version: 66.06
glider: 523
mission: 4
dive: 800
start: 7 26 113 10 44 21
data:
$ID,523
$MISSION,4
$DIVE,800
$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,147
$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,160
$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,30
$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,290
$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,-52292.777
$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,2624
$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,1900
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,102812,2109.283,-15758.719,26,0.9,26,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.8
$GPS2,104403,2109.180,-15758.893,41,0.9,41,9.8
$SPEED_LIMITS,0.177,0.270
$TGT_NAME,HEADING
$TGT_LATLONG,2118.532,-15753.096
$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,20.2,20000,-18.0,-10.204
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.79,-155.7,0.0,0.0,0,119,0.00,0.00,-101.00,0.000,2,0.000,0.000,35,1896,3428,0,0,0,0,0,0
$GC,123,-0.79,-155.7,3.0,-4.4,16,137,9.52,2.28,0.00,0.000,4,0.217,0.054,2351,3306,3430,0,0,0,0,0,0
$GC,219,-0.79,-155.7,19.3,-12.7,33,227,0.00,2.28,0.00,0.000,6,0.000,0.048,2350,1902,3431,0,0,0,0,0,0
$GC,390,-0.79,-155.7,38.7,-9.4,64,397,0.00,2.33,0.00,0.000,4,0.000,0.059,2341,3302,3431,0,0,0,0,0,0
$GC,424,-0.79,-155.7,42.3,-10.8,69,429,0.00,2.25,0.00,0.000,6,0.000,0.049,2341,1891,3431,0,0,0,0,0,0
$GC,764,-0.79,-155.7,82.6,-11.2,129,768,0.00,2.28,0.00,0.000,4,0.000,0.057,2331,3301,3431,0,0,0,0,0,0
$GC,848,-0.79,-155.7,92.7,-11.5,136,853,0.12,2.22,0.00,0.000,6,0.151,0.048,2363,1892,3431,0,0,0,0,0,0
$GC,1175,-0.79,-155.7,118.4,-5.6,166,1179,0.00,2.30,0.00,0.000,4,0.000,0.057,2356,3305,3432,0,0,0,0,0,0
$GC,1297,-0.79,-155.7,126.0,-7.2,176,1304,0.00,2.25,0.00,0.000,6,0.000,0.048,2356,1904,3432,0,0,0,0,0,0
$GC,1624,-0.79,-155.7,148.4,-7.0,207,1628,0.00,2.22,0.00,0.000,4,0.000,0.056,2346,3304,3432,0,0,0,0,0,0
$GC,1754,-0.79,-155.7,157.6,-7.1,218,1759,0.00,2.22,0.00,0.000,6,0.000,0.048,2346,1890,3432,0,0,0,0,0,0
$GC,2082,-0.79,-155.7,183.5,-7.9,248,2086,0.00,2.28,0.00,0.000,4,0.000,0.064,2346,483,3432,0,0,0,0,0,0
$GC,2193,-0.79,-155.7,191.2,-5.8,257,2200,0.08,2.22,0.00,0.000,6,0.143,0.040,2361,1895,3432,0,0,0,0,0,0
$GC,2514,-0.79,-155.7,212.0,-6.8,280,2518,0.00,2.28,0.00,0.000,4,0.000,0.061,2352,3314,3432,0,0,0,0,0,0
$GC,2536,-0.79,-155.7,213.6,-6.3,281,2540,0.00,2.28,0.00,0.000,6,0.000,0.049,2352,1897,3432,0,0,0,0,0,0
$GC,2859,-0.79,-155.7,234.7,-6.6,297,2864,0.00,2.28,0.00,0.000,4,0.000,0.067,2352,491,3432,0,0,0,0,0,0
