version: 66.06
glider: 523
mission: 4
dive: 754
start: 7 20 113 1 47 50
data:
$ID,523
$MISSION,4
$DIVE,754
$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,-51262.301
$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,44
$R_STBD_OVSHOOT,29
$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
$GPS1,013907,2107.482,-15755.114,20,2.0,20,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.1
$GPS2,014659,2107.457,-15755.207,21,0.8,21,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.254,-0.032
$KALMAN_X,-46823.7,11.2,-452.3,44293.6,-1003.5
$KALMAN_Y,5544.7,201.3,-163.5,-8486.5,102.6
$MHEAD_RNG_PITCHd_Wd,87.4,21451,-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,-85.82,0.000,6,0.000,0.000,33,1892,3395,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.5,-5.4,14,126,9.73,2.20,0.00,0.000,4,0.222,0.061,2387,536,3397,0,0,0,0,0,0
$GC,176,-0.76,-146.0,16.2,-12.5,25,184,0.00,2.20,0.00,0.000,6,0.000,0.040,2379,1918,3398,0,0,0,0,0,0
$GC,349,-0.76,-146.0,36.3,-11.3,56,356,0.00,2.33,0.00,0.000,4,0.000,0.066,2379,535,3398,0,0,0,0,0,0
$GC,534,-0.76,-146.0,59.5,-10.4,90,542,0.00,2.20,0.00,0.000,6,0.000,0.041,2371,1922,3399,0,0,0,0,0,0
$GC,868,-0.76,-146.0,88.9,-8.1,141,872,0.00,2.28,0.00,0.000,4,0.000,0.065,2370,541,3400,0,0,0,0,0,0
$GC,974,-0.76,-146.0,99.3,-9.2,150,982,0.12,2.17,0.00,0.000,6,0.158,0.041,2393,1933,3400,0,0,0,0,0,0
$GC,1310,-0.76,-146.0,128.3,-9.0,181,1314,0.00,2.30,0.00,0.000,4,0.000,0.065,2394,536,3400,0,0,0,0,0,0
$GC,1475,-0.76,-146.0,144.7,-9.5,195,1485,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1922,3400,0,0,0,0,0,0
$GC,1802,-0.76,-146.0,168.1,-7.7,226,1806,0.00,2.25,0.00,0.000,4,0.000,0.064,2386,541,3401,0,0,0,0,0,0
$GC,1865,-0.76,-146.0,173.1,-7.6,231,1869,0.00,2.17,0.00,0.000,6,0.000,0.041,2377,1931,3401,0,0,0,0,0,0
$GC,2192,-0.76,-146.0,198.2,-7.5,261,2197,0.00,2.30,0.00,0.000,4,0.000,0.064,2377,534,3401,0,0,0,0,0,0
$GC,2382,-0.76,-146.0,214.6,-7.4,270,2388,0.00,2.15,0.00,0.000,6,0.000,0.042,2368,1929,3401,0,0,0,0,0,0
$GC,2700,-0.76,-146.0,234.4,-5.7,286,2704,0.00,2.25,0.00,0.000,4,0.000,0.062,2368,540,3401,0,0,0,0,0,0
$GC,2958,-0.76,-146.0,251.1,-7.2,297,2962,0.12,2.17,0.00,0.000,6,0.156,0.041,2391,1934,3401,0,0,0,0,0,0
$GC,3276,-0.76,-146.0,273.5,-6.4,312,3280,0.00,2.28,0.00,0.000,4,0.000,0.062,2392,539,3401,0,0,0,0,0,0
$GC,3420,-0.76,-146.0,281.8,-5.8,318,3424,0.00,2.17,0.00,0.000,6,0.000,0.041,2384,1933,3401,0,0,0,0,0,0
$GC,3743,-0.76,-146.0,304.5,-7.6,333,3750,0.00,2.28,0.00,0.000,4,0.000,0.061,2384,534,3400,0,0,0,0,0,0
$GC,3778,-0.76,-146.0,307.3,-7.4,333,3782,0.00,2.17,0.00,0.000,6,0.000,0.041,2375,1929,3400,0,0,0,0,0,0
$GC,4112,-0.76,-146.0,326.5,-5.5,341,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1929,3399,0,0,0,0,0,0
$GC,4437,-0.76,-146.0,339.7,-4.1,349,4442,0.00,2.28,0.00,0.000,4,0.000,0.062,2375,539,3397,0,0,0,0,0,0
$GC,4663,-0.76,-146.0,352.2,-5.7,354,4667,0.00,2.17,0.00,0.000,6,0.000,0.041,2366,1926,3395,0,0,0,0,0,0
$GC,4988,-0.76,-146.0,373.0,-6.9,362,4992,0.00,2.28,0.00,0.000,4,0.000,0.063,2356,3333,3394,0,0,0,0,0,0
$GC,5073,-0.76,-146.0,379.4,-7.3,364,5078,0.15,2.22,0.00,0.000,6,0.138,0.051,2396,1944,3394,0,0,0,0,0,0
$GC,5405,-0.76,-146.0,397.0,-4.8,372,5409,0.00,2.35,0.00,0.000,4,0.000,0.068,2397,509,3393,0,0,0,0,0,0
$GC,5597,-0.76,-146.0,407.1,-5.6,376,5602,0.00,2.22,0.00,0.000,6,0.000,0.042,2389,1923,3391,0,0,0,0,0,0
$GC,5911,-0.76,-146.0,423.2,-5.4,384,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1923,3390,0,0,0,0,0,0
$GC,6237,-0.76,-146.0,440.2,-4.8,392,6242,0.00,2.35,0.00,0.000,4,0.000,0.064,2388,510,3388,0,0,0,0,0,0
