version: 66.06
glider: 523
mission: 4
dive: 759
start: 7 20 113 18 36 56
data:
$ID,523
$MISSION,4
$DIVE,759
$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,-51359.293
$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
$GPS1,182452,2106.731,-15755.400,36,0.8,36,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.6
$GPS2,183605,2106.591,-15755.555,21,0.9,21,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.248,-0.064
$KALMAN_X,-57988.8,-1042.2,-300.2,55752.7,241.9
$KALMAN_Y,5117.6,-181.2,-105.0,-9337.7,433.8
$MHEAD_RNG_PITCHd_Wd,94.7,21882,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-76.25,0.000,2,0.000,0.000,43,1913,3368,0,0,0,0,0,0
$GC,98,-0.76,-146.0,3.1,-3.8,12,114,9.62,2.35,-0.62,0.000,4,0.221,0.077,2385,511,3397,0,0,0,0,0,0
$GC,165,-0.76,-146.0,16.0,-14.7,23,173,0.00,2.25,0.00,0.000,6,0.000,0.041,2377,1920,3397,0,0,0,0,0,0
$GC,332,-0.76,-146.0,35.9,-11.1,54,339,0.00,2.35,0.00,0.000,4,0.000,0.067,2377,518,3398,0,0,0,0,0,0
$GC,419,-0.76,-146.0,45.8,-11.7,69,424,0.00,2.20,0.00,0.000,6,0.000,0.041,2368,1925,3398,0,0,0,0,0,0
$GC,752,-0.76,-146.0,82.9,-12.1,128,756,0.00,2.33,0.00,0.000,4,0.000,0.067,2368,517,3399,0,0,0,0,0,0
$GC,1002,-0.76,-146.0,110.7,-9.0,150,1010,0.10,2.22,0.00,0.000,6,0.132,0.041,2390,1922,3400,0,0,0,0,0,0
$GC,1329,-0.76,-146.0,132.0,-5.7,181,1333,0.00,2.33,0.00,0.000,4,0.000,0.066,2391,511,3402,0,0,0,0,0,0
$GC,1578,-0.76,-146.0,148.9,-7.4,203,1586,0.00,2.25,0.00,0.000,6,0.000,0.042,2383,1929,3401,0,0,0,0,0,0
$GC,1906,-0.76,-146.0,173.7,-7.4,234,1910,0.00,2.30,0.00,0.000,4,0.000,0.065,2383,516,3402,0,0,0,0,0,0
$GC,2078,-0.76,-146.0,187.7,-7.9,249,2082,0.00,2.20,0.00,0.000,6,0.000,0.041,2374,1928,3402,0,0,0,0,0,0
$GC,2410,-0.76,-146.0,211.1,-6.6,272,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1929,3401,0,0,0,0,0,0
$GC,2719,-0.76,-146.0,227.0,-5.5,287,2723,0.00,2.35,0.00,0.000,4,0.000,0.063,2374,511,3402,0,0,0,0,0,0
$GC,2797,-0.76,-146.0,232.6,-7.7,290,2803,0.12,2.20,0.00,0.000,6,0.158,0.041,2396,1934,3401,0,0,0,0,0,0
$GC,3116,-0.76,-146.0,248.3,-4.2,306,3120,0.00,2.35,0.00,0.000,4,0.000,0.064,2397,509,3401,0,0,0,0,0,0
$GC,3239,-0.76,-146.0,253.0,-3.2,311,3243,0.00,2.20,0.00,0.000,6,0.000,0.039,2389,1926,3401,0,0,0,0,0,0
$GC,3556,-0.76,-146.0,262.5,-3.6,326,3560,0.00,2.35,0.00,0.000,4,0.000,0.064,2389,517,3401,0,0,0,0,0,0
$GC,3673,-0.76,-146.0,268.5,-5.1,331,3677,0.00,2.20,0.00,0.000,6,0.000,0.040,2379,1931,3401,0,0,0,0,0,0
