version: 66.06
glider: 523
mission: 4
dive: 760
start: 7 20 113 21 53 14
data:
$ID,523
$MISSION,4
$DIVE,760
$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,-51379.805
$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,54
$R_STBD_OVSHOOT,19
$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
$GPS1,214504,2106.689,-15754.889,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.7
$GPS2,215223,2106.614,-15754.970,19,1.1,19,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.254,-0.035
$KALMAN_X,-60190.7,-636.7,284.8,57982.9,-723.8
$KALMAN_Y,5210.4,98.7,151.0,-9927.3,207.4
$MHEAD_RNG_PITCHd_Wd,88.0,20877,-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,-78.07,0.000,6,0.000,0.000,45,1881,3396,0,0,0,0,0,0
$GC,105,-0.76,-146.0,4.0,-6.3,13,119,9.70,2.35,0.00,0.000,4,0.223,0.054,2372,3340,3398,0,0,0,0,0,0
$GC,135,-0.76,-146.0,12.4,-25.5,17,142,0.00,2.25,0.00,0.000,6,0.000,0.048,2373,1954,3398,0,0,0,0,0,0
$GC,299,-0.76,-146.0,30.7,-9.7,48,307,0.00,2.38,0.00,0.000,4,0.000,0.068,2373,519,3400,0,0,0,0,0,0
$GC,386,-0.76,-146.0,40.4,-11.6,63,392,0.12,2.20,0.00,0.000,6,0.163,0.043,2394,1926,3400,0,0,0,0,0,0
$GC,717,-0.76,-146.0,68.7,-7.8,124,724,0.00,2.35,0.00,0.000,4,0.000,0.064,2395,513,3400,0,0,0,0,0,0
$GC,972,-0.76,-146.0,91.1,-9.4,159,977,0.00,2.22,0.00,0.000,6,0.000,0.044,2387,1930,3401,0,0,0,0,0,0
$GC,1300,-0.76,-146.0,116.3,-7.6,189,1304,0.00,2.33,0.00,0.000,4,0.000,0.063,2387,515,3402,0,0,0,0,0,0
$GC,1548,-0.76,-146.0,136.9,-9.0,211,1555,0.00,2.25,0.00,0.000,6,0.000,0.044,2378,1928,3402,0,0,0,0,0,0
$GC,1874,-0.76,-146.0,161.9,-6.5,242,1878,0.00,2.33,0.00,0.000,4,0.000,0.062,2378,509,3403,0,0,0,0,0,0
$GC,2114,-0.76,-146.0,178.7,-7.3,263,2121,0.00,2.25,0.00,0.000,6,0.000,0.044,2369,1924,3403,0,0,0,0,0,0
$GC,2439,-0.76,-146.0,202.2,-8.6,293,2443,0.00,2.30,0.00,0.000,4,0.000,0.061,2369,514,3403,0,0,0,0,0,0
$GC,2512,-0.76,-146.0,209.0,-8.8,296,2517,0.12,2.22,0.00,0.000,6,0.156,0.043,2392,1930,3403,0,0,0,0,0,0
$GC,2830,-0.76,-146.0,235.0,-6.8,311,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1930,3403,0,0,0,0,0,0
$GC,3137,-0.76,-146.0,254.8,-6.7,326,3142,0.00,2.33,0.00,0.000,4,0.000,0.060,2392,508,3403,0,0,0,0,0,0
$GC,3275,-0.76,-146.0,264.3,-6.9,332,3280,0.00,2.20,0.00,0.000,6,0.000,0.040,2384,1935,3403,0,0,0,0,0,0
$GC,3606,-0.76,-146.0,282.7,-5.3,348,3610,0.00,2.30,0.00,0.000,4,0.000,0.059,2385,512,3403,0,0,0,0,0,0
