version: 66.06
glider: 523
mission: 4
dive: 749
start: 7 19 113 9 2 32
data:
$ID,523
$MISSION,4
$DIVE,749
$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,-51169.047
$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,1925
$C_ROLL_CLIMB,1996
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,085404,2107.549,-15755.024,39,0.8,39,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.6
$GPS2,090141,2107.549,-15755.104,18,0.9,18,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.256,0.015
$KALMAN_X,-35464.1,-335.3,214.0,32797.8,-2075.1
$KALMAN_Y,4298.2,10.9,121.2,-7165.0,-190.0
$MHEAD_RNG_PITCHd_Wd,76.9,21300,-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,-81.05,0.000,6,0.000,0.000,41,1924,3396,0,0,0,0,0,0
$GC,105,-0.76,-146.0,3.3,-4.5,13,120,9.62,2.28,0.00,0.000,4,0.221,0.054,2375,3343,3397,0,0,0,0,0,0
$GC,138,-0.76,-146.0,11.8,-24.0,18,146,0.00,2.30,0.00,0.000,6,0.000,0.047,2374,1922,3399,0,0,0,0,0,0
$GC,311,-0.76,-146.0,32.6,-11.2,49,316,0.00,2.33,0.00,0.000,4,0.000,0.068,2375,505,3399,0,0,0,0,0,0
$GC,400,-0.76,-146.0,44.0,-12.2,65,405,0.00,2.22,0.00,0.000,6,0.000,0.041,2365,1933,3399,0,0,0,0,0,0
$GC,731,-0.76,-146.0,76.5,-9.5,126,739,0.10,2.38,0.00,0.000,4,0.172,0.065,2391,519,3400,0,0,0,0,0,0
$GC,959,-0.76,-146.0,98.6,-9.6,150,967,0.00,2.22,0.00,0.000,6,0.000,0.042,2382,1924,3401,0,0,0,0,0,0
$GC,1287,-0.76,-146.0,130.1,-10.0,181,1291,0.00,2.33,0.00,0.000,4,0.000,0.067,2372,3343,3401,0,0,0,0,0,0
$GC,1330,-0.76,-146.0,134.5,-9.2,184,1339,0.00,2.28,0.00,0.000,6,0.000,0.046,2372,1929,3402,0,0,0,0,0,0
$GC,1658,-0.76,-146.0,157.1,-5.3,215,1662,0.00,2.30,0.00,0.000,4,0.000,0.070,2372,511,3402,0,0,0,0,0,0
$GC,1840,-0.76,-146.0,168.3,-6.5,231,1845,0.12,2.20,0.00,0.000,6,0.156,0.041,2395,1929,3402,0,0,0,0,0,0
$GC,2169,-0.76,-146.0,190.3,-8.0,261,2173,0.00,2.28,0.00,0.000,4,0.000,0.064,2386,3343,3402,0,0,0,0,0,0
$GC,2199,-0.76,-146.0,192.9,-8.9,263,2203,0.00,2.25,0.00,0.000,6,0.000,0.047,2386,1916,3402,0,0,0,0,0,0
$GC,2527,-0.76,-146.0,217.8,-5.9,282,2531,0.00,2.28,0.00,0.000,4,0.000,0.067,2386,512,3403,0,0,0,0,0,0
$GC,2684,-0.76,-146.0,227.2,-6.0,289,2689,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1938,3403,0,0,0,0,0,0
$GC,3009,-0.76,-146.0,248.1,-6.1,305,3013,0.00,2.33,0.00,0.000,4,0.000,0.062,2377,508,3403,0,0,0,0,0,0
$GC,3134,-0.76,-146.0,256.0,-6.2,310,3140,0.00,2.17,0.00,0.000,6,0.000,0.040,2367,1926,3403,0,0,0,0,0,0