$GC,3992,-0.76,-146.0,286.6,-5.5,346,3996,0.00,2.35,0.00,0.000,4,0.000,0.063,2380,511,3401,0,0,0,0,0,0
$GC,4171,-0.76,-146.0,298.2,-6.0,354,4175,0.00,2.22,0.00,0.000,6,0.000,0.041,2371,1936,3400,0,0,0,0,0,0
$GC,4510,-0.76,-146.0,320.9,-7.2,364,4514,0.00,2.35,0.00,0.000,4,0.000,0.062,2371,509,3399,0,0,0,0,0,0
$GC,4652,-0.76,-146.0,333.3,-8.5,367,4657,0.12,2.22,0.00,0.000,6,0.154,0.041,2393,1934,3398,0,0,0,0,0,0
$GC,4968,-0.76,-146.0,355.1,-6.6,375,4972,0.00,2.33,0.00,0.000,4,0.000,0.062,2394,509,3397,0,0,0,0,0,0
$GC,5095,-0.76,-146.0,363.3,-6.0,377,5101,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1931,3397,0,0,0,0,0,0
$GC,5428,-0.76,-146.0,381.6,-5.4,386,5432,0.00,2.30,0.00,0.000,4,0.000,0.063,2386,517,3394,0,0,0,0,0,0
$GC,5524,-0.76,-146.0,386.5,-4.6,388,5528,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1925,3394,0,0,0,0,0,0
$GC,5849,-0.76,-146.0,402.3,-5.0,396,5853,0.00,2.35,0.00,0.000,4,0.000,0.064,2377,512,3392,0,0,0,0,0,0
$GC,5877,-0.76,-146.0,404.2,-6.8,396,5881,0.00,2.20,0.00,0.000,6,0.000,0.044,2368,1923,3392,0,0,0,0,0,0
$GC,6209,-0.76,-146.0,427.6,-7.5,404,6214,0.00,2.35,0.00,0.000,4,0.000,0.064,2367,515,3390,0,0,0,0,0,0
$GC,6317,-0.76,-146.0,436.4,-8.3,406,6321,0.12,2.22,0.00,0.000,6,0.156,0.044,2390,1926,3389,0,0,0,0,0,0
$STATE,6540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6541,begin apogee
$GC,6548,-0.17,0.0,450.9,6.3,412,6676,0.60,0.00,124.20,0.752,6,0.110,0.000,2586,2013,2800,0,0,0,0,0,0
$STATE,6676,end apogee,CONTROL_FINISHED_OK
$STATE,6677,begin climb
$GC,6679,0.76,146.0,452.1,0.0,415,6817,0.85,2.22,128.88,0.729,4,0.067,0.061,2885,3391,2202,0,0,0,0,0,0
$GC,6919,0.76,146.0,425.9,13.9,420,6923,0.00,2.22,0.00,0.000,6,0.000,0.048,2894,1997,2198,0,0,0,0,0,0
$GC,7255,0.76,146.0,388.4,10.3,429,7259,0.00,2.25,0.00,0.000,4,0.000,0.057,2894,3399,2195,0,0,0,0,0,0
$GC,7368,0.77,146.8,376.6,9.5,431,7372,0.00,2.25,0.00,0.000,6,0.000,0.047,2904,1989,2193,0,0,0,0,0,0
$GC,7704,0.77,146.8,339.6,11.1,440,7708,0.00,2.28,0.00,0.000,4,0.000,0.061,2904,3400,2192,0,0,0,0,0,0
$GC,7754,0.77,146.8,333.0,13.5,441,7759,0.00,2.25,0.00,0.000,6,0.000,0.049,2913,1989,2192,0,0,0,0,0,0
$GC,8068,0.77,146.8,295.1,12.4,449,8072,0.00,2.30,0.00,0.000,4,0.000,0.062,2913,3407,2191,0,0,0,0,0,0
$GC,8176,0.77,146.8,280.3,13.4,454,8181,0.12,2.28,0.00,0.000,6,0.145,0.050,2888,1986,2191,0,0,0,0,0,0
