version: 66.06
glider: 523
mission: 4
dive: 788
start: 7 24 113 19 53 17
data:
$ID,523
$MISSION,4
$DIVE,788
$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,-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,-51985.773
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,194504,2104.643,-15758.324,28,0.9,28,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.4
$GPS2,195259,2104.638,-15758.369,20,0.8,20,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,HOME
$TGT_LATLONG,2114.730,-15753.100
$TGT_RADIUS,1000.000
$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,16.2,20786,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-77.28,0.000,6,0.000,0.000,36,1901,3393,0,0,0,0,0,0
$GC,102,-0.76,-146.0,3.9,-5.7,13,117,9.68,2.25,0.00,0.000,4,0.220,0.050,2378,3321,3394,0,0,0,0,0,0
$GC,152,-0.76,-146.0,14.7,-14.0,21,159,0.00,2.20,0.00,0.000,6,0.000,0.038,2378,1925,3395,0,0,0,0,0,0
$GC,321,-0.76,-146.0,34.2,-11.2,52,328,0.00,2.25,0.00,0.000,4,0.000,0.050,2377,508,3396,0,0,0,0,0,0
$GC,368,-0.76,-146.0,40.5,-12.9,60,375,0.00,2.17,0.00,0.000,6,0.000,0.032,2368,1920,3396,0,0,0,0,0,0
$GC,704,-0.76,-146.0,75.9,-10.0,121,710,0.00,2.25,0.00,0.000,4,0.000,0.048,2368,506,3397,0,0,0,0,0,0
$GC,807,-0.76,-146.0,86.9,-9.6,134,815,0.10,2.17,0.00,0.000,6,0.136,0.032,2389,1924,3397,0,0,0,0,0,0
$GC,1135,-0.76,-146.0,114.2,-8.2,165,1139,0.00,2.22,0.00,0.000,4,0.000,0.047,2390,511,3398,0,0,0,0,0,0
$GC,1329,-0.76,-146.0,133.8,-9.8,182,1333,0.00,2.15,0.00,0.000,6,0.000,0.034,2381,1922,3398,0,0,0,0,0,0
$GC,1657,-0.76,-146.0,159.7,-7.2,212,1664,0.00,2.22,0.00,0.000,4,0.000,0.049,2381,513,3399,0,0,0,0,0,0
$GC,1805,-0.76,-146.0,169.9,-6.5,225,1810,0.00,2.12,0.00,0.000,6,0.000,0.035,2372,1919,3399,0,0,0,0,0,0
$GC,2138,-0.76,-146.0,189.6,-5.7,256,2142,0.00,2.25,0.00,0.000,4,0.000,0.054,2372,511,3400,0,0,0,0,0,0
$GC,2390,-0.76,-146.0,207.0,-7.3,274,2395,0.12,2.15,0.00,0.000,6,0.155,0.036,2395,1914,3400,0,0,0,0,0,0
$GC,2710,-0.76,-146.0,224.0,-5.0,289,2714,0.00,2.20,0.00,0.000,4,0.000,0.045,2386,3331,3400,0,0,0,0,0,0
$GC,2825,-0.76,-146.0,230.4,-5.8,294,2830,0.00,2.15,0.00,0.000,6,0.000,0.035,2386,1923,3400,0,0,0,0,0,0
$GC,3149,-0.76,-146.0,249.4,-6.3,310,3153,0.00,2.25,0.00,0.000,4,0.000,0.054,2386,505,3400,0,0,0,0,0,0
$GC,3407,-0.76,-146.0,265.1,-6.1,321,3413,0.00,2.20,0.00,0.000,6,0.000,0.040,2376,1920,3400,0,0,0,0,0,0
$GC,3723,-0.76,-146.0,283.2,-5.6,337,3727,0.00,2.22,0.00,0.000,4,0.000,0.054,2366,3328,3400,0,0,0,0,0,0
