version: 66.06
glider: 523
mission: 4
dive: 789
start: 7 24 113 23 20 21
data:
$ID,523
$MISSION,4
$DIVE,789
$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,-52016.844
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,230835,2105.016,-15757.864,40,1.0,40,9.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.1
$GPS2,232003,2104.920,-15757.935,29,1.0,29,9.8
$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,14.9,19993,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,102,0.00,0.00,-77.53,0.000,6,0.000,0.000,49,1910,3394,0,0,0,0,0,0
$GC,106,-0.76,-146.0,3.9,-6.4,13,121,9.73,2.25,0.00,0.000,4,0.224,0.050,2374,3327,3395,0,0,0,0,0,0
$GC,160,-0.76,-146.0,15.7,-12.6,22,168,0.00,2.28,0.00,0.000,6,0.000,0.048,2374,1919,3396,0,0,0,0,0,0
$GC,332,-0.76,-146.0,37.9,-13.5,53,337,0.00,2.28,0.00,0.000,4,0.000,0.061,2374,507,3397,0,0,0,0,0,0
$GC,524,-0.76,-146.0,63.7,-10.9,88,531,0.08,2.22,0.00,0.000,6,0.151,0.037,2387,1929,3398,0,0,0,0,0,0
$GC,857,-0.76,-146.0,87.2,-5.6,137,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1928,3398,0,0,0,0,0,0
$GC,1176,-0.76,-146.0,110.0,-7.8,167,1181,0.00,2.28,0.00,0.000,4,0.000,0.054,2388,506,3399,0,0,0,0,0,0
$GC,1335,-0.76,-146.0,123.2,-7.4,181,1343,0.00,2.20,0.00,0.000,6,0.000,0.035,2379,1916,3399,0,0,0,0,0,0
$GC,1663,-0.76,-146.0,150.0,-8.2,212,1667,0.00,2.28,0.00,0.000,4,0.000,0.055,2380,505,3399,0,0,0,0,0,0
$GC,1769,-0.76,-146.0,159.3,-8.6,221,1773,0.00,2.20,0.00,0.000,6,0.000,0.035,2370,1932,3400,0,0,0,0,0,0
$GC,2096,-0.76,-146.0,184.6,-8.1,251,2101,0.00,2.30,0.00,0.000,4,0.000,0.054,2370,500,3400,0,0,0,0,0,0
$GC,2234,-0.76,-146.0,195.8,-7.8,263,2243,0.10,2.20,0.00,0.000,6,0.130,0.035,2392,1919,3400,0,0,0,0,0,0
$GC,2554,-0.76,-146.0,213.2,-4.8,282,2558,0.00,2.30,0.00,0.000,4,0.000,0.054,2392,499,3400,0,0,0,0,0,0
$GC,2650,-0.76,-146.0,218.4,-5.6,286,2655,0.00,2.17,0.00,0.000,6,0.000,0.035,2384,1929,3400,0,0,0,0,0,0
$GC,2969,-0.76,-146.0,237.1,-5.5,301,2973,0.00,2.30,0.00,0.000,4,0.000,0.054,2385,507,3400,0,0,0,0,0,0
$GC,3014,-0.76,-146.0,240.0,-5.8,303,3018,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1920,3400,0,0,0,0,0,0
$GC,3342,-0.76,-146.0,259.2,-6.3,319,3346,0.00,2.25,0.00,0.000,4,0.000,0.056,2365,3330,3400,0,0,0,0,0,0
$GC,3445,-0.76,-146.0,265.2,-5.4,323,3450,0.10,2.22,0.00,0.000,6,0.148,0.044,2390,1914,3400,0,0,0,0,0,0
$GC,3764,-0.76,-146.0,281.9,-5.3,338,3768,0.00,2.28,0.00,0.000,4,0.000,0.054,2382,3323,3399,0,0,0,0,0,0
$GC,3889,-0.76,-146.0,289.4,-5.7,343,3895,0.00,2.20,0.00,0.000,6,0.000,0.045,2382,1922,3399,0,0,0,0,0,0
$GC,4204,-0.76,-146.0,307.7,-6.0,356,4208,0.00,2.28,0.00,0.000,4,0.000,0.056,2382,502,3398,0,0,0,0,0,0
$GC,4434,-0.76,-146.0,322.7,-6.2,361,4438,0.00,2.20,0.00,0.000,6,0.000,0.036,2373,1929,3396,0,0,0,0,0,0
$GC,4754,-0.76,-146.0,340.5,-5.9,369,4758,0.00,2.20,0.00,0.000,4,0.000,0.058,2363,3321,3395,0,0,0,0,0,0
$GC,4788,-0.76,-146.0,343.0,-7.6,369,4794,0.12,2.20,0.00,0.000,6,0.137,0.044,2396,1922,3395,0,0,0,0,0,0
$GC,5124,-0.76,-146.0,366.3,-7.2,378,5128,0.00,2.28,0.00,0.000,4,0.000,0.058,2396,508,3394,0,0,0,0,0,0
$GC,5330,-0.76,-146.0,380.0,-6.1,382,5335,0.00,2.17,0.00,0.000,6,0.000,0.036,2388,1928,3392,0,0,0,0,0,0
$GC,5668,-0.76,-146.0,398.8,-5.6,391,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1929,3391,0,0,0,0,0,0
$GC,5994,-0.76,-146.0,418.2,-6.0,399,5998,0.00,2.28,0.00,0.000,4,0.000,0.060,2378,3331,3389,0,0,0,0,0,0
$GC,6049,-0.76,-146.0,421.8,-6.6,400,6053,0.00,2.25,0.00,0.000,6,0.000,0.049,2378,1915,3389,0,0,0,0,0,0
$GC,6398,-0.76,-146.0,441.2,-5.3,409,6402,0.00,2.28,0.00,0.000,4,0.000,0.063,2378,511,3387,0,0,0,0,0,0
$STATE,6571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6571,begin apogee
$GC,6581,-0.17,0.0,450.1,5.1,413,6708,0.68,0.00,123.90,0.754,6,0.115,0.000,2583,2000,2800,0,0,0,0,0,0
$STATE,6709,end apogee,CONTROL_FINISHED_OK
$STATE,