$GC,2991,-0.79,-155.7,243.9,-7.4,302,2996,0.00,2.20,0.00,0.000,6,0.000,0.038,2342,1907,3432,0,0,0,0,0,0
$GC,3309,-0.79,-155.7,265.1,-6.6,318,3313,0.00,2.33,0.00,0.000,4,0.000,0.063,2342,491,3432,0,0,0,0,0,0
$GC,3500,-0.79,-155.7,276.7,-4.7,326,3507,0.12,2.20,0.00,0.000,6,0.156,0.039,2365,1909,3430,0,0,0,0,0,0
$GC,3821,-0.79,-155.7,293.4,-4.6,342,3825,0.00,2.33,0.00,0.000,4,0.000,0.063,2365,488,3429,0,0,0,0,0,0
$GC,3977,-0.79,-155.7,303.0,-6.0,348,3981,0.00,2.20,0.00,0.000,6,0.000,0.039,2357,1910,3428,0,0,0,0,0,0
$GC,4317,-0.79,-155.7,325.9,-5.7,357,4321,0.00,2.30,0.00,0.000,4,0.000,0.064,2357,491,3426,0,0,0,0,0,0
$GC,4577,-0.79,-155.7,343.9,-7.6,362,4582,0.00,2.20,0.00,0.000,6,0.000,0.040,2347,1902,3424,0,0,0,0,0,0
$GC,4909,-0.79,-155.7,366.7,-6.6,371,4913,0.00,2.30,0.00,0.000,4,0.000,0.064,2347,487,3423,0,0,0,0,0,0
$GC,5005,-0.79,-155.7,372.9,-6.4,373,5009,0.12,2.20,0.00,0.000,6,0.153,0.041,2370,1909,3422,0,0,0,0,0,0
$GC,5319,-0.79,-155.7,386.9,-4.0,381,5323,0.00,2.30,0.00,0.000,4,0.000,0.064,2370,491,3420,0,0,0,0,0,0
$GC,5462,-0.79,-155.7,394.6,-6.4,384,5470,0.00,2.20,0.00,0.000,6,0.000,0.041,2363,1902,3419,0,0,0,0,0,0
$GC,5783,-0.79,-155.7,404.6,-0.9,392,5787,0.00,2.25,0.00,0.000,4,0.000,0.063,2352,3314,3417,0,0,0,0,0,0
$GC,5885,-0.79,-155.7,407.1,-3.5,394,5889,0.00,2.22,0.00,0.000,6,0.000,0.048,2352,1900,3417,0,0,0,0,0,0
$GC,6234,-0.79,-155.7,424.0,-4.3,403,6239,0.00,2.35,0.00,0.000,4,0.000,0.069,2352,484,3415,0,0,0,0,0,0
$GC,6367,-0.79,-155.7,433.6,-6.9,406,6371,0.00,2.22,0.00,0.000,6,0.000,0.042,2342,1907,3413,0,0,0,0,0,0
$STATE,6695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6695,begin apogee
$GC,6702,-0.17,0.0,450.7,5.1,414,6835,0.70,0.00,129.77,0.755,6,0.118,0.000,2563,1992,2800,0,0,0,0,0,0
$STATE,6836,end apogee,CONTROL_FINISHED_OK
$STATE,6836,begin climb
$GC,6839,0.79,155.7,446.0,0.0,417,6988,0.93,2.50,137.00,0.724,4,0.071,0.065,2891,568,2164,0,0,0,0,0,0
$GC,6994,0.79,155.7,419.2,12.9,421,6998,0.00,2.30,0.00,0.000,6,0.000,0.043,2892,1978,2163,0,0,0,0,0,0
$GC,7343,0.85,204.3,386.6,8.1,430,7392,0.00,2.35,42.67,0.699,4,0.000,0.061,2892,3387,1966,0,0,0,0,0,0
$GC,7482,0.88,227.1,375.4,9.2,433,7513,0.00,2.28,21.65,0.668,6,0.000,0.048,2900,1978,1873,0,0,0,0,0,0
$GC,7839,0.88,231.8,342.2,10.0,442,7850,0.00,2.28,5.53,0.532,4,0.000,0.058,2900,3391,1853,0,0,0,0,0,0
$GC,7889,0.88,231.8,336.3,11.6,443,7893,0.00,2.28,0.00,0.000,6,0.000,0.049,2908,1964,1852,0,0,0,0,0,0
$GC,8202,0.89,238.6,303.6,9.9,451,8216,0.00,2.33,7.75,0.578,4,0.000,0.057,2908,3386,1826,0,0,0,0,0,0
