version: 66.06
glider: 523
mission: 4
dive: 786
start: 7 24 113 13 10 25
data:
$ID,523
$MISSION,4
$DIVE,786
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,10
$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,-51946.078
$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,1920
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,30
$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
$GPS1,130235,2103.938,-15757.233,31,1.0,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.1
$GPS2,131006,2103.960,-15757.285,17,0.8,17,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,2114.595,-15755.273
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.251,0.050
$KALMAN_X,-103965.5,-1081.0,-691.7,103499.1,-1313.7
$KALMAN_Y,1854.6,-557.9,-459.8,-10758.5,-270.1
$MHEAD_RNG_PITCHd_Wd,0.2,20000,-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,-86.30,0.000,6,0.000,0.000,39,1915,3397,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.6,-5.4,14,126,9.62,2.25,0.00,0.000,4,0.218,0.052,2375,3324,3399,0,0,0,0,0,0
$GC,165,-0.76,-146.0,15.0,-13.0,23,173,0.00,2.25,0.00,0.000,6,0.000,0.047,2375,1929,3400,0,0,0,0,0,0
$GC,332,-0.76,-146.0,34.5,-10.8,54,339,0.00,2.30,0.00,0.000,4,0.000,0.058,2374,506,3400,0,0,0,0,0,0
$GC,579,-0.76,-146.0,63.2,-11.0,99,586,0.12,2.20,0.00,0.000,6,0.162,0.038,2396,1935,3401,0,0,0,0,0,0
$GC,916,-0.76,-146.0,88.3,-5.5,148,920,0.00,2.30,0.00,0.000,4,0.000,0.054,2397,502,3402,0,0,0,0,0,0
$GC,1121,-0.76,-146.0,105.2,-8.2,166,1125,0.00,2.17,0.00,0.000,6,0.000,0.035,2389,1929,3402,0,0,0,0,0,0
$GC,1448,-0.76,-146.0,128.7,-6.2,196,1452,0.00,2.25,0.00,0.000,4,0.000,0.051,2389,506,3403,0,0,0,0,0,0
$GC,1587,-0.76,-146.0,138.1,-6.7,208,1591,0.00,2.15,0.00,0.000,6,0.000,0.035,2378,1922,3403,0,0,0,0,0,0
$GC,1915,-0.76,-146.0,160.3,-7.3,238,1919,0.00,2.25,0.00,0.000,4,0.000,0.050,2379,504,3404,0,0,0,0,0,0
$GC,2053,-0.76,-146.0,171.4,-7.7,250,2057,0.00,2.15,0.00,0.000,6,0.000,0.033,2369,1922,3404,0,0,0,0,0,0
$GC,2381,-0.76,-146.0,196.6,-6.6,280,2385,0.00,2.22,0.00,0.000,4,0.000,0.051,2369,506,3404,0,0,0,0,0,0
$GC,2636,-0.76,-146.0,211.7,-5.3,293,2642,0.12,2.17,0.00,0.000,6,0.156,0.033,2392,1928,3404,0,0,0,0,0,0
$GC,2955,-0.76,-146.0,229.9,-7.2,309,2960,0.00,2.25,0.00,0.000,4,0.000,0.050,2393,499,3403,0,0,0,0,0,0
$GC,3101,-0.76,-146.0,240.7,-8.0,315,3105,0.00,2.15,0.00,0.000,6,0.000,0.033,2384,1921,3403,0,0,0,0,0,0
$GC,3418,-0.76,-146.0,257.4,-4.4,330,3422,0.00,2.28,0.00,0.000,4,0.000,0.051,2384,505,3404,0,0,0,0,0,0