$GC,3796,-0.76,-146.0,287.3,-5.8,340,3800,0.00,2.20,0.00,0.000,6,0.000,0.039,2366,1919,3400,0,0,0,0,0,0
$GC,4138,-0.76,-146.0,304.5,-5.2,355,4142,0.00,2.25,0.00,0.000,4,0.000,0.059,2366,511,3399,0,0,0,0,0,0
$GC,4295,-0.76,-146.0,314.3,-6.0,358,4299,0.15,2.20,0.00,0.000,6,0.150,0.040,2396,1923,3398,0,0,0,0,0,0
$GC,4643,-0.76,-146.0,328.8,-3.8,367,4647,0.00,2.28,0.00,0.000,4,0.000,0.059,2397,512,3396,0,0,0,0,0,0
$GC,4750,-0.76,-146.0,333.4,-4.3,369,4754,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,1922,3395,0,0,0,0,0,0
$GC,5093,-0.76,-146.0,349.7,-5.5,378,5098,0.00,2.30,0.00,0.000,4,0.000,0.060,2389,508,3394,0,0,0,0,0,0
$GC,5351,-0.76,-146.0,364.1,-5.1,383,5355,0.00,2.20,0.00,0.000,6,0.000,0.043,2379,1921,3393,0,0,0,0,0,0
$GC,5684,-0.76,-146.0,375.7,-3.5,391,5688,0.00,2.30,0.00,0.000,4,0.000,0.061,2379,512,3391,0,0,0,0,0,0
$GC,5827,-0.76,-146.0,385.2,-7.2,394,5831,0.00,2.22,0.00,0.000,6,0.000,0.043,2370,1923,3390,0,0,0,0,0,0
$GC,6142,-0.76,-146.0,408.2,-7.2,402,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1923,3389,0,0,0,0,0,0
$GC,6466,-0.76,-146.0,428.3,-5.9,410,6470,0.00,2.30,0.00,0.000,4,0.000,0.059,2370,511,3387,0,0,0,0,0,0
$GC,6592,-0.76,-146.0,435.7,-5.9,412,6598,0.12,2.22,0.00,0.000,6,0.154,0.044,2393,1925,3387,0,0,0,0,0,0
$GC,6923,-0.76,-146.0,448.7,-3.5,421,6927,0.00,2.30,0.00,0.000,4,0.000,0.060,2393,503,3385,0,0,0,0,0,0
$STATE,6955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6955,begin apogee
$GC,6965,-0.17,0.0,450.0,3.9,421,7092,0.60,0.00,124.25,0.758,6,0.116,0.000,2580,2003,2800,0,0,0,0,0,0
$STATE,7093,end apogee,CONTROL_FINISHED_OK
$STATE,7093,begin climb
$GC,7096,0.76,146.0,448.3,0.0,425,7237,0.90,2.38,129.57,0.732,4,0.074,0.054,2894,3409,2203,0,0,0,0,0,0
$GC,7271,0.76,146.0,429.0,12.1,429,7275,0.00,2.28,0.00,0.000,6,0.000,0.038,2904,1988,2200,0,0,0,0,0,0
$GC,7619,0.76,146.0,389.6,10.9,438,7623,0.00,2.25,0.00,0.000,4,0.000,0.054,2904,3405,2197,0,0,0,0,0,0
$GC,7742,0.76,146.0,374.2,13.5,440,7748,0.00,2.17,0.00,0.000,6,0.000,0.038,2914,1995,2194,0,0,0,0,0,0
$GC,8074,0.76,146.0,334.8,11.8,449,8078,0.00,2.22,0.00,0.000,4,0.000,0.058,2924,589,2193,0,0,0,0,0,0
$GC,8101,0.76,146.0,331.4,12.0,449,8106,0.12,2.22,0.00,0.000,6,0.146,0.046,2891,2001,2193,0,0,0,0,0,0
$GC,8415,0.76,146.0,297.4,11.0,457,8419,0.00,2.25,0.00,0.000,4,0.000,0.056,2891,3420,2192,0,0,0,0,0,0
$GC,8555,0.76,146.0,281.1,11.1,463,8559,0.00,2.20,0.00,0.000,6,0.000,0.040,2898,1989,2191,0,0,0,0,0,0
