version: 66.06
glider: 523
mission: 4
dive: 756
start: 7 20 113 8 30 5
data:
$ID,523
$MISSION,4
$DIVE,756
$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,-51298.812
$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,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
$GPS1,081752,2106.952,-15754.641,35,0.9,35,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.9
$GPS2,082912,2106.883,-15754.753,16,1.0,16,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.256,-0.001
$KALMAN_X,-50875.6,-157.2,-26.2,48874.2,-1059.5
$KALMAN_Y,5380.3,-68.2,66.1,-9339.3,-126.1
$MHEAD_RNG_PITCHd_Wd,80.3,20545,-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,-81.35,0.000,6,0.000,0.000,51,1943,3396,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.1,-3.6,13,118,9.60,2.22,0.00,0.000,4,0.222,0.056,2378,3330,3398,0,0,0,0,0,0
$GC,164,-0.76,-146.0,14.8,-13.1,23,171,0.00,2.30,0.00,0.000,6,0.000,0.051,2378,1928,3399,0,0,0,0,0,0
$GC,331,-0.76,-146.0,33.7,-10.5,54,338,0.00,2.33,0.00,0.000,4,0.000,0.062,2378,511,3399,0,0,0,0,0,0
$GC,513,-0.76,-146.0,55.2,-10.6,87,519,0.00,2.22,0.00,0.000,6,0.000,0.039,2369,1937,3399,0,0,0,0,0,0
$GC,848,-0.76,-146.0,86.0,-9.6,142,852,0.00,2.35,0.00,0.000,4,0.000,0.065,2368,512,3401,0,0,0,0,0,0
$GC,1101,-0.76,-146.0,110.5,-9.5,164,1110,0.10,2.22,0.00,0.000,6,0.133,0.043,2391,1911,3401,0,0,0,0,0,0
$GC,1429,-0.76,-146.0,134.5,-6.7,195,1434,0.00,2.30,0.00,0.000,4,0.000,0.066,2392,513,3401,0,0,0,0,0,0
$GC,1683,-0.76,-146.0,153.3,-7.0,218,1687,0.00,2.20,0.00,0.000,6,0.000,0.044,2384,1921,3401,0,0,0,0,0,0
$GC,2011,-0.76,-146.0,175.5,-6.2,248,2015,0.00,2.25,0.00,0.000,4,0.000,0.058,2373,3350,3401,0,0,0,0,0,0
$GC,2031,-0.76,-146.0,176.9,-6.9,249,2036,0.00,2.30,0.00,0.000,6,0.000,0.053,2373,1926,3402,0,0,0,0,0,0
$GC,2359,-0.76,-146.0,199.2,-5.0,279,2363,0.00,2.28,0.00,0.000,4,0.000,0.064,2373,507,3402,0,0,0,0,0,0
$GC,2503,-0.76,-146.0,208.1,-6.4,285,2508,0.12,2.22,0.00,0.000,6,0.155,0.043,2396,1937,3402,0,0,0,0,0,0
$GC,2819,-0.76,-146.0,228.3,-6.3,300,2823,0.00,2.25,0.00,0.000,4,0.000,0.059,2388,3331,3402,0,0,0,0,0,0
$GC,2859,-0.76,-146.0,230.8,-5.8,302,2863,0.00,2.28,0.00,0.000,6,0.000,0.052,2387,1926,3402,0,0,0,0,0,0
$GC,3188,-0.76,-146.0,246.2,-4.0,318,3192,0.00,2.33,0.00,0.000,4,0.000,0.066,2388,509,3402,0,0,0,0,0,0
$GC,3350,-0.76,-146.0,254.6,-6.4,325,3354,0.00,2.22,0.00,0.000,6,0.000,0.043,2378,1925,3402,0,0,0,0,0,0
$GC,3668,-0.76,-146.0,277.2,-8.3,340,3672,0.00,2.33,0.00,0.000,4,0.000,0.062,2378,512,3401,0,0,0,0,0,0