$GC,3452,-0.76,-146.0,276.5,-6.5,326,3456,0.00,2.33,0.00,0.000,4,0.000,0.061,2368,508,3403,0,0,0,0,0,0
$GC,3505,-0.76,-146.0,280.2,-6.6,328,3510,0.12,2.22,0.00,0.000,6,0.154,0.040,2390,1934,3403,0,0,0,0,0,0
$GC,3829,-0.76,-146.0,296.5,-4.2,344,3833,0.00,2.33,0.00,0.000,4,0.000,0.060,2391,506,3403,0,0,0,0,0,0
$GC,3991,-0.76,-146.0,304.4,-5.0,349,3995,0.00,2.22,0.00,0.000,6,0.000,0.040,2383,1929,3402,0,0,0,0,0,0
$GC,4328,-0.76,-146.0,320.4,-5.1,358,4332,0.00,2.30,0.00,0.000,4,0.000,0.063,2373,3333,3401,0,0,0,0,0,0
$GC,4430,-0.76,-146.0,327.8,-7.8,360,4434,0.00,2.25,0.00,0.000,6,0.000,0.048,2373,1925,3400,0,0,0,0,0,0
$GC,4779,-0.76,-146.0,351.8,-6.8,369,4783,0.00,2.33,0.00,0.000,4,0.000,0.064,2373,508,3399,0,0,0,0,0,0
$GC,4846,-0.76,-146.0,356.5,-6.4,370,4851,0.12,2.22,0.00,0.000,6,0.154,0.040,2396,1933,3398,0,0,0,0,0,0
$GC,5183,-0.76,-146.0,372.7,-4.6,379,5187,0.00,2.33,0.00,0.000,4,0.000,0.061,2396,506,3397,0,0,0,0,0,0
$GC,5320,-0.76,-146.0,379.8,-5.1,382,5325,0.00,2.20,0.00,0.000,6,0.000,0.041,2389,1922,3396,0,0,0,0,0,0
$GC,5648,-0.76,-146.0,396.8,-5.4,390,5652,0.00,2.30,0.00,0.000,4,0.000,0.063,2389,508,3395,0,0,0,0,0,0
$GC,5781,-0.76,-146.0,405.5,-6.6,393,5785,0.00,2.22,0.00,0.000,6,0.000,0.043,2379,1934,3394,0,0,0,0,0,0
$GC,6112,-0.76,-146.0,423.8,-5.4,401,6116,0.00,2.35,0.00,0.000,4,0.000,0.063,2379,508,3392,0,0,0,0,0,0
$GC,6180,-0.76,-146.0,427.9,-6.2,402,6184,0.00,2.25,0.00,0.000,6,0.000,0.044,2370,1930,3392,0,0,0,0,0,0
$GC,6518,-0.76,-146.0,446.0,-5.4,411,6522,0.00,2.33,0.00,0.000,4,0.000,0.064,2370,509,3390,0,0,0,0,0,0
$STATE,6584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6584,begin apogee
$GC,6593,-0.17,0.0,450.2,6.6,412,6721,0.68,0.00,124.40,0.754,6,0.120,0.000,2577,1999,2799,0,0,0,0,0,0
$STATE,6722,end apogee,CONTROL_FINISHED_OK
$STATE,6722,begin climb
$GC,6725,0.76,146.0,451.1,0.0,415,6863,0.88,2.28,128.88,0.729,4,0.070,0.064,2885,3397,2201,0,0,0,0,0,0
$GC,6903,0.76,146.0,431.0,13.6,420,6907,0.00,2.28,0.00,0.000,6,0.000,0.048,2894,1997,2198,0,0,0,0,0,0
$GC,7221,0.76,146.0,393.3,11.9,428,7225,0.00,2.28,0.00,0.000,4,0.000,0.060,2894,3402,2194,0,0,0,0,0,0
$GC,7361,0.76,146.0,375.5,12.6,431,7365,0.00,2.25,0.00,0.000,6,0.000,0.048,2904,1989,2193,0,0,0,0,0,0
$GC,7674,0.79,166.7,346.3,8.6,439,7699,0.00,2.35,17.92,0.661,4,0.000,0.062,2904,3396,2119,0,0,0,0,0,0
$GC,7833,0.79,166.7,331.6,9.9,442,7837,0.00,2.25,0.00,0.000,6,0.000,0.048,2913,1995,2116,0,0,0,0,0,0
