.062,2902,3411,2194,0,0,0,0,0,0
$GC,8241,0.76,146.0,337.1,11.2,462,8245,0.00,2.25,0.00,0.000,6,0.000,0.052,2911,1995,2193,0,0,0,0,0,0
$GC,8554,0.77,149.1,307.5,9.4,470,8558,0.00,2.33,0.00,0.000,4,0.000,0.064,2911,3409,2192,0,0,0,0,0,0
$GC,8621,0.77,149.1,300.3,11.1,471,8626,0.12,2.28,0.00,0.000,6,0.147,0.052,2886,1991,2192,0,0,0,0,0,0
$GC,8942,0.77,149.1,269.7,10.0,487,8946,0.00,2.30,0.00,0.000,4,0.000,0.063,2886,3406,2191,0,0,0,0,0,0
$GC,9015,0.77,149.1,261.6,11.7,490,9019,0.00,2.25,0.00,0.000,6,0.000,0.054,2893,2000,2191,0,0,0,0,0,0
$GC,9331,0.77,149.1,229.1,10.0,505,9335,0.00,2.30,0.00,0.000,4,0.000,0.064,2893,3408,2190,0,0,0,0,0,0
$GC,9382,0.77,152.2,224.1,9.4,507,9392,0.00,2.22,4.38,0.448,6,0.000,0.042,2902,1986,2179,0,0,0,0,0,0
$GC,9710,0.83,195.7,200.0,7.6,523,9757,0.00,2.35,39.85,0.607,4,0.000,0.051,2902,3418,2001,0,0,0,0,0,0
$GC,9782,0.83,197.5,193.9,9.5,529,9786,0.00,2.25,0.00,0.000,6,0.000,0.043,2911,1990,1999,0,0,0,0,0,0
$GC,10109,0.83,198.5,160.8,9.5,559,10113,0.00,2.33,0.00,0.000,4,0.000,0.053,2911,3421,1997,0,0,0,0,0,0
$GC,10150,0.83,198.5,156.5,10.9,562,10154,0.00,2.22,0.00,0.000,6,0.000,0.042,2921,1995,1997,0,0,0,0,0,0
$GC,10479,0.83,198.5,125.6,9.6,592,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1994,1997,0,0,0,0,0,0
$GC,10808,0.85,215.1,96.7,8.8,623,10831,0.00,2.25,18.10,0.505,4,0.000,0.052,2921,3412,1922,0,0,0,0,0,0
$GC,10901,0.87,230.9,88.4,8.9,631,10925,0.00,2.22,15.35,0.489,6,0.000,0.041,2928,1994,1857,0,0,0,0,0,0
$GC,11249,0.89,248.0,60.2,8.8,685,11273,0.00,2.28,16.20,0.468,4,0.000,0.058,2938,594,1788,0,0,0,0,0,0
$GC,11299,0.89,248.0,55.4,9.7,693,11304,0.00,2.20,0.00,0.000,6,0.000,0.035,2938,2013,1788,0,0,0,0,0,0
$GC,11633,0.94,291.5,28.9,7.6,754,11679,0.00,2.33,38.53,0.459,4,0.000,0.054,2945,597,1610,0,0,0,0,0,0
$GC,11732,0.95,299.7,20.6,9.2,770,11746,0.00,2.20,8.88,0.400,6,0.000,0.035,2945,1995,1577,0,0,0,0,0,0
$GC,11909,0.98,318.3,4.4,8.7,802,11924,0.00,0.00,12.60,0.413,2,0.000,0.000,2945,1996,1522,0,0,0,0,0,0
$STATE,11924,end climb,SURFACE_DEPTH_REACHED
$STATE,11924,begin surface coast
$FINISH,0.7,1.010358
$STATE,11958,end surface coast,CONTROL_FINISHED_OK
$STATE,11958,begin surface
$SM_CCo,12037,0.00,0.000,0,0,1518,314.47
$SM_GC,1.55,7.38,0.00,0.00,0.018,0.000,0.000,43,1897,1518,-7.99,-0.59,314.47
$IRIDIUM_FIX,2057.14,-15756.91,181002,030322
$TT8_MAMPS,0.028379
$HUMID,70.67
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,24.2,68.822
$10V_AH,10.0,76.444
$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,19.100,127.850,407.550,0.000,0.000,28.809,35.855,238.223,19.250,0.000,15.146,1495.947,7241.994,435.489,2664.507,654.211,0.000,1436.795,0.000,2617.163,0.000,117.277,0.000
$DEVICE_MAMPS,218.595,69.797,753.961,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,550.477,464.301,1529.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,44353,810
$CAP_FILE_SIZE,133224,0
$CFSIZE,260165632,214958080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240713,094306,2103.833,-15756.688,17,0.8,17,9.8