version: 66.06
glider: 523
mission: 4
dive: 752
start: 7 19 113 19 2 2
data:
$ID,523
$MISSION,4
$DIVE,752
$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,-51223.578
$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,22
$R_STBD_OVSHOOT,32
$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
$GPS1,185334,2107.626,-15755.334,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.4
$GPS2,190111,2107.602,-15755.419,19,1.0,19,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.250,-0.057
$KALMAN_X,-42281.2,-698.6,-93.7,39734.1,-170.9
$KALMAN_Y,5052.2,-12.5,216.4,-7893.9,200.0
$MHEAD_RNG_PITCHd_Wd,93.0,21852,-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,-86.22,0.000,6,0.000,0.000,50,1926,3395,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.3,-4.2,14,125,9.60,0.00,0.00,0.000,6,0.224,0.000,2386,1926,3397,0,0,0,0,0,0
$GC,288,-0.76,-146.0,28.1,-11.4,46,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1926,3398,0,0,0,0,0,0
$GC,462,-0.76,-146.0,44.4,-6.8,77,467,0.00,2.35,0.00,0.000,4,0.000,0.067,2386,512,3399,0,0,0,0,0,0
$GC,566,-0.76,-146.0,53.4,-9.5,96,573,0.00,2.22,0.00,0.000,6,0.000,0.041,2378,1913,3398,0,0,0,0,0,0
$GC,907,-0.76,-146.0,87.4,-11.5,152,911,0.00,2.30,0.00,0.000,4,0.000,0.065,2378,514,3400,0,0,0,0,0,0
$GC,1154,-0.76,-146.0,116.2,-10.9,174,1162,0.00,2.22,0.00,0.000,6,0.000,0.041,2369,1922,3400,0,0,0,0,0,0
$GC,1482,-0.76,-146.0,140.7,-6.4,205,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1922,3401,0,0,0,0,0,0
$GC,1809,-0.76,-146.0,164.3,-8.6,236,1816,0.00,2.33,0.00,0.000,4,0.000,0.065,2369,518,3400,0,0,0,0,0,0
$GC,1826,-0.76,-146.0,165.5,-8.3,237,1831,0.12,2.22,0.00,0.000,6,0.158,0.043,2392,1935,3400,0,0,0,0,0,0
$GC,2158,-0.76,-146.0,194.1,-9.2,268,2162,0.00,2.33,0.00,0.000,4,0.000,0.065,2392,517,3401,0,0,0,0,0,0
$GC,2405,-0.76,-146.0,214.9,-7.0,282,2409,0.00,2.20,0.00,0.000,6,0.000,0.041,2384,1932,3401,0,0,0,0,0,0
$GC,2734,-0.76,-146.0,234.0,-5.9,298,2738,0.00,2.35,0.00,0.000,4,0.000,0.064,2384,511,3401,0,0,0,0,0,0
$GC,2840,-0.76,-146.0,242.2,-8.0,302,2846,0.00,2.20,0.00,0.000,6,0.000,0.040,2375,1924,3401,0,0,0,0,0,0
$GC,3159,-0.76,-146.0,264.2,-5.6,318,3163,0.00,2.30,0.00,0.000,4,0.000,0.062,2375,517,3401,0,0,0,0,0,0
$GC,3249,-0.76,-146.0,269.2,-5.3,322,3253,0.00,2.20,0.00,0.000,6,0.000,0.040,2366,1935,3401,0,0,0,0,0,0
$GC,3584,-0.76,-146.0,287.5,-5.5,338,3589,0.10,2.35,0.00,0.000,4,0.163,0.061,2392,512,3401,0,0,0,0,0,0
$GC,3641,-0.76,-146.0,291.0,-5.9,340,3647,0.00,2.20,0.00,0.000,6,0.000,0.040,2384,1926,3401,0,0,0,0,0,0
$GC,3978,-0.76,-146.0,310.6,-6.4,353,3982,0.00,2.30,0.00,0.000,4,0.000,0.061,2384,512,3400,0,0,0,0,0,0
$GC,4237,-0.76,-146.0,328.4,-5.7,358,4243,0.00,2.20,0.00,0.000,6,0.000,0.040,2375,1935,3398,0,0,0,0,0,0
$GC,4569,-0.76,-146.0,342.1,-4.1,367,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1935,3397,0,0,0,0,0,0
$GC,4895,-0.76,-146.0,355.1,-4.1,375,4899,0.00,2.35,0.00,0.000,4,0.000,0.061,2375,514,3395,0,0,0,0,0,0
$GC,4957,-0.76,-146.0,358.4,-5.7,376,4961,0.00,2.22,0.00,0.000,6,0.000,0.041,2365,1931,3395,0,0,0,0,0,0
$GC,5300,-0.76,-146.0,380.0,-7.2,385,5305,0.10,2.38,0.00,0.000,4,0.163,0.062,2392,512,3394,0,0,0,0,0,0
$GC,5435,-0.76,-146.0,389.3,-6.1,388,5439,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1925,3393,0,0,0,0,0,0
$GC,5753,-0.76,-146.0,408.2,-6.1,396,5757,0.00,2.33,0.00,0.000,4,0.000,0.062,2384,515,3391,0,0,0,0,0,0
$GC,5805,-0.76,-146.0,411.3,-6.0,397,5809,0.00,2.20,0.00,0.000,6,0.000,0.042,2374,1926,3391,0,0,0,0,0,0