$GC,3758,-0.76,-146.0,291.5,-5.5,355,3762,0.00,2.17,0.00,0.000,6,0.000,0.041,2375,1923,3403,0,0,0,0,0,0
$GC,4104,-0.76,-146.0,312.4,-5.8,367,4108,0.00,2.30,0.00,0.000,4,0.000,0.060,2375,511,3402,0,0,0,0,0,0
$GC,4178,-0.76,-146.0,316.7,-5.6,368,4181,0.00,2.20,0.00,0.000,6,0.000,0.041,2366,1925,3402,0,0,0,0,0,0
$GC,4516,-0.76,-146.0,333.6,-5.1,377,4521,0.10,2.35,0.00,0.000,4,0.161,0.061,2392,508,3401,0,0,0,0,0,0
$GC,4578,-0.76,-146.0,337.1,-6.3,378,4582,0.00,2.20,0.00,0.000,6,0.000,0.041,2384,1927,3400,0,0,0,0,0,0
$GC,4922,-0.76,-146.0,357.3,-5.9,387,4926,0.00,2.30,0.00,0.000,4,0.000,0.061,2384,511,3398,0,0,0,0,0,0
$GC,4962,-0.76,-146.0,359.5,-5.6,388,4966,0.00,2.22,0.00,0.000,6,0.000,0.041,2375,1929,3398,0,0,0,0,0,0
$GC,5290,-0.76,-146.0,376.8,-5.2,396,5294,0.00,2.30,0.00,0.000,4,0.000,0.061,2365,3346,3397,0,0,0,0,0,0
$GC,5363,-0.76,-146.0,381.0,-5.2,397,5367,0.12,2.30,0.00,0.000,6,0.144,0.052,2397,1923,3396,0,0,0,0,0,0
$GC,5695,-0.76,-146.0,398.7,-5.5,405,5699,0.00,2.28,0.00,0.000,4,0.000,0.061,2398,506,3395,0,0,0,0,0,0
$GC,5896,-0.76,-146.0,411.0,-6.4,409,5901,0.00,2.22,0.00,0.000,6,0.000,0.042,2390,1934,3394,0,0,0,0,0,0
$GC,6246,-0.76,-146.0,430.5,-5.3,418,6251,0.00,2.35,0.00,0.000,4,0.000,0.066,2390,507,3392,0,0,0,0,0,0
$GC,6280,-0.76,-146.0,432.5,-5.6,418,6286,0.00,2.25,0.00,0.000,6,0.000,0.045,2380,1923,3392,0,0,0,0,0,0
$STATE,6609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6609,begin apogee
$GC,6617,-0.17,0.0,452.3,6.1,427,6745,0.65,0.00,124.65,0.755,6,0.114,0.000,2587,2006,2800,0,0,0,0,0,0
$STATE,6746,end apogee,CONTROL_FINISHED_OK
$STATE,6746,begin climb
$GC,6749,0.76,146.0,453.6,0.0,430,6887,0.85,2.30,128.60,0.732,4,0.071,0.055,2887,3404,2202,0,0,0,0,0,0
$GC,6944,0.76,146.0,435.6,11.2,434,6948,0.00,2.30,0.00,0.000,6,0.000,0.050,2896,1991,2199,0,0,0,0,0,0
$GC,7286,0.76,146.0,400.9,10.0,443,7290,0.00,2.30,0.00,0.000,4,0.000,0.058,2896,3414,2196,0,0,0,0,0,0
$GC,7451,0.76,146.0,382.8,11.8,446,7455,0.00,2.25,0.00,0.000,6,0.000,0.048,2905,1993,2194,0,0,0,0,0,0
$GC,7787,0.76,146.0,346.0,11.5,455,7791,0.00,2.30,0.00,0.000,4,0.000,0.058,2905,3412,2193,0,0,0,0,0,0
$GC,7977,0.76,146.0,322.7,12.4,459,7981,0.00,2.25,0.00,0.000,6,0.000,0.049,2915,1995,2192,0,0,0,0,0,0
$GC,8306,0.76,146.0,287.5,10.3,470,8310,0.00,2.28,0.00,0.000,4,0.000,0.061,2916,3401,2191,0,0,0,0,0,0
$GC,8407,0.76,146.0,275.6,11.9,474,8413,0.12,2.25,0.00,0.000,6,0.146,0.051,2890,1997,2191,0,0,0,0,0,0
