version: 66.06
glider: 523
mission: 4
dive: 742
start: 7 18 113 9 58 13
data:
$ID,523
$MISSION,4
$DIVE,742
$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,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,-50995.82
$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,2638
$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,1940
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,22
$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
$GPS1,094949,2107.767,-15754.030,25,0.8,26,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.3
$GPS2,095722,2107.793,-15754.234,45,0.8,45,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,-0.026
$KALMAN_X,-17520.8,-309.1,-320.9,16865.2,-1926.8
$KALMAN_Y,2817.1,-140.2,-83.1,-4871.1,159.8
$MHEAD_RNG_PITCHd_Wd,86.1,19893,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-78.20,0.000,6,0.000,0.000,39,1965,3395,0,0,0,0,0,0
$GC,105,-0.76,-146.0,3.7,-5.7,13,119,9.65,0.00,0.00,0.000,6,0.222,0.000,2381,1966,3397,0,0,0,0,0,0
$GC,281,-0.76,-146.0,27.4,-9.9,45,288,0.00,2.38,0.00,0.000,4,0.000,0.067,2381,533,3398,0,0,0,0,0,0
$GC,361,-0.76,-146.0,36.5,-11.3,59,367,0.00,2.22,0.00,0.000,6,0.000,0.042,2374,1947,3398,0,0,0,0,0,0
$GC,690,-0.76,-146.0,68.8,-11.7,120,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1947,3399,0,0,0,0,0,0
$GC,1027,-0.76,-146.0,106.0,-9.9,159,1031,0.00,2.33,0.00,0.000,4,0.000,0.065,2374,532,3400,0,0,0,0,0,0
$GC,1192,-0.76,-146.0,123.3,-11.0,173,1196,0.00,2.20,0.00,0.000,6,0.000,0.041,2364,1951,3400,0,0,0,0,0,0
$GC,1520,-0.76,-146.0,154.0,-7.7,203,1524,0.00,2.33,0.00,0.000,4,0.000,0.064,2364,539,3401,0,0,0,0,0,0
$GC,1770,-0.76,-146.0,178.3,-9.8,225,1776,0.10,2.20,0.00,0.000,6,0.136,0.042,2386,1935,3402,0,0,0,0,0,0
$GC,2093,-0.76,-146.0,204.2,-6.4,253,2097,0.00,2.30,0.00,0.000,4,0.000,0.064,2387,536,3402,0,0,0,0,0,0
$GC,2290,-0.76,-146.0,217.3,-6.9,262,2294,0.00,2.17,0.00,0.000,6,0.000,0.041,2379,1944,3402,0,0,0,0,0,0
$GC,2625,-0.76,-146.0,242.8,-8.1,278,2629,0.00,2.33,0.00,0.000,4,0.000,0.064,2379,529,3402,0,0,0,0,0,0
$GC,2799,-0.76,-146.0,255.8,-7.8,285,2804,0.00,2.20,0.00,0.000,6,0.000,0.040,2371,1944,3402,0,0,0,0,0,0
$GC,3118,-0.76,-146.0,277.5,-7.4,301,3122,0.00,2.33,0.00,0.000,4,0.000,0.063,2370,538,3403,0,0,0,0,0,0
$GC,3180,-0.76,-146.0,282.7,-7.9,304,3185,0.12,2.20,0.00,0.000,6,0.153,0.041,2393,1948,3402,0,0,0,0,0,0
$GC,3509,-0.76,-146.0,303.0,-5.6,319,3513,0.00,2.30,0.00,0.000,4,0.000,0.061,2393,532,3402,0,0,0,0,0,0
$GC,3609,-0.76,-146.0,308.4,-4.7,321,3613,0.00,2.20,0.00,0.000,6,0.000,0.040,2385,1947,3402,0,0,0,0,0,0
$GC,3961,-0.76,-146.0,325.2,-5.2,330,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1947,3402,0,0,0,0,0,0
$GC,4283,-0.76,-146.0,342.0,-5.0,338,4287,0.00,2.33,0.00,0.000,4,0.000,0.061,2385,535,3400,0,0,0,0,0,0
$GC,4490,-0.76,-146.0,353.4,-5.1,342,4494,0.00,2.17,0.00,0.000,6,0.000,0.041,2376,1941,3399,0,0,0,0,0,0
$GC,4822,-0.76,-146.0,370.3,-5.3,350,4826,0.00,2.33,0.00,0.000,4,0.000,0.062,2377,535,3397,0,0,0,0,0,0
$GC,4884,-0.76,-146.0,374.5,-7.2,351,4888,0.00,2.20,0.00,0.000,6,0.000,0.041,2367,1944,3397,0,0,0,0,0,0
$GC,5236,-0.76,-146.0,400.2,-7.8,360,5240,0.00,2.28,0.00,0.000,4,0.000,0.066,2356,3350,3396,0,0,0,0,0,0
$GC,5349,-0.76,-146.0,410.3,-9.2,362,5354,0.12,2.28,0.00,0.000,6,0.149,0.050,2389,1939,3395,0,0,0,0,0,0
$GC,5696,-0.76,-146.0,435.9,-7.0,371,5700,0.00,2.30,0.00,0.000,4,0.000,0.061,2390,515,3393,0,0,0,0,0,0
$GC,5797,-0.76,-146.0,442.9,-6.2,373,5801,0.00,2.25,0.00,0.000,6,0.000,0.043,2381,1947,3392,0,0,0,0,0,0
