version: 66.06
glider: 523
mission: 4
dive: 785
start: 7 24 113 9 51 7
data:
$ID,523
$MISSION,4
$DIVE,785
$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,10
$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,-51927.094
$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,47
$R_STBD_OVSHOOT,31
$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
$GPS1,094306,2103.833,-15756.688,17,0.8,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-76.5
$GPS2,095049,2103.761,-15756.743,21,0.8,21,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,2114.396,-15754.731
$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,0.2,20000,-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,-80.07,0.000,6,0.000,0.000,43,1894,3395,0,0,0,0,0,0
$GC,105,-0.76,-146.0,3.5,-4.6,13,120,9.68,2.30,0.00,0.000,4,0.221,0.054,2378,3321,3396,0,0,0,0,0,0
$GC,187,-0.76,-146.0,18.2,-11.2,27,194,0.00,2.22,0.00,0.000,6,0.000,0.051,2378,1955,3398,0,0,0,0,0,0
$GC,356,-0.76,-146.0,39.1,-12.6,58,363,0.00,2.40,0.00,0.000,4,0.000,0.071,2378,514,3398,0,0,0,0,0,0
$GC,610,-0.76,-146.0,66.8,-10.2,104,617,0.00,2.22,0.00,0.000,6,0.000,0.042,2369,1912,3399,0,0,0,0,0,0
$GC,947,-0.76,-146.0,95.7,-7.0,148,951,0.00,2.30,0.00,0.000,4,0.000,0.064,2369,502,3400,0,0,0,0,0,0
$GC,1111,-0.76,-146.0,109.0,-8.2,162,1118,0.10,2.25,0.00,0.000,6,0.130,0.041,2391,1917,3400,0,0,0,0,0,0
$GC,1439,-0.76,-146.0,129.1,-5.6,193,1443,0.00,2.33,0.00,0.000,4,0.000,0.064,2392,508,3401,0,0,0,0,0,0
$GC,1513,-0.76,-146.0,133.5,-5.9,199,1517,0.00,2.22,0.00,0.000,6,0.000,0.041,2384,1924,3401,0,0,0,0,0,0
$GC,1840,-0.76,-146.0,153.9,-6.8,229,1844,0.00,2.33,0.00,0.000,4,0.000,0.065,2384,509,3402,0,0,0,0,0,0
$GC,1978,-0.76,-146.0,164.0,-7.1,241,1982,0.00,2.20,0.00,0.000,6,0.000,0.042,2375,1924,3402,0,0,0,0,0,0
$GC,2305,-0.76,-146.0,187.7,-8.2,271,2309,0.00,2.33,0.00,0.000,4,0.000,0.065,2375,503,3402,0,0,0,0,0,0
$GC,2558,-0.76,-146.0,207.2,-5.7,288,2564,0.12,2.22,0.00,0.000,6,0.157,0.041,2397,1922,3402,0,0,0,0,0,0
$GC,2877,-0.76,-146.0,222.4,-5.7,304,2881,0.00,2.30,0.00,0.000,4,0.000,0.064,2398,508,3402,0,0,0,0,0,0
$GC,3001,-0.76,-146.0,231.3,-7.4,309,3007,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,1929,3402,0,0,0,0,0,0
$GC,3318,-0.76,-146.0,250.0,-5.7,325,3325,0.00,2.25,0.00,0.000,4,0.000,0.065,2379,3333,3402,0,0,0,0,0,0
$GC,3376,-0.76,-146.0,253.5,-5.5,327,3380,0.00,2.28,0.00,0.000,6,0.000,0.051,2379,1919,3402,0,0,0,0,0,0
$GC,3694,-0.76,-146.0,270.6,-5.4,342,3698,0.00,2.30,0.00,0.000,4,0.000,0.069,2379,501,3402,0,0,0,0,0,0
