version: 66.06
glider: 523
mission: 4
dive: 745
start: 7 18 113 19 52 32
data:
$ID,523
$MISSION,4
$DIVE,745
$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,-51092
$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,17
$R_STBD_OVSHOOT,25
$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
$GPS1,194346,2107.641,-15754.181,30,0.7,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.0
$GPS2,195141,2107.615,-15754.266,35,0.7,35,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,-0.023
$KALMAN_X,-24416.6,-915.8,168.0,23815.2,-658.5
$KALMAN_Y,3198.5,124.5,111.7,-6045.8,-83.7
$MHEAD_RNG_PITCHd_Wd,85.3,19889,-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,-146.0,0.0,0.0,0,107,0.00,0.00,-86.97,0.000,6,0.000,0.000,39,1952,3396,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.0,-3.3,14,125,9.73,0.00,0.00,0.000,6,0.226,0.000,2380,1952,3398,0,0,0,0,0,0
$GC,288,-0.76,-146.0,27.4,-11.4,46,295,0.00,2.35,0.00,0.000,4,0.000,0.064,2381,535,3400,0,0,0,0,0,0
$GC,342,-0.76,-146.0,33.8,-11.1,55,347,0.00,2.22,0.00,0.000,6,0.000,0.043,2373,1944,3400,0,0,0,0,0,0
$GC,674,-0.76,-146.0,72.7,-10.9,116,681,0.00,2.35,0.00,0.000,4,0.000,0.066,2374,532,3400,0,0,0,0,0,0
$GC,927,-0.76,-146.0,101.7,-10.5,145,931,0.00,2.22,0.00,0.000,6,0.000,0.041,2364,1950,3401,0,0,0,0,0,0
$GC,1254,-0.76,-146.0,125.7,-6.2,175,1258,0.00,2.33,0.00,0.000,4,0.000,0.066,2364,526,3401,0,0,0,0,0,0
$GC,1397,-0.76,-146.0,136.0,-7.6,187,1405,0.10,2.25,0.00,0.000,6,0.141,0.042,2385,1946,3401,0,0,0,0,0,0
$GC,1724,-0.76,-146.0,158.2,-6.5,218,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1946,3402,0,0,0,0,0,0
$GC,2042,-0.76,-146.0,179.6,-6.2,248,2047,0.00,2.30,0.00,0.000,4,0.000,0.063,2386,529,3403,0,0,0,0,0,0
$GC,2265,-0.76,-146.0,193.4,-6.1,268,2269,0.00,2.20,0.00,0.000,6,0.000,0.040,2378,1951,3403,0,0,0,0,0,0
$GC,2587,-0.76,-146.0,216.3,-8.4,288,2591,0.00,2.33,0.00,0.000,4,0.000,0.063,2378,525,3403,0,0,0,0,0,0
$GC,2659,-0.76,-146.0,223.8,-10.0,291,2663,0.00,2.22,0.00,0.000,6,0.000,0.041,2369,1952,3403,0,0,0,0,0,0
$GC,2982,-0.76,-146.0,246.8,-5.1,307,2986,0.00,2.33,0.00,0.000,4,0.000,0.061,2369,518,3403,0,0,0,0,0,0
$GC,3179,-0.76,-146.0,254.6,-3.4,316,3184,0.12,2.20,0.00,0.000,6,0.153,0.040,2392,1944,3402,0,0,0,0,0,0
$GC,3506,-0.76,-146.0,273.0,-7.8,332,3510,0.00,2.33,0.00,0.000,4,0.000,0.061,2393,518,3402,0,0,0,0,0,0