$STATE,5939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5940,begin apogee
$GC,5947,-0.17,0.0,451.5,5.9,377,6075,0.62,0.00,124.30,0.753,6,0.114,0.000,2582,1982,2799,0,0,0,0,0,0
$STATE,6076,end apogee,CONTROL_FINISHED_OK
$STATE,6076,begin climb
$GC,6079,0.76,146.0,452.4,0.0,380,6218,0.88,2.38,129.00,0.729,4,0.071,0.055,2884,3398,2202,0,0,0,0,0,0
$GC,6274,0.76,146.0,432.0,12.7,385,6279,0.00,2.30,0.00,0.000,6,0.000,0.050,2893,1984,2198,0,0,0,0,0,0
$GC,6599,0.76,146.0,395.9,10.8,393,6603,0.00,2.33,0.00,0.000,4,0.000,0.059,2893,3399,2195,0,0,0,0,0,0
$GC,6684,0.76,146.0,385.5,13.1,395,6688,0.00,2.28,0.00,0.000,6,0.000,0.049,2901,1978,2193,0,0,0,0,0,0
$GC,7008,0.76,146.0,347.9,11.8,403,7011,0.00,2.30,0.00,0.000,4,0.000,0.060,2902,3402,2192,0,0,0,0,0,0
$GC,7159,0.76,146.0,329.2,12.4,406,7164,0.00,2.28,0.00,0.000,6,0.000,0.050,2911,1983,2192,0,0,0,0,0,0
$GC,7488,0.78,154.7,295.0,9.2,415,7501,0.00,2.35,6.88,0.559,4,0.000,0.061,2912,3392,2169,0,0,0,0,0,0
$GC,7704,0.78,154.7,275.5,9.6,424,7710,0.12,2.28,0.00,0.000,6,0.144,0.051,2886,1982,2167,0,0,0,0,0,0
$GC,8020,0.80,177.5,248.8,8.6,440,8046,0.00,2.30,21.33,0.623,4,0.000,0.061,2886,3392,2075,0,0,0,0,0,0
$GC,8064,0.81,182.6,244.9,9.3,442,8075,0.00,2.28,6.28,0.509,6,0.000,0.054,2892,1983,2054,0,0,0,0,0,0
$GC,8385,0.82,189.9,214.9,9.2,457,8399,0.00,2.38,7.62,0.526,4,0.000,0.062,2892,3398,2023,0,0,0,0,0,0
$GC,8474,0.82,189.9,205.4,11.3,461,8478,0.00,2.22,0.00,0.000,6,0.000,0.042,2902,1978,2023,0,0,0,0,0,0
$GC,8800,0.82,189.9,171.2,10.9,489,8804,0.00,2.22,0.00,0.000,4,0.000,0.058,2909,575,2021,0,0,0,0,0,0
$GC,8851,0.82,189.9,166.0,10.5,493,8855,0.00,2.17,0.00,0.000,6,0.000,0.038,2909,1993,2021,0,0,0,0,0,0
$GC,9178,0.83,199.8,134.1,9.1,523,9194,0.00,2.30,10.10,0.500,4,0.000,0.055,2919,579,1984,0,0,0,0,0,0
$GC,9225,0.84,206.9,129.9,9.2,527,9238,0.00,2.20,8.10,0.477,6,0.000,0.038,2919,1994,1956,0,0,0,0,0,0
$GC,9557,0.95,299.5,106.4,5.5,558,9649,0.00,2.30,80.65,0.525,4,0.000,0.052,2919,3391,1578,0,0,0,0,0,0
$GC,9731,0.97,311.7,94.6,9.0,573,9748,0.00,2.25,11.90,0.464,6,0.000,0.041,2927,1978,1528,0,0,0,0,0,0
$GC,10069,0.97,311.7,61.6,9.9,620,10077,0.00,2.30,0.00,0.000,4,0.000,0.060,2930,577,1526,0,0,0,0,0,0
$GC,10156,0.99,330.7,53.8,8.7,635,10180,0.00,2.20,17.08,0.457,6,0.000,0.037,2930,1993,1451,0,0,0,0,0,0
$GC,10507,1.01,348.6,22.7,8.8,699,10530,0.10,2.33,16.33,0.426,4,0.085,0.064,2985,574,1377,0,0,0,0,0,0
$GC,10556,1.01,348.6,17.7,10.6,706,10564,0.00,2.25,0.00,0.000,6,0.000,0.041,2985,1983,1375,0,0,0,0,0,0
$STATE,10681,end climb,SURFACE_DEPTH_REACHED
$STATE,10681,begin surface coast
$FINISH,0.8,1.015762
$STATE,10711,end surface coast,CONTROL_FINISHED_OK
$STATE,10711,begin surface
$SM_CCo,10791,0.00,0.000,0,0,1371,350.28
$SM_GC,1.47,7.60,0.00,0.00,0.029,0.000,0.000,36,1908,1371,-7.99,-0.88,350.28
$IRIDIUM_FIX,2106.38,-15757.32,121002,060654
$TT8_MAMPS,0.028379
$HUMID,68.35
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,24.3,64.580
$10V_AH,10.1,71.603
$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,19.325,100.100,439.550,0.000,0.000,24.941,36.778,207.703,19.000,0.000,46.192,1365.427,6277.951,461.961,2544.789,585.320,33.352,1387.572,0.000,2466.470,0.000,119.268,0.000
$DEVICE_MAMPS,221.663,156.468,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,499.354,425.016,1412.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,41352,734
$CAP_FILE_SIZE,118896,0
$CFSIZE,260165632,217669632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180713,125922,2107.677,-15754.673,27,0.8,41,9.8