$GC,8269,0.89,238.6,295.8,12.3,453,8273,0.00,2.25,0.00,0.000,6,0.000,0.050,2917,1979,1825,0,0,0,0,0,0
$GC,8595,0.89,238.6,256.0,12.3,469,8599,0.00,2.25,0.00,0.000,4,0.000,0.059,2927,574,1825,0,0,0,0,0,0
$GC,8614,0.89,238.6,254.1,10.7,470,8618,0.00,2.20,0.00,0.000,6,0.000,0.042,2927,1990,1825,0,0,0,0,0,0
$GC,8940,0.89,238.6,218.3,11.2,486,8944,0.00,2.20,0.00,0.000,4,0.000,0.054,2927,3385,1825,0,0,0,0,0,0
$GC,8950,0.89,238.6,217.0,11.4,486,8956,0.00,2.25,0.00,0.000,6,0.000,0.048,2935,1971,1825,0,0,0,0,0,0
$GC,9274,0.91,251.4,185.0,9.6,509,9297,0.00,2.30,12.75,0.567,4,0.000,0.060,2935,3387,1773,0,0,0,0,0,0
$GC,9377,0.95,282.6,175.5,8.8,518,9413,0.00,2.25,28.40,0.587,6,0.000,0.050,2939,1983,1647,0,0,0,0,0,0
$GC,9733,0.96,296.3,144.3,9.6,551,9757,0.00,2.35,13.25,0.533,4,0.000,0.059,2949,560,1591,0,0,0,0,0,0
$GC,9763,0.97,300.9,140.8,10.0,553,9774,0.00,2.28,5.93,0.452,6,0.000,0.043,2949,1985,1572,0,0,0,0,0,0
$GC,10098,0.98,312.3,108.3,9.7,584,10115,0.00,2.33,11.35,0.497,4,0.000,0.063,2958,570,1525,0,0,0,0,0,0
$GC,10185,0.98,312.8,100.0,10.2,591,10189,0.00,2.22,0.00,0.000,6,0.000,0.041,2958,1990,1525,0,0,0,0,0,0
$GC,10513,0.99,321.9,66.3,9.8,633,10526,0.00,0.00,9.32,0.452,6,0.000,0.000,2958,1990,1487,0,0,0,0,0,0
$GC,10856,1.02,341.7,31.5,9.3,695,10879,0.00,2.30,18.23,0.451,4,0.000,0.060,2962,570,1406,0,0,0,0,0,0
$GC,10920,1.05,363.7,25.4,9.2,706,10947,0.00,2.22,19.90,0.453,6,0.000,0.040,2961,1977,1314,0,0,0,0,0,0
$GC,11111,1.06,376.7,6.8,9.6,740,11132,0.00,2.35,11.60,0.412,4,0.000,0.062,2965,571,1262,0,0,0,0,0,0
$STATE,11148,end climb,SURFACE_DEPTH_REACHED
$STATE,11148,begin surface coast
$FINISH,0.6,1.022233
$STATE,11181,end surface coast,CONTROL_FINISHED_OK
$STATE,11181,begin surface
$SM_CCo,11262,0.00,0.000,0,0,1260,377.76
$SM_GC,1.51,7.50,0.00,0.00,0.024,0.000,0.000,47,1890,1260,-7.96,-0.28,377.76
$IRIDIUM_FIX,2057.14,-15756.04,201002,101045
$TT8_MAMPS,0.028379
$HUMID,73.50
$INTERNAL_PRESSURE,9.30425
$TCM_TEMP,21.20
$XPDR_PINGS,1
$24V_AH,24.2,70.545
$10V_AH,9.9,78.238
$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,19.100,118.100,475.100,0.000,0.000,108.452,131.565,318.177,19.000,0.000,41.674,1393.909,6784.654,505.444,2598.530,922.095,0.000,1484.660,0.000,2519.804,0.000,119.312,0.000
$DEVICE_MAMPS,217.061,102.011,755.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,511.281,438.240,1464.197,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,41268,752
$CAP_FILE_SIZE,134322,0
$CFSIZE,260165632,213954560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260713,135253,2109.573,-15758.387,14,0.9,14,9.8