$GC,3590,-0.76,-146.0,279.7,-7.9,336,3595,0.00,2.20,0.00,0.000,6,0.000,0.039,2385,1941,3402,0,0,0,0,0,0
$GC,3927,-0.76,-146.0,299.2,-4.8,352,3931,0.00,2.33,0.00,0.000,4,0.000,0.061,2385,528,3402,0,0,0,0,0,0
$GC,3999,-0.76,-146.0,302.6,-4.0,354,4003,0.00,2.20,0.00,0.000,6,0.000,0.039,2376,1939,3402,0,0,0,0,0,0
$GC,4334,-0.76,-146.0,320.9,-6.4,362,4338,0.00,2.30,0.00,0.000,4,0.000,0.061,2375,525,3400,0,0,0,0,0,0
$GC,4465,-0.76,-146.0,331.0,-7.6,365,4469,0.00,2.20,0.00,0.000,6,0.000,0.040,2366,1940,3399,0,0,0,0,0,0
$GC,4797,-0.76,-146.0,351.3,-5.7,373,4801,0.00,2.35,0.00,0.000,4,0.000,0.061,2366,519,3398,0,0,0,0,0,0
$GC,4864,-0.76,-146.0,355.7,-6.8,374,4869,0.12,2.20,0.00,0.000,6,0.158,0.041,2389,1941,3397,0,0,0,0,0,0
$GC,5202,-0.76,-146.0,375.1,-5.6,383,5206,0.00,2.30,0.00,0.000,4,0.000,0.061,2389,524,3395,0,0,0,0,0,0
$GC,5325,-0.76,-146.0,382.9,-6.0,385,5329,0.00,2.20,0.00,0.000,6,0.000,0.041,2381,1942,3395,0,0,0,0,0,0
$GC,5657,-0.76,-146.0,401.2,-5.8,393,5661,0.00,2.30,0.00,0.000,4,0.000,0.065,2371,3357,3393,0,0,0,0,0,0
$GC,5691,-0.76,-146.0,403.5,-7.0,393,5697,0.00,2.28,0.00,0.000,6,0.000,0.051,2371,1938,3393,0,0,0,0,0,0
$GC,6023,-0.76,-146.0,428.6,-7.5,402,6027,0.00,2.30,0.00,0.000,4,0.000,0.065,2371,525,3392,0,0,0,0,0,0
$GC,6243,-0.76,-146.0,443.9,-5.9,407,6247,0.00,2.20,0.00,0.000,6,0.000,0.041,2362,1940,3390,0,0,0,0,0,0
$STATE,6362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6362,begin apogee
$GC,6369,-0.17,0.0,450.5,5.4,410,6496,0.70,0.00,124.47,0.752,6,0.117,0.000,2583,1992,2800,0,0,0,0,0,0
$STATE,6497,end apogee,CONTROL_FINISHED_OK
$STATE,6497,begin climb
$GC,6501,0.76,146.0,450.3,0.0,413,6639,0.85,2.30,128.65,0.727,4,0.071,0.064,2884,3394,2201,0,0,0,0,0,0
$GC,6690,0.76,146.0,430.3,12.0,417,6694,0.00,2.30,0.00,0.000,6,0.000,0.048,2893,1983,2198,0,0,0,0,0,0
$GC,7032,0.76,146.0,394.6,9.9,426,7036,0.00,2.28,0.00,0.000,4,0.000,0.060,2893,3392,2194,0,0,0,0,0,0
$GC,7143,0.76,146.0,381.4,11.8,428,7147,0.00,2.22,0.00,0.000,6,0.000,0.048,2899,1986,2194,0,0,0,0,0,0
$GC,7480,0.76,146.0,346.4,10.2,437,7484,0.00,2.30,0.00,0.000,4,0.000,0.063,2899,3392,2192,0,0,0,0,0,0
$GC,7687,0.76,146.0,323.9,10.6,441,7691,0.00,2.25,0.00,0.000,6,0.000,0.049,2910,1981,2191,0,0,0,0,0,0
$GC,8002,0.78,156.5,294.9,9.1,449,8016,0.00,2.35,8.45,0.585,4,0.000,0.063,2909,3397,2161,0,0,0,0,0,0
$GC,8271,0.78,156.5,266.7,10.2,461,8275,0.12,2.28,0.00,0.000,6,0.143,0.051,2884,1977,2160,0,0,0,0,0,0