$GC,6350,-0.76,-146.0,446.9,-6.0,394,6354,0.00,2.22,0.00,0.000,6,0.000,0.044,2379,1934,3388,0,0,0,0,0,0
$STATE,6441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6441,begin apogee
$GC,6448,-0.17,0.0,451.7,5.2,397,6575,0.65,0.00,123.47,0.753,6,0.114,0.000,2587,1999,2799,0,0,0,0,0,0
$STATE,6575,end apogee,CONTROL_FINISHED_OK
$STATE,6575,begin climb
$GC,6579,0.76,146.0,452.1,0.0,400,6719,0.88,2.42,128.50,0.729,4,0.071,0.064,2890,3401,2201,0,0,0,0,0,0
$GC,6798,0.76,146.0,430.6,11.9,405,6802,0.00,2.30,0.00,0.000,6,0.000,0.046,2899,1995,2198,0,0,0,0,0,0
$GC,7134,0.76,146.0,396.5,10.2,414,7138,0.00,2.33,0.00,0.000,4,0.000,0.064,2899,3405,2194,0,0,0,0,0,0
$GC,7290,0.76,146.0,378.2,11.3,417,7294,0.00,2.25,0.00,0.000,6,0.000,0.050,2908,1988,2193,0,0,0,0,0,0
$GC,7632,0.76,146.0,338.8,11.2,426,7636,0.00,2.25,0.00,0.000,4,0.000,0.052,2908,3408,2192,0,0,0,0,0,0
$GC,7761,0.76,146.0,322.4,13.7,429,7766,0.00,2.25,0.00,0.000,6,0.000,0.052,2918,2002,2191,0,0,0,0,0,0
$GC,8088,0.76,146.0,282.7,11.8,440,8092,0.00,2.30,0.00,0.000,4,0.000,0.063,2918,3402,2190,0,0,0,0,0,0
$GC,8247,0.76,146.0,262.9,12.1,447,8252,0.15,2.25,0.00,0.000,6,0.138,0.052,2885,1993,2190,0,0,0,0,0,0
$GC,8569,0.83,196.2,236.9,7.3,463,8618,0.00,2.40,42.40,0.630,4,0.000,0.063,2884,3409,1999,0,0,0,0,0,0
$GC,8647,0.83,196.2,230.1,9.6,466,8653,0.00,2.25,0.00,0.000,6,0.000,0.042,2892,1988,1998,0,0,0,0,0,0
$GC,8964,0.85,218.9,201.7,8.6,482,8996,0.00,2.35,21.45,0.586,4,0.000,0.053,2892,3411,1905,0,0,0,0,0,0
$GC,9043,0.85,218.9,194.4,10.1,488,9047,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,1988,1905,0,0,0,0,0,0
$GC,9370,0.85,218.9,163.4,9.7,518,9374,0.00,2.25,0.00,0.000,4,0.000,0.058,2908,582,1904,0,0,0,0,0,0
$GC,9423,0.85,218.9,157.6,9.6,522,9430,0.00,2.20,0.00,0.000,6,0.000,0.035,2908,1999,1904,0,0,0,0,0,0
$GC,9753,0.87,233.1,126.1,8.9,553,9776,0.00,2.28,13.30,0.513,4,0.000,0.053,2908,3406,1848,0,0,0,0,0,0
$GC,9801,0.87,233.1,121.6,9.6,557,9806,0.00,2.20,0.00,0.000,6,0.000,0.042,2916,1991,1847,0,0,0,0,0,0
$GC,10128,0.87,233.1,92.7,9.8,587,10132,0.00,2.25,0.00,0.000,4,0.000,0.052,2916,3401,1848,0,0,0,0,0,0
$GC,10150,0.87,233.1,90.2,10.2,588,10157,0.00,2.22,0.00,0.000,6,0.000,0.044,2925,2002,1847,0,0,0,0,0,0
$GC,10479,1.00,336.4,58.2,5.0,640,10580,0.10,2.33,88.43,0.486,4,0.088,0.055,3016,592,1425,0,0,0,0,0,0
$GC,10595,1.05,378.5,50.5,7.7,659,10636,0.12,2.22,35.20,0.463,6,0.133,0.036,2982,2003,1256,0,0,0,0,0,0
$GC,10960,1.05,378.5,16.4,9.8,726,10968,0.00,2.38,0.00,0.000,4,0.000,0.069,2983,597,1252,0,0,0,0,0,0
$GC,11028,1.05,378.5,9.8,10.1,738,11036,0.00,2.22,0.00,0.000,6,0.000,0.044,2982,1980,1252,0,0,0,0,0,0
$STATE,11098,end climb,SURFACE_DEPTH_REACHED
$STATE,11098,begin surface coast
$FINISH,0.8,1.022959
$STATE,11134,end surface coast,CONTROL_FINISHED_OK
$STATE,11134,begin surface
$SM_CCo,11213,0.00,0.000,0,0,1249,380.45
$SM_GC,1.49,7.53,0.00,0.00,0.021,0.000,0.000,29,1892,1249,-8.02,-0.93,380.45
$IRIDIUM_FIX,2104.07,-15757.32,131002,222217
$TT8_MAMPS,0.028379
$HUMID,68.94
$INTERNAL_PRESSURE,9.32378
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,24.2,65.797
$10V_AH,9.9,72.980
$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,19.550,108.500,452.750,0.000,0.000,30.348,40.652,231.899,19.250,0.000,22.140,1386.779,6552.336,481.122,2614.847,638.430,33.351,1458.721,0.000,2556.723,0.000,117.282,0.000
$DEVICE_MAMPS,221.663,111.982,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,513.782,432.669,1463.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,41276,757
$CAP_FILE_SIZE,124299,0
$CFSIZE,260165632,216907776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200713,045558,2107.330,-15754.902,39,0.7,39,9.8