$GC,8722,0.80,177.9,250.2,8.2,490,8757,0.00,2.33,27.25,0.635,4,0.000,0.060,2899,584,2073,0,0,0,0,0,0
$GC,8775,0.85,212.0,245.8,8.1,492,8813,0.00,2.25,31.50,0.625,6,0.000,0.042,2899,2014,1934,0,0,0,0,0,0
$GC,9135,0.87,229.8,216.3,8.8,510,9157,0.00,2.42,16.55,0.585,4,0.000,0.066,2906,585,1862,0,0,0,0,0,0
$GC,9221,0.88,241.4,208.7,9.0,513,9240,0.00,2.25,12.10,0.558,6,0.000,0.044,2906,1996,1814,0,0,0,0,0,0
$GC,9565,0.88,241.4,172.8,9.7,541,9569,0.00,2.22,0.00,0.000,4,0.000,0.054,2906,3417,1812,0,0,0,0,0,0
$GC,9607,0.88,241.4,168.8,10.5,544,9611,0.00,2.25,0.00,0.000,6,0.000,0.044,2912,1992,1812,0,0,0,0,0,0
$GC,9936,0.92,268.5,141.1,8.4,574,9971,0.00,2.33,24.70,0.544,4,0.000,0.054,2912,3405,1704,0,0,0,0,0,0
$GC,10010,0.92,274.1,134.1,9.3,580,10021,0.00,2.25,6.62,0.452,6,0.000,0.041,2920,1995,1681,0,0,0,0,0,0
$GC,10343,0.94,285.3,102.4,9.1,611,10359,0.00,2.28,11.15,0.480,4,0.000,0.052,2920,3408,1636,0,0,0,0,0,0
$GC,10422,0.94,285.3,94.4,10.4,618,10427,0.00,2.22,0.00,0.000,6,0.000,0.041,2926,1988,1635,0,0,0,0,0,0
$GC,10753,0.97,313.0,62.0,8.3,666,10783,0.00,2.25,25.05,0.480,4,0.000,0.059,2930,581,1523,0,0,0,0,0,0
$GC,10830,0.99,330.2,55.5,8.8,679,10855,0.00,2.20,16.33,0.456,6,0.000,0.039,2930,2002,1451,0,0,0,0,0,0
$GC,11184,1.02,350.9,23.7,8.6,743,11212,0.10,2.25,18.17,0.433,4,0.087,0.053,2985,3403,1367,0,0,0,0,0,0
$GC,11280,1.02,350.9,14.3,11.8,759,11288,0.00,2.25,0.00,0.000,6,0.000,0.043,2993,1993,1366,0,0,0,0,0,0
$STATE,11384,end climb,SURFACE_DEPTH_REACHED
$STATE,11384,begin surface coast
$FINISH,0.6,1.000608
$STATE,11414,end surface coast,CONTROL_FINISHED_OK
$STATE,11414,begin surface
$SM_CCo,11493,0.00,0.000,0,0,1363,352.25
$SM_GC,1.62,7.57,0.00,0.00,0.025,0.000,0.000,43,1929,1363,-7.99,0.17,352.25
$IRIDIUM_FIX,2052.52,-15759.92,141002,181837
$TT8_MAMPS,0.027612
$HUMID,69.88
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,24.2,66.401
$10V_AH,9.9,73.670
$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,19.475,113.900,442.675,0.000,0.000,25.467,40.548,210.134,19.000,0.000,19.878,1451.086,6737.313,461.315,2650.812,622.224,33.350,1440.708,0.000,2601.923,0.000,120.043,0.000
$DEVICE_MAMPS,223.197,114.283,755.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,532.748,446.285,1505.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,44440,783
$CAP_FILE_SIZE,127330,0
$CFSIZE,260165632,216510464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210713,010604,2106.701,-15755.129,40,0.8,40,9.8