$GC,8597,0.79,166.5,238.6,9.1,477,8612,0.00,2.30,10.32,0.578,4,0.000,0.061,2884,3398,2121,0,0,0,0,0,0
$GC,8629,0.79,170.0,235.5,9.4,477,8639,0.00,2.25,4.88,0.470,6,0.000,0.052,2891,1988,2106,0,0,0,0,0,0
$GC,8964,0.87,229.6,208.3,6.9,494,9025,0.00,2.38,53.12,0.609,4,0.000,0.064,2891,3386,1862,0,0,0,0,0,0
$GC,9108,0.95,298.7,199.1,6.5,501,9178,0.12,2.22,61.55,0.589,6,0.072,0.040,2979,1976,1581,0,0,0,0,0,0
$GC,9498,0.95,298.7,157.3,12.2,537,9502,0.12,2.28,0.00,0.000,4,0.137,0.052,2943,3395,1579,0,0,0,0,0,0
$GC,9604,0.95,298.7,143.6,13.1,546,9608,0.00,2.25,0.00,0.000,6,0.000,0.049,2950,1984,1578,0,0,0,0,0,0
$GC,9931,0.95,298.7,108.3,10.7,576,9935,0.00,2.25,0.00,0.000,4,0.000,0.053,2950,3397,1578,0,0,0,0,0,0
$GC,9993,0.95,298.7,101.4,11.1,581,9997,0.00,2.22,0.00,0.000,6,0.000,0.048,2960,1981,1578,0,0,0,0,0,0
$GC,10326,0.96,301.5,69.2,9.4,621,10331,0.00,2.28,0.00,0.000,4,0.000,0.053,2959,3406,1578,0,0,0,0,0,0
$GC,10430,0.96,301.5,57.6,10.5,640,10437,0.00,2.28,0.00,0.000,6,0.000,0.047,2962,1985,1578,0,0,0,0,0,0
$GC,10764,0.96,301.5,23.7,10.4,701,10772,0.00,2.28,0.00,0.000,4,0.000,0.054,2962,3395,1578,0,0,0,0,0,0
$GC,10786,0.96,301.5,21.4,10.9,704,10793,0.00,2.25,0.00,0.000,6,0.000,0.048,2970,1989,1578,0,0,0,0,0,0
$GC,10955,1.02,357.1,5.3,7.1,735,10976,0.00,0.00,18.83,0.426,2,0.000,0.000,2970,1989,1496,0,0,0,0,0,0
$STATE,10976,end climb,SURFACE_DEPTH_REACHED
$STATE,10977,begin surface coast
$FINISH,0.7,1.012696
$STATE,11010,end surface coast,CONTROL_FINISHED_OK
$STATE,11010,begin surface
$SM_CCo,11089,0.00,0.000,0,0,1493,320.85
$SM_GC,1.58,7.47,0.00,0.00,0.024,0.000,0.000,34,1942,1493,-8.00,0.08,320.85
$IRIDIUM_FIX,2054.83,-15756.91,121002,161653
$TT8_MAMPS,0.028379
$HUMID,69.53
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.60
$XPDR_PINGS,3
$24V_AH,24.3,64.882
$10V_AH,9.9,71.948
$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,19.475,104.625,410.275,0.000,0.000,23.813,39.259,232.163,19.500,0.000,36.347,1398.786,6473.979,436.546,2622.005,622.559,33.346,1393.942,0.000,2549.068,0.000,117.266,0.000
$DEVICE_MAMPS,226.265,131.157,751.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,506.703,439.481,1440.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,41265,744
$CAP_FILE_SIZE,123306,0
$CFSIZE,260165632,217481216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180713,225834,2107.586,-15754.389,36,0.8,36,9.8