$GC,8503,0.77,151.2,247.6,9.4,470,8507,0.00,2.30,0.00,0.000,4,0.000,0.062,2888,3407,2190,0,0,0,0,0,0
$GC,8565,0.77,151.2,241.3,9.8,473,8569,0.00,2.25,0.00,0.000,6,0.000,0.051,2894,1996,2190,0,0,0,0,0,0
$GC,8897,0.81,186.0,212.3,8.0,489,8938,0.00,2.35,33.67,0.615,4,0.000,0.064,2894,3399,2039,0,0,0,0,0,0
$GC,9014,0.83,200.9,202.8,8.9,494,9034,0.00,2.25,14.10,0.570,6,0.000,0.051,2903,1991,1982,0,0,0,0,0,0
$GC,9363,0.86,226.0,178.0,8.5,525,9392,0.00,2.30,23.65,0.574,4,0.000,0.061,2903,3398,1877,0,0,0,0,0,0
$GC,9460,0.86,226.0,168.7,10.2,533,9464,0.00,2.28,0.00,0.000,6,0.000,0.053,2906,1996,1875,0,0,0,0,0,0
$GC,9787,0.86,226.0,136.4,10.1,563,9791,0.00,2.30,0.00,0.000,4,0.000,0.063,2906,3397,1875,0,0,0,0,0,0
$GC,9838,0.86,226.0,131.0,11.5,567,9842,0.00,2.28,0.00,0.000,6,0.000,0.051,2907,1986,1874,0,0,0,0,0,0
$GC,10166,0.92,270.8,103.2,7.6,597,10213,0.00,2.35,39.65,0.521,4,0.000,0.061,2907,3395,1696,0,0,0,0,0,0
$GC,10238,0.95,300.2,97.4,8.3,603,10274,0.12,2.28,26.75,0.502,6,0.074,0.051,2986,1991,1576,0,0,0,0,0,0
$GC,10598,0.95,300.2,55.5,12.6,655,10604,0.12,2.28,0.00,0.000,4,0.137,0.061,2958,578,1575,0,0,0,0,0,0
$GC,10626,0.95,300.2,51.8,11.3,660,10634,0.00,2.25,0.00,0.000,6,0.000,0.041,2958,1996,1575,0,0,0,0,0,0
$GC,10959,0.95,300.2,18.1,9.8,721,10967,0.00,2.35,0.00,0.000,4,0.000,0.067,2966,589,1575,0,0,0,0,0,0
$GC,11033,0.95,300.2,10.4,11.3,734,11041,0.00,2.22,0.00,0.000,6,0.000,0.044,2966,1980,1575,0,0,0,0,0,0
$STATE,11106,end climb,SURFACE_DEPTH_REACHED
$STATE,11106,begin surface coast
$FINISH,0.7,1.010554
$STATE,11142,end surface coast,CONTROL_FINISHED_OK
$STATE,11142,begin surface
$SM_CCo,11220,0.00,0.000,0,0,1572,301.22
$SM_GC,1.61,7.45,0.00,0.00,0.024,0.000,0.000,46,1882,1572,-8.01,-1.22,301.22
$IRIDIUM_FIX,2054.83,-15753.90,141002,181810
$TT8_MAMPS,0.027612
$HUMID,70.43
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,24.2,66.300
$10V_AH,10.0,73.555
$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,19.375,114.050,390.900,0.000,0.000,55.900,78.276,291.555,19.000,0.000,22.306,1402.557,6685.270,425.793,2597.805,771.955,33.352,1371.873,0.000,2536.063,0.000,117.253,0.000
$DEVICE_MAMPS,220.896,100.477,752.427,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,513.340,442.904,1446.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,41263,753
$CAP_FILE_SIZE,127231,0
$CFSIZE,260165632,216576000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200713,214504,2106.689,-15754.889,31,0.9,31,9.8