$GC,3875,-0.76,-146.0,293.0,-5.6,349,3879,0.00,2.20,0.00,0.000,6,0.000,0.044,2369,1925,3400,0,0,0,0,0,0
$GC,4209,-0.76,-146.0,309.8,-4.6,360,4213,0.00,2.35,0.00,0.000,4,0.000,0.061,2369,509,3398,0,0,0,0,0,0
$GC,4243,-0.76,-146.0,311.4,-4.4,360,4249,0.12,2.20,0.00,0.000,6,0.154,0.044,2392,1925,3398,0,0,0,0,0,0
$GC,4575,-0.76,-146.0,326.7,-5.0,369,4579,0.00,2.35,0.00,0.000,4,0.000,0.061,2392,508,3397,0,0,0,0,0,0
$GC,4640,-0.76,-146.0,330.2,-5.9,370,4644,0.00,2.22,0.00,0.000,6,0.000,0.043,2384,1935,3396,0,0,0,0,0,0
$GC,4983,-0.76,-146.0,350.2,-5.7,379,4987,0.00,2.20,0.00,0.000,4,0.000,0.057,2374,3338,3395,0,0,0,0,0,0
$GC,5010,-0.76,-146.0,351.8,-5.5,379,5015,0.00,2.25,0.00,0.000,6,0.000,0.051,2374,1922,3395,0,0,0,0,0,0
$GC,5343,-0.76,-146.0,368.7,-4.8,387,5347,0.00,2.28,0.00,0.000,4,0.000,0.061,2374,509,3394,0,0,0,0,0,0
$GC,5602,-0.76,-146.0,384.3,-6.2,392,5608,0.12,2.22,0.00,0.000,6,0.156,0.043,2396,1934,3392,0,0,0,0,0,0
$GC,5936,-0.76,-146.0,405.3,-6.9,401,5940,0.00,2.33,0.00,0.000,4,0.000,0.064,2397,508,3391,0,0,0,0,0,0
$GC,6098,-0.76,-146.0,417.8,-7.3,404,6103,0.00,2.20,0.00,0.000,6,0.000,0.043,2389,1917,3389,0,0,0,0,0,0
$GC,6432,-0.76,-146.0,436.4,-5.4,412,6437,0.00,2.33,0.00,0.000,4,0.000,0.064,2390,508,3388,0,0,0,0,0,0
$GC,6484,-0.76,-146.0,439.4,-5.2,413,6488,0.00,2.22,0.00,0.000,6,0.000,0.044,2380,1930,3388,0,0,0,0,0,0
$STATE,6713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6713,begin apogee
$GC,6720,-0.17,0.0,452.1,5.5,419,6847,0.65,0.00,123.72,0.755,6,0.114,0.000,2587,1999,2799,0,0,0,0,0,0
$STATE,6848,end apogee,CONTROL_FINISHED_OK
$STATE,6848,begin climb
$GC,6851,0.76,146.0,453.4,0.0,422,6987,0.85,2.33,129.10,0.730,4,0.066,0.054,2889,3411,2202,0,0,0,0,0,0
$GC,7063,0.76,146.0,433.6,10.2,427,7067,0.00,2.33,0.00,0.000,6,0.000,0.048,2899,1986,2198,0,0,0,0,0,0
$GC,7381,0.76,146.0,401.1,10.2,435,7385,0.00,2.30,0.00,0.000,4,0.000,0.058,2899,3412,2195,0,0,0,0,0,0
$GC,7454,0.76,146.0,392.0,12.6,436,7458,0.00,2.25,0.00,0.000,6,0.000,0.048,2908,1996,2195,0,0,0,0,0,0
$GC,7785,0.78,162.4,360.3,8.8,444,7804,0.00,2.30,14.45,0.655,4,0.000,0.059,2907,3411,2136,0,0,0,0,0,0
$GC,7868,0.78,162.4,351.6,10.2,445,7873,0.00,2.25,0.00,0.000,6,0.000,0.048,2918,1997,2135,0,0,0,0,0,0
$GC,8199,0.78,162.4,319.7,9.8,454,8203,0.00,2.28,0.00,0.000,4,0.000,0.061,2918,3404,2134,0,0,0,0,0,0
$GC,8339,0.78,162.4,302.0,13.2,457,8343,0.12,2.28,0.00,0.000,6,0.143,0.050,2892,1990,2133,0,0,0,0,0,0