$GC,3677,-0.76,-146.0,268.5,-4.2,341,3682,0.00,2.17,0.00,0.000,6,0.000,0.034,2375,1929,3403,0,0,0,0,0,0
$GC,3995,-0.76,-146.0,287.1,-7.7,357,3999,0.00,2.17,0.00,0.000,4,0.000,0.051,2365,3323,3403,0,0,0,0,0,0
$GC,4186,-0.76,-146.0,302.9,-8.2,365,4190,0.12,2.17,0.00,0.000,6,0.140,0.039,2398,1912,3402,0,0,0,0,0,0
$GC,4507,-0.76,-146.0,320.8,-5.2,373,4511,0.00,2.20,0.00,0.000,4,0.000,0.051,2398,511,3401,0,0,0,0,0,0
$GC,4714,-0.76,-146.0,334.1,-6.3,377,4718,0.00,2.15,0.00,0.000,6,0.000,0.034,2390,1927,3400,0,0,0,0,0,0
$GC,5048,-0.76,-146.0,353.4,-6.2,385,5052,0.00,2.22,0.00,0.000,4,0.000,0.051,2379,3331,3398,0,0,0,0,0,0
$GC,5081,-0.76,-146.0,355.9,-6.3,385,5087,0.00,2.17,0.00,0.000,6,0.000,0.039,2380,1923,3398,0,0,0,0,0,0
$GC,5414,-0.76,-146.0,376.0,-5.5,394,5418,0.00,2.25,0.00,0.000,4,0.000,0.052,2379,501,3396,0,0,0,0,0,0
$GC,5633,-0.76,-146.0,386.7,-4.1,399,5637,0.00,2.17,0.00,0.000,6,0.000,0.036,2370,1923,3395,0,0,0,0,0,0
$GC,5959,-0.76,-146.0,402.4,-5.4,407,5963,0.00,2.25,0.00,0.000,4,0.000,0.050,2370,508,3393,0,0,0,0,0,0
$GC,6026,-0.76,-146.0,406.8,-6.8,408,6030,0.12,2.20,0.00,0.000,6,0.155,0.036,2393,1931,3393,0,0,0,0,0,0
$GC,6363,-0.76,-146.0,428.9,-6.6,417,6367,0.00,2.28,0.00,0.000,4,0.000,0.051,2393,501,3391,0,0,0,0,0,0
$GC,6407,-0.76,-146.0,432.0,-6.8,418,6411,0.00,2.20,0.00,0.000,6,0.000,0.035,2386,1920,3391,0,0,0,0,0,0
$GC,6726,-0.76,-146.0,449.2,-4.9,426,6730,0.00,2.30,0.00,0.000,4,0.000,0.052,2385,506,3390,0,0,0,0,0,0
$STATE,6741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6741,begin apogee
$GC,6751,-0.17,0.0,450.1,4.7,426,6879,0.62,0.00,124.90,0.752,6,0.117,0.000,2577,2009,2800,0,0,0,0,0,0
$STATE,6880,end apogee,CONTROL_FINISHED_OK
$STATE,6880,begin climb
$GC,6883,0.76,146.0,450.8,0.0,429,7021,0.88,2.28,129.35,0.729,4,0.067,0.052,2890,3403,2202,0,0,0,0,0,0
$GC,7149,0.76,146.0,426.8,9.7,435,7153,0.00,2.22,0.00,0.000,6,0.000,0.036,2899,1997,2197,0,0,0,0,0,0
$GC,7468,0.80,172.9,399.8,8.4,443,7498,0.00,2.33,24.15,0.691,4,0.000,0.051,2899,3406,2093,0,0,0,0,0,0
$GC,7566,0.80,172.9,389.7,10.8,445,7570,0.00,2.20,0.00,0.000,6,0.000,0.037,2908,1987,2090,0,0,0,0,0,0
$GC,7879,0.80,172.9,356.7,11.1,453,7883,0.00,2.28,0.00,0.000,4,0.000,0.050,2908,3412,2089,0,0,0,0,0,0
$GC,7930,0.80,172.9,350.1,14.0,454,7934,0.00,2.20,0.00,0.000,6,0.000,0.038,2918,1999,2087,0,0,0,0,0,0
$GC,8243,0.80,178.3,317.0,9.3,462,8253,0.00,2.22,5.45,0.525,4,0.000,0.051,2927,590,2071,0,0,0,0,0,0
$GC,8282,0.82,187.6,313.5,9.1,463,8297,0.00,2.20,9.77,0.604,6,0.000,0.035,2927,2010,2035,0,0,0,0,0,0