$GC,8171,0.79,166.7,299.7,9.9,451,8175,0.00,2.33,0.00,0.000,4,0.000,0.064,2913,3408,2115,0,0,0,0,0,0
$GC,8335,0.79,166.7,280.2,12.1,458,8339,0.00,2.25,0.00,0.000,6,0.000,0.048,2923,1986,2113,0,0,0,0,0,0
$GC,8651,0.81,179.2,249.8,9.0,473,8672,0.00,2.35,11.77,0.594,4,0.000,0.054,2923,3417,2068,0,0,0,0,0,0
$GC,8700,0.81,179.2,245.1,10.0,475,8704,0.12,2.22,0.00,0.000,6,0.146,0.042,2898,1994,2067,0,0,0,0,0,0
$GC,9022,0.87,229.2,221.5,7.4,491,9072,0.00,2.28,44.83,0.618,4,0.000,0.059,2906,588,1864,0,0,0,0,0,0
$GC,9083,0.92,271.9,216.6,7.7,494,9128,0.00,2.22,38.92,0.598,6,0.000,0.038,2907,2010,1691,0,0,0,0,0,0
$GC,9447,0.96,307.4,188.4,8.0,518,9486,0.12,2.28,32.00,0.575,4,0.079,0.052,2984,3402,1545,0,0,0,0,0,0
$GC,9531,0.96,307.4,178.7,12.8,525,9539,0.12,2.25,0.00,0.000,6,0.116,0.041,2951,2003,1543,0,0,0,0,0,0
$GC,9859,0.96,307.4,141.3,12.2,556,9863,0.00,2.25,0.00,0.000,4,0.000,0.054,2951,3402,1543,0,0,0,0,0,0
$GC,9935,0.96,307.4,130.5,14.0,562,9943,0.00,2.25,0.00,0.000,6,0.000,0.041,2958,1991,1543,0,0,0,0,0,0
$GC,10262,0.96,307.4,91.9,11.8,593,10266,0.00,2.25,0.00,0.000,4,0.000,0.052,2958,3412,1542,0,0,0,0,0,0
$GC,10360,0.96,307.4,78.8,12.9,602,10367,0.00,2.28,0.00,0.000,6,0.000,0.046,2966,1991,1543,0,0,0,0,0,0
$GC,10696,0.97,315.8,43.9,9.2,663,10709,0.00,2.25,7.95,0.413,4,0.000,0.052,2966,3411,1512,0,0,0,0,0,0
$GC,10826,0.97,315.8,31.5,10.1,686,10834,0.00,2.25,0.00,0.000,6,0.000,0.045,2974,1998,1512,0,0,0,0,0,0
$STATE,11132,end climb,SURFACE_DEPTH_REACHED
$STATE,11132,begin surface coast
$FINISH,0.7,1.003199
$STATE,11167,end surface coast,CONTROL_FINISHED_OK
$STATE,11167,begin surface
$SM_CCo,11246,0.00,0.000,0,0,1510,316.43
$SM_GC,1.61,7.50,0.00,0.00,0.025,0.000,0.000,50,1909,1510,-7.99,-0.31,316.43
$IRIDIUM_FIX,2101.76,-15753.03,131002,050512
$TT8_MAMPS,0.027612
$HUMID,70.20
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.60
$XPDR_PINGS,3
$24V_AH,24.2,65.293
$10V_AH,10.0,72.405
$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,19.525,118.400,406.675,0.000,0.000,25.658,39.977,237.502,19.500,0.000,18.984,1405.226,6622.351,446.712,2588.539,630.791,33.356,1399.061,0.000,2530.573,0.000,119.919,0.000
$DEVICE_MAMPS,220.896,100.477,753.961,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,510.475,422.568,1407.342,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,41281,750
$CAP_FILE_SIZE,125797,0
$CFSIZE,260165632,217231360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190713,121048,2107.476,-15755.694,14,1.9,14,9.8