$GC,8871,0.80,173.9,252.8,8.3,478,8900,0.00,2.35,24.02,0.635,4,0.000,0.058,2898,3411,2089,0,0,0,0,0,0
$GC,8941,0.81,181.0,246.6,9.2,481,8957,0.00,2.20,7.50,0.545,6,0.000,0.041,2907,2001,2062,0,0,0,0,0,0
$GC,9267,0.82,190.0,215.8,9.2,497,9282,0.00,2.35,9.43,0.556,4,0.000,0.061,2906,3413,2024,0,0,0,0,0,0
$GC,9312,0.82,190.0,211.5,9.7,499,9316,0.00,2.22,0.00,0.000,6,0.000,0.044,2912,1996,2023,0,0,0,0,0,0
$GC,9637,0.84,206.9,184.0,8.8,523,9662,0.00,2.30,16.50,0.571,4,0.000,0.062,2922,595,1955,0,0,0,0,0,0
$GC,9688,0.86,224.5,179.3,8.8,527,9713,0.00,2.20,16.83,0.564,6,0.000,0.041,2922,2006,1885,0,0,0,0,0,0
$GC,10034,0.89,244.0,148.4,8.7,559,10058,0.00,2.25,18.80,0.547,4,0.000,0.061,2922,3405,1804,0,0,0,0,0,0
$GC,10160,0.91,265.1,137.2,8.6,570,10185,0.00,2.22,20.02,0.535,6,0.000,0.045,2932,1993,1718,0,0,0,0,0,0
$GC,10504,0.91,265.1,106.7,10.0,602,10508,0.00,2.25,0.00,0.000,4,0.000,0.063,2941,590,1717,0,0,0,0,0,0
$GC,10535,0.91,265.1,103.7,9.8,604,10539,0.00,2.22,0.00,0.000,6,0.000,0.041,2941,1999,1717,0,0,0,0,0,0
$GC,10863,0.91,267.7,76.2,9.4,637,10876,0.00,2.30,3.92,0.346,4,0.000,0.061,2941,3406,1707,0,0,0,0,0,0
$GC,10911,0.91,267.7,71.1,10.6,645,10917,0.00,2.22,0.00,0.000,6,0.000,0.045,2949,2001,1707,0,0,0,0,0,0
$GC,11242,0.91,267.7,36.2,10.7,706,11250,0.00,2.30,0.00,0.000,4,0.000,0.058,2949,3405,1707,0,0,0,0,0,0
$GC,11256,0.91,267.7,34.7,11.2,708,11265,0.00,2.25,0.00,0.000,6,0.000,0.046,2956,2001,1707,0,0,0,0,0,0
$STATE,11563,end climb,SURFACE_DEPTH_REACHED
$STATE,11563,begin surface coast
$FINISH,0.6,1.011504
$STATE,11603,end surface coast,CONTROL_FINISHED_OK
$STATE,11603,begin surface
$SM_CCo,11622,15.88,0.414,0,0,1575,300.24
$SM_GC,1.56,0.00,0.00,15.88,0.000,0.000,0.414,49,1913,1575,-8.11,-0.20,300.24
$IRIDIUM_FIX,2050.21,-15805.06,181002,161627
$TT8_MAMPS,0.027612
$HUMID,71.26
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,24.1,69.204
$10V_AH,10.0,76.905
$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,19.225,116.575,370.850,15.875,0.000,27.796,34.883,244.231,19.250,0.000,20.674,1443.275,6892.604,448.472,2668.489,652.876,0.000,1409.051,0.000,2616.277,0.000,121.302,0.000
$DEVICE_MAMPS,220.129,102.778,757.796,414.180,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,526.927,451.589,1490.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,44341,773
$CAP_FILE_SIZE,128211,0
$CFSIZE,260165632,214700032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240713,230835,2105.016,-15757.864,40,1.0,40,9.8