$GC,8664,0.81,179.8,271.7,8.8,472,8685,0.00,0.00,16.27,0.625,6,0.000,0.000,2892,1990,2065,0,0,0,0,0,0
$GC,8995,0.81,184.4,240.7,9.4,488,9002,0.00,0.00,5.15,0.487,6,0.000,0.000,2892,1990,2048,0,0,0,0,0,0
$GC,9305,0.81,184.4,209.4,10.3,503,9309,0.00,2.33,0.00,0.000,4,0.000,0.061,2892,3413,2046,0,0,0,0,0,0
$GC,9332,0.81,184.4,206.4,10.3,504,9336,0.00,2.28,0.00,0.000,6,0.000,0.048,2897,1982,2045,0,0,0,0,0,0
$GC,9660,0.86,221.2,178.2,7.9,530,9699,0.00,2.30,33.75,0.582,4,0.000,0.054,2897,3417,1897,0,0,0,0,0,0
$GC,9746,0.90,254.2,171.4,8.1,537,9782,0.00,2.25,30.33,0.565,6,0.000,0.044,2905,1989,1762,0,0,0,0,0,0
$GC,10101,0.90,254.2,142.3,10.4,570,10105,0.00,2.28,0.00,0.000,4,0.000,0.061,2915,590,1761,0,0,0,0,0,0
$GC,10142,0.90,254.2,138.0,11.1,573,10146,0.00,2.20,0.00,0.000,6,0.000,0.038,2914,2007,1761,0,0,0,0,0,0
$GC,10469,0.94,286.4,105.8,8.1,603,10505,0.00,2.35,28.98,0.515,4,0.000,0.067,2916,587,1631,0,0,0,0,0,0
$GC,10542,0.98,319.7,100.1,8.1,609,10579,0.12,2.22,29.83,0.506,6,0.072,0.043,3003,2000,1495,0,0,0,0,0,0
$GC,10901,0.98,319.7,60.5,11.7,657,10907,0.15,2.22,0.00,0.000,4,0.131,0.054,2959,3397,1493,0,0,0,0,0,0
$GC,11037,0.98,319.7,44.7,11.7,681,11042,0.00,2.22,0.00,0.000,6,0.000,0.045,2963,1987,1493,0,0,0,0,0,0
$GC,11366,0.98,319.7,11.3,11.8,742,11373,0.00,2.28,0.00,0.000,4,0.000,0.062,2972,589,1493,0,0,0,0,0,0
$GC,11382,0.98,319.7,9.6,10.8,744,11389,0.00,2.20,0.00,0.000,6,0.000,0.039,2971,1988,1493,0,0,0,0,0,0
$STATE,11441,end climb,SURFACE_DEPTH_REACHED
$STATE,11441,begin surface coast
$FINISH,1.0,1.023379
$STATE,11469,end surface coast,CONTROL_FINISHED_OK
$STATE,11469,begin surface
$SM_CCo,11548,0.00,0.000,0,0,1491,321.09
$SM_GC,1.62,7.47,0.00,0.00,0.023,0.000,0.000,48,1887,1491,-7.99,-1.07,321.09
$IRIDIUM_FIX,2059.45,-15750.89,141002,080821
$TT8_MAMPS,0.028379
$HUMID,70.75
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,24.2,66.002
$10V_AH,9.9,73.212
$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,19.450,113.600,411.575,0.000,0.000,62.572,75.129,310.993,19.250,0.000,16.701,1415.065,6969.905,459.112,2575.264,799.761,33.352,1385.992,0.000,2531.969,0.000,117.274,0.000
$DEVICE_MAMPS,222.430,111.982,754.728,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,518.208,441.899,1476.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,41232,760
$CAP_FILE_SIZE,127865,0
$CFSIZE,260165632,216772608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200713,114334,2106.751,-15755.340,25,1.2,25,9.8