version: 66.06
glider: 523
mission: 4
dive: 750
start: 7 19 113 12 18 59
data:
$ID,523
$MISSION,4
$DIVE,750
$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,-51186.422
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,121048,2107.476,-15755.694,14,1.9,14,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.1
$GPS2,121806,2107.525,-15755.807,16,0.9,16,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.256,-0.018
$KALMAN_X,-38145.2,-725.7,-258.1,35123.6,-1985.8
$KALMAN_Y,4470.6,-87.5,-134.2,-7025.8,109.2
$MHEAD_RNG_PITCHd_Wd,84.2,22494,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-80.47,0.000,6,0.000,0.000,50,1906,3397,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.4,-4.5,13,118,9.68,0.00,0.00,0.000,6,0.224,0.000,2383,1905,3398,0,0,0,0,0,0
$GC,280,-0.76,-146.0,29.0,-10.7,45,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1905,3400,0,0,0,0,0,0
$GC,449,-0.76,-146.0,46.0,-10.2,76,457,0.00,2.35,0.00,0.000,4,0.000,0.059,2375,3329,3400,0,0,0,0,0,0
$GC,475,-0.76,-146.0,48.9,-11.3,80,482,0.00,2.28,0.00,0.000,6,0.000,0.049,2375,1927,3400,0,0,0,0,0,0
$GC,812,-0.76,-146.0,85.5,-9.6,136,816,0.00,2.33,0.00,0.000,4,0.000,0.067,2375,513,3401,0,0,0,0,0,0
$GC,943,-0.76,-146.0,99.1,-9.5,147,951,0.00,2.22,0.00,0.000,6,0.000,0.043,2366,1916,3401,0,0,0,0,0,0
$GC,1271,-0.76,-146.0,125.3,-5.6,178,1275,0.00,2.33,0.00,0.000,4,0.000,0.065,2355,3350,3402,0,0,0,0,0,0
$GC,1313,-0.76,-146.0,127.7,-6.0,181,1318,0.15,2.28,0.00,0.000,6,0.146,0.048,2395,1915,3402,0,0,0,0,0,0
$GC,1641,-0.76,-146.0,146.1,-5.6,211,1645,0.00,2.30,0.00,0.000,4,0.000,0.070,2395,512,3403,0,0,0,0,0,0
$GC,1880,-0.76,-146.0,162.5,-6.8,232,1885,0.00,2.20,0.00,0.000,6,0.000,0.043,2387,1934,3403,0,0,0,0,0,0
$GC,2208,-0.76,-146.0,185.0,-7.2,262,2213,0.00,2.35,0.00,0.000,4,0.000,0.065,2387,508,3403,0,0,0,0,0,0
$GC,2308,-0.76,-146.0,192.5,-7.7,271,2312,0.00,2.20,0.00,0.000,6,0.000,0.042,2378,1928,3403,0,0,0,0,0,0
$GC,2633,-0.76,-146.0,211.1,-6.5,292,2637,0.00,2.30,0.00,0.000,4,0.000,0.064,2378,516,3403,0,0,0,0,0,0
$GC,2695,-0.76,-146.0,216.1,-7.1,295,2699,0.00,2.20,0.00,0.000,6,0.000,0.042,2369,1936,3403,0,0,0,0,0,0
$GC,3026,-0.76,-146.0,240.1,-7.1,311,3030,0.00,2.33,0.00,0.000,4,0.000,0.064,2369,517,3403,0,0,0,0,0,0
$GC,3158,-0.76,-146.0,250.2,-8.0,317,3163,0.12,2.17,0.00,0.000,6,0.155,0.041,2392,1928,3403,0,0,0,0,0,0
$GC,3488,-0.76,-146.0,270.9,-5.8,333,3493,0.00,2.33,0.00,0.000,4,0.000,0.061,2392,510,3403,0,0,0,0,0,0