$GC,3892,-0.76,-146.0,284.6,-7.8,351,3899,0.00,2.20,0.00,0.000,6,0.000,0.041,2370,1922,3401,0,0,0,0,0,0
$GC,4227,-0.76,-146.0,308.9,-7.1,364,4231,0.00,2.33,0.00,0.000,4,0.000,0.062,2370,508,3400,0,0,0,0,0,0
$GC,4407,-0.76,-146.0,319.7,-5.1,368,4411,0.12,2.20,0.00,0.000,6,0.152,0.041,2393,1923,3399,0,0,0,0,0,0
$GC,4732,-0.76,-146.0,332.9,-4.6,376,4736,0.00,2.33,0.00,0.000,4,0.000,0.062,2394,508,3397,0,0,0,0,0,0
$GC,4863,-0.76,-146.0,341.1,-6.6,379,4868,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1918,3396,0,0,0,0,0,0
$GC,5191,-0.76,-146.0,362.7,-6.4,387,5195,0.00,2.33,0.00,0.000,4,0.000,0.063,2386,508,3395,0,0,0,0,0,0
$GC,5328,-0.76,-146.0,372.7,-7.1,390,5332,0.00,2.20,0.00,0.000,6,0.000,0.042,2377,1922,3395,0,0,0,0,0,0
$GC,5647,-0.76,-146.0,394.1,-6.5,398,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1922,3393,0,0,0,0,0,0
$GC,5972,-0.76,-146.0,411.2,-5.2,406,5977,0.00,2.33,0.00,0.000,4,0.000,0.064,2377,508,3391,0,0,0,0,0,0
$GC,6121,-0.76,-146.0,420.0,-5.8,409,6126,0.00,2.22,0.00,0.000,6,0.000,0.044,2368,1931,3390,0,0,0,0,0,0
$GC,6434,-0.76,-146.0,439.8,-6.4,417,6439,0.00,2.35,0.00,0.000,4,0.000,0.064,2367,508,3389,0,0,0,0,0,0
$GC,6481,-0.76,-146.0,442.8,-6.2,418,6486,0.12,2.22,0.00,0.000,6,0.154,0.044,2390,1922,3388,0,0,0,0,0,0
$STATE,6640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6640,begin apogee
$GC,6647,-0.17,0.0,452.0,5.5,422,6775,0.60,0.00,124.65,0.758,6,0.109,0.000,2587,2004,2800,0,0,0,0,0,0
$STATE,6776,end apogee,CONTROL_FINISHED_OK
$STATE,6776,begin climb
$GC,6780,0.76,146.0,451.8,0.0,425,6917,0.85,2.35,129.30,0.732,4,0.067,0.066,2890,3405,2203,0,0,0,0,0,0
$GC,7033,0.76,146.0,422.5,14.1,430,7038,0.00,2.30,0.00,0.000,6,0.000,0.052,2898,1991,2198,0,0,0,0,0,0
$GC,7364,0.76,146.0,384.6,10.6,439,7368,0.00,2.33,0.00,0.000,4,0.000,0.061,2898,3410,2195,0,0,0,0,0,0
$GC,7481,0.76,146.0,370.9,12.0,441,7485,0.00,2.22,0.00,0.000,6,0.000,0.038,2908,1984,2193,0,0,0,0,0,0
$GC,7812,0.76,146.0,334.7,11.0,449,7816,0.00,2.28,0.00,0.000,4,0.000,0.051,2908,3409,2193,0,0,0,0,0,0
$GC,7861,0.76,146.0,328.6,12.1,450,7865,0.00,2.15,0.00,0.000,6,0.000,0.038,2918,2000,2193,0,0,0,0,0,0
$GC,8176,0.76,146.0,294.6,10.8,459,8180,0.00,2.25,0.00,0.000,4,0.000,0.051,2918,3411,2192,0,0,0,0,0,0
$GC,8225,0.76,146.0,289.0,11.2,461,8230,0.15,2.17,0.00,0.000,6,0.141,0.038,2885,1995,2192,0,0,0,0,0,0
$GC,8541,0.80,177.6,262.7,8.2,476,8575,0.00,2.33,27.20,0.643,4,0.000,0.050,2885,3411,2074,0,0,0,0,0,0