$GC,8608,0.82,187.6,281.8,10.7,475,8612,0.00,2.20,0.00,0.000,4,0.000,0.052,2927,3403,2032,0,0,0,0,0,0
$GC,8758,0.82,187.6,263.4,11.7,481,8764,0.12,2.20,0.00,0.000,6,0.143,0.038,2901,1991,2031,0,0,0,0,0,0
$GC,9074,0.82,187.6,230.6,9.6,497,9078,0.00,2.22,0.00,0.000,4,0.000,0.053,2910,586,2031,0,0,0,0,0,0
$GC,9118,0.82,187.6,226.2,10.6,499,9122,0.00,2.17,0.00,0.000,6,0.000,0.035,2910,2006,2031,0,0,0,0,0,0
$GC,9443,0.83,199.6,195.7,9.0,517,9459,0.00,2.17,11.60,0.559,4,0.000,0.049,2910,3402,1986,0,0,0,0,0,0
$GC,9495,0.83,199.6,190.7,10.0,521,9499,0.00,2.17,0.00,0.000,6,0.000,0.038,2920,2000,1985,0,0,0,0,0,0
$GC,9824,0.83,199.6,160.1,9.7,551,9828,0.00,2.25,0.00,0.000,4,0.000,0.050,2920,3411,1985,0,0,0,0,0,0
$GC,9845,0.83,199.6,157.6,9.9,552,9853,0.00,2.22,0.00,0.000,6,0.000,0.038,2929,1994,1984,0,0,0,0,0,0
$GC,10173,0.86,221.1,127.6,8.6,583,10201,0.00,0.00,20.88,0.537,6,0.000,0.000,2929,1994,1897,0,0,0,0,0,0
$GC,10521,0.86,221.1,94.1,9.9,616,10525,0.00,2.22,0.00,0.000,4,0.000,0.049,2929,3408,1897,0,0,0,0,0,0
$GC,10609,0.86,221.1,84.4,10.8,623,10616,0.00,2.20,0.00,0.000,6,0.000,0.038,2937,2004,1896,0,0,0,0,0,0
$GC,10939,0.86,221.1,50.8,9.6,680,10946,0.00,2.22,0.00,0.000,4,0.000,0.048,2937,3396,1897,0,0,0,0,0,0
$GC,11004,0.86,221.1,44.4,10.5,691,11009,0.00,2.17,0.00,0.000,6,0.000,0.038,2947,1988,1897,0,0,0,0,0,0
$GC,11333,0.89,244.9,14.4,8.5,752,11360,0.00,0.00,22.15,0.446,6,0.000,0.000,2947,1988,1800,0,0,0,0,0,0
$STATE,11485,end climb,SURFACE_DEPTH_REACHED
$STATE,11486,begin surface coast
$FINISH,0.7,1.023546
$STATE,11523,end surface coast,CONTROL_FINISHED_OK
$STATE,11523,begin surface
$SM_CCo,11543,28.80,0.430,0,0,1576,300.24
$SM_GC,1.41,0.00,0.00,28.80,0.000,0.000,0.430,36,1912,1576,-8.15,-0.23,300.24
$IRIDIUM_FIX,2052.52,-15759.92,181002,090926
$TT8_MAMPS,0.028379
$HUMID,71.97
$INTERNAL_PRESSURE,9.32378
$TCM_TEMP,21.00
$XPDR_PINGS,1
$24V_AH,24.2,69.015
$10V_AH,9.9,76.676
$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,19.100,111.125,348.250,28.800,0.000,27.611,33.967,225.883,19.000,0.000,18.354,1488.470,6712.877,426.789,2758.000,630.013,0.000,1411.224,0.000,2704.230,0.000,117.268,0.000
$DEVICE_MAMPS,217.828,103.545,752.427,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,536.473,460.673,1545.711,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,44448,787
$CAP_FILE_SIZE,128941,0
$CFSIZE,260165632,214831104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240713,162412,2104.203,-15758.373,16,1.0,16,9.8