$GC,3665,-0.76,-146.0,280.6,-5.9,341,3669,0.00,2.20,0.00,0.000,6,0.000,0.041,2384,1935,3403,0,0,0,0,0,0
$GC,3994,-0.76,-146.0,296.8,-5.0,357,3998,0.00,2.33,0.00,0.000,4,0.000,0.061,2384,511,3403,0,0,0,0,0,0
$GC,4017,-0.76,-146.0,298.1,-4.9,358,4021,0.00,2.22,0.00,0.000,6,0.000,0.041,2375,1933,3403,0,0,0,0,0,0
$GC,4362,-0.76,-146.0,319.2,-7.1,368,4366,0.00,2.35,0.00,0.000,4,0.000,0.061,2375,509,3403,0,0,0,0,0,0
$GC,4402,-0.76,-146.0,322.4,-8.4,369,4406,0.00,2.20,0.00,0.000,6,0.000,0.041,2366,1928,3402,0,0,0,0,0,0
$GC,4729,-0.76,-146.0,347.1,-7.3,377,4734,0.10,2.28,0.00,0.000,4,0.163,0.063,2382,3337,3400,0,0,0,0,0,0
$GC,4808,-0.76,-146.0,352.6,-6.0,378,4813,0.00,2.22,0.00,0.000,6,0.000,0.045,2382,1927,3400,0,0,0,0,0,0
$GC,5140,-0.76,-146.0,367.7,-4.4,387,5144,0.00,2.33,0.00,0.000,4,0.000,0.060,2373,3340,3399,0,0,0,0,0,0
$GC,5212,-0.76,-146.0,371.1,-4.7,388,5216,0.00,2.25,0.00,0.000,6,0.000,0.048,2373,1916,3399,0,0,0,0,0,0
$GC,5545,-0.76,-146.0,384.7,-3.8,396,5549,0.00,2.28,0.00,0.000,4,0.000,0.067,2373,513,3397,0,0,0,0,0,0
$GC,5712,-0.76,-146.0,392.1,-4.5,399,5718,0.12,2.22,0.00,0.000,6,0.154,0.042,2396,1936,3396,0,0,0,0,0,0
$GC,6045,-0.76,-146.0,410.0,-6.2,408,6049,0.00,2.35,0.00,0.000,4,0.000,0.062,2396,508,3395,0,0,0,0,0,0
$GC,6151,-0.76,-146.0,418.4,-8.4,410,6155,0.00,2.22,0.00,0.000,6,0.000,0.043,2389,1925,3394,0,0,0,0,0,0
$GC,6495,-0.76,-146.0,443.1,-6.6,419,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1925,3393,0,0,0,0,0,0
$STATE,6654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6654,begin apogee
$GC,6662,-0.17,0.0,450.5,4.5,423,6789,0.60,0.00,124.43,0.748,6,0.111,0.000,2582,2009,2799,0,0,0,0,0,0
$STATE,6790,end apogee,CONTROL_FINISHED_OK
$STATE,6790,begin climb
$GC,6793,0.76,146.0,448.8,0.0,426,6931,0.85,2.33,128.73,0.723,4,0.071,0.064,2884,3400,2201,0,0,0,0,0,0
$GC,7005,0.76,146.0,420.6,14.8,431,7010,0.00,2.30,0.00,0.000,6,0.000,0.046,2893,1990,2197,0,0,0,0,0,0
$GC,7331,0.76,146.0,380.7,11.8,439,7335,0.00,2.33,0.00,0.000,4,0.000,0.060,2893,3414,2194,0,0,0,0,0,0
$GC,7495,0.76,146.0,361.5,11.7,442,7499,0.00,2.30,0.00,0.000,6,0.000,0.051,2902,1991,2193,0,0,0,0,0,0
$GC,7827,0.76,146.0,326.8,10.0,450,7831,0.00,2.30,0.00,0.000,4,0.000,0.056,2902,3409,2192,0,0,0,0,0,0
$GC,7928,0.78,155.1,316.8,9.2,452,7942,0.00,2.22,7.57,0.573,6,0.000,0.048,2912,1988,2166,0,0,0,0,0,0
$GC,8262,0.81,183.0,288.0,8.3,463,8292,0.00,2.28,25.90,0.647,4,0.000,0.051,2911,3409,2052,0,0,0,0,0,0