$GC,6124,-0.76,-146.0,426.5,-4.6,405,6128,0.00,2.33,0.00,0.000,4,0.000,0.063,2374,515,3389,0,0,0,0,0,0
$GC,6300,-0.76,-146.0,435.0,-4.8,409,6304,0.00,2.20,0.00,0.000,6,0.000,0.044,2366,1925,3388,0,0,0,0,0,0
$STATE,6623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6623,begin apogee
$GC,6630,-0.17,0.0,452.0,5.6,417,6757,0.70,0.00,123.82,0.756,6,0.116,0.000,2587,2008,2800,0,0,0,0,0,0
$STATE,6758,end apogee,CONTROL_FINISHED_OK
$STATE,6758,begin climb
$GC,6761,0.76,146.0,452.5,0.0,420,6899,0.85,2.33,128.43,0.730,4,0.071,0.065,2885,3399,2202,0,0,0,0,0,0
$GC,7045,0.76,146.0,418.4,13.6,426,7049,0.00,2.28,0.00,0.000,6,0.000,0.046,2895,1993,2197,0,0,0,0,0,0
$GC,7383,0.77,152.3,384.6,9.3,435,7393,0.00,2.30,5.22,0.532,4,0.000,0.060,2895,3408,2180,0,0,0,0,0,0
$GC,7634,0.77,152.3,356.2,11.0,440,7638,0.00,2.25,0.00,0.000,6,0.000,0.047,2904,1997,2178,0,0,0,0,0,0
$GC,7965,0.77,152.3,320.2,11.1,448,7969,0.00,2.33,0.00,0.000,4,0.000,0.063,2904,3402,2177,0,0,0,0,0,0
$GC,8161,0.77,152.3,295.9,13.1,453,8165,0.00,2.22,0.00,0.000,6,0.000,0.050,2913,1998,2176,0,0,0,0,0,0
$GC,8487,0.78,157.6,262.4,9.3,469,8499,0.00,2.28,6.35,0.537,4,0.000,0.054,2913,3409,2155,0,0,0,0,0,0
$GC,8667,0.78,161.4,243.6,9.4,477,8676,0.00,2.25,4.82,0.477,6,0.000,0.048,2923,1979,2142,0,0,0,0,0,0
$GC,8988,0.81,182.1,214.5,8.6,492,9012,0.00,2.28,19.85,0.601,4,0.000,0.053,2922,3405,2056,0,0,0,0,0,0
$GC,9136,0.81,182.1,199.4,11.2,499,9141,0.00,2.25,0.00,0.000,6,0.000,0.050,2932,1994,2053,0,0,0,0,0,0
$GC,9463,0.81,182.1,162.6,11.9,529,9467,0.00,2.33,0.00,0.000,4,0.000,0.061,2932,3402,2053,0,0,0,0,0,0
$GC,9506,0.81,182.1,157.1,12.2,532,9513,0.10,2.28,0.00,0.000,6,0.113,0.053,2906,2008,2052,0,0,0,0,0,0
$GC,9834,0.81,186.6,126.2,9.4,563,9847,0.00,2.33,4.78,0.414,4,0.000,0.063,2905,3408,2038,0,0,0,0,0,0
$GC,9895,0.81,186.6,120.1,9.9,568,9899,0.00,2.25,0.00,0.000,6,0.000,0.048,2912,1979,2038,0,0,0,0,0,0
$GC,10222,0.81,186.6,88.3,10.0,598,10226,0.00,2.28,0.00,0.000,4,0.000,0.054,2912,3412,2038,0,0,0,0,0,0
$GC,10306,0.81,186.6,79.5,10.7,605,10312,0.00,2.25,0.00,0.000,6,0.000,0.045,2921,1985,2038,0,0,0,0,0,0
$GC,10637,0.89,247.8,51.2,6.9,666,10702,0.00,2.28,54.22,0.489,4,0.000,0.059,2930,597,1788,0,0,0,0,0,0
$GC,10722,0.97,312.6,45.5,6.7,680,10787,0.00,2.25,56.47,0.470,6,0.000,0.042,2930,2005,1522,0,0,0,0,0,0
$GC,11111,1.03,360.3,15.2,7.5,751,11158,0.12,2.25,39.60,0.443,4,0.077,0.054,3000,3406,1330,0,0,0,0,0,0
$STATE,11223,end climb,SURFACE_DEPTH_REACHED
$STATE,11223,begin surface coast
$FINISH,0.7,1.023382
$STATE,11246,end surface coast,CONTROL_FINISHED_OK
$STATE,11246,begin surface
$SM_CCo,11328,0.00,0.000,0,0,1326,361.57
$SM_GC,1.55,7.65,0.00,0.00,0.025,0.000,0.000,37,1920,1326,-8.00,-0.08,361.57
$IRIDIUM_FIX,2059.45,-15803.33,131002,151522
$TT8_MAMPS,0.027612
$HUMID,69.33
$INTERNAL_PRESSURE,9.31402
$TCM_TEMP,22.30
$XPDR_PINGS,3
$24V_AH,24.2,65.595
$10V_AH,10.0,72.749
$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,19.350,100.250,443.575,0.000,0.000,27.969,37.553,224.804,19.500,0.000,19.888,1413.901,6597.668,451.766,2682.501,628.218,33.346,1454.038,0.000,2628.874,0.000,117.284,0.000
$DEVICE_MAMPS,223.964,101.244,756.262,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,525.783,432.596,1462.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,44370,774
$CAP_FILE_SIZE,123697,0
$CFSIZE,260165632,217034752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190713,221201,2107.599,-15754.963,35,1.5,35,9.8