$GC,8606,0.84,208.7,257.6,8.2,479,8640,0.00,2.20,28.38,0.631,6,0.000,0.038,2893,1992,1950,0,0,0,0,0,0
$GC,8957,0.89,246.2,228.1,7.9,496,8998,0.10,2.30,34.42,0.617,4,0.090,0.051,2965,3413,1795,0,0,0,0,0,0
$GC,9127,0.89,246.2,208.5,12.2,503,9133,0.17,2.22,0.00,0.000,6,0.131,0.038,2924,1992,1794,0,0,0,0,0,0
$GC,9454,0.90,259.7,179.5,9.0,529,9478,0.00,2.33,13.05,0.551,4,0.000,0.051,2924,3409,1740,0,0,0,0,0,0
$GC,9524,0.90,259.7,172.9,9.7,535,9528,0.00,2.20,0.00,0.000,6,0.000,0.038,2932,1990,1739,0,0,0,0,0,0
$GC,9851,0.90,259.7,138.9,10.6,565,9855,0.00,2.25,0.00,0.000,4,0.000,0.051,2932,3409,1739,0,0,0,0,0,0
$GC,9914,0.90,259.7,131.7,11.6,570,9918,0.00,2.20,0.00,0.000,6,0.000,0.039,2941,1996,1739,0,0,0,0,0,0
$GC,10241,0.90,259.7,97.6,10.8,600,10245,0.00,2.22,0.00,0.000,4,0.000,0.051,2941,3409,1739,0,0,0,0,0,0
$GC,10305,0.90,259.7,90.4,12.7,605,10309,0.00,2.17,0.00,0.000,6,0.000,0.038,2951,1994,1738,0,0,0,0,0,0
$GC,10632,0.91,263.3,57.9,9.4,656,10642,0.00,2.25,4.88,0.377,4,0.000,0.049,2950,3410,1725,0,0,0,0,0,0
$GC,10689,0.91,263.3,52.6,9.9,665,10695,0.00,2.20,0.00,0.000,6,0.000,0.044,2960,1991,1725,0,0,0,0,0,0
$GC,11021,0.97,316.3,28.9,7.2,726,11073,0.00,2.22,46.53,0.465,4,0.000,0.053,2966,593,1509,0,0,0,0,0,0
$GC,11093,1.02,353.9,23.2,7.9,737,11133,0.00,2.22,31.85,0.447,6,0.000,0.033,2966,2014,1357,0,0,0,0,0,0
$GC,11294,1.02,353.9,3.5,9.6,773,11302,0.00,2.33,0.00,0.000,4,0.000,0.053,2975,594,1355,0,0,0,0,0,0
$STATE,11308,end climb,SURFACE_DEPTH_REACHED
$STATE,11308,begin surface coast
$FINISH,0.7,1.010148
$STATE,11340,end surface coast,CONTROL_FINISHED_OK
$STATE,11340,begin surface
$SM_CCo,11421,0.00,0.000,0,0,1352,355.19
$SM_GC,1.62,7.53,0.00,0.00,0.023,0.000,0.000,39,1915,1352,-8.00,-0.14,355.19
$IRIDIUM_FIX,2059.45,-15756.04,181002,060653
$TT8_MAMPS,0.028379
$HUMID,70.75
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,24.2,68.924
$10V_AH,10.0,76.559
$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,19.550,117.475,440.250,0.000,0.000,27.919,34.417,233.014,19.000,0.000,21.551,1446.940,6641.318,460.521,2690.671,632.929,0.000,1458.593,0.000,2628.513,0.000,119.328,0.000
$DEVICE_MAMPS,220.896,102.011,757.796,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,531.620,452.750,1507.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,44319,781
$CAP_FILE_SIZE,129094,0
$CFSIZE,260165632,214896640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240713,130235,2103.938,-15757.233,31,1.0,31,9.8