$GC,8379,0.81,183.0,276.5,11.3,468,8383,0.00,2.25,0.00,0.000,6,0.000,0.051,2921,1998,2049,0,0,0,0,0,0
$GC,8695,0.81,183.0,244.2,11.2,483,8699,0.00,2.25,0.00,0.000,4,0.000,0.059,2931,583,2048,0,0,0,0,0,0
$GC,8717,0.81,183.0,241.6,11.9,484,8721,0.00,2.22,0.00,0.000,6,0.000,0.044,2930,2008,2047,0,0,0,0,0,0
$GC,9038,0.81,183.0,205.2,10.7,500,9042,0.00,2.17,0.00,0.000,4,0.000,0.054,2931,3398,2047,0,0,0,0,0,0
$GC,9184,0.81,183.0,189.1,11.1,510,9192,0.10,2.25,0.00,0.000,6,0.112,0.045,2904,1989,2046,0,0,0,0,0,0
$GC,9511,0.87,232.4,161.8,7.4,541,9561,0.00,2.30,43.40,0.571,4,0.000,0.060,2912,591,1850,0,0,0,0,0,0
$GC,9641,0.91,260.3,151.6,8.3,552,9672,0.00,2.25,25.98,0.545,6,0.000,0.044,2912,1994,1737,0,0,0,0,0,0
$GC,9992,0.96,302.9,124.6,7.7,585,10039,0.10,2.38,37.70,0.528,4,0.087,0.067,2992,596,1564,0,0,0,0,0,0
$GC,10099,0.96,302.9,112.9,12.0,594,10104,0.15,2.25,0.00,0.000,6,0.128,0.046,2949,1993,1563,0,0,0,0,0,0
$GC,10427,0.96,302.9,79.8,10.2,624,10434,0.00,2.35,0.00,0.000,4,0.000,0.068,2951,597,1562,0,0,0,0,0,0
$GC,10470,0.97,310.3,75.6,9.2,631,10484,0.00,2.22,7.88,0.429,6,0.000,0.046,2950,1996,1533,0,0,0,0,0,0
$GC,10815,0.98,320.9,43.7,9.1,693,10832,0.00,2.25,10.12,0.427,4,0.000,0.054,2951,3401,1491,0,0,0,0,0,0
$GC,10887,0.98,320.9,36.4,10.8,706,10895,0.00,2.25,0.00,0.000,6,0.000,0.044,2958,1991,1490,0,0,0,0,0,0
$GC,11212,0.98,320.9,5.4,10.0,767,11219,0.00,2.28,0.00,0.000,4,0.000,0.061,2966,587,1490,0,0,0,0,0,0
$STATE,11235,end climb,SURFACE_DEPTH_REACHED
$STATE,11235,begin surface coast
$FINISH,2.1,1.023257
$STATE,11243,end surface coast,CONTROL_FINISHED_OK
$STATE,11243,begin surface
$SM_CCo,11324,0.00,0.000,0,0,1488,321.83
$SM_GC,1.60,7.45,0.00,0.00,0.022,0.000,0.000,39,1940,1488,-8.01,0.40,321.83
$IRIDIUM_FIX,2101.76,-15745.74,131002,090914
$TT8_MAMPS,0.028379
$HUMID,70.16
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,24.3,65.390
$10V_AH,9.9,72.519
$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,19.425,113.625,411.700,0.000,0.000,25.703,33.813,219.595,19.000,0.000,16.741,1425.847,6650.198,439.953,2620.141,618.298,33.352,1395.180,0.000,2571.146,0.000,120.019,0.000
$DEVICE_MAMPS,223.964,100.477,747.825,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,525.858,450.967,1529.211,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,41274,772
$CAP_FILE_SIZE,125726,0
$CFSIZE,260165632,217165824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190713,152859,2107.593,-15755.794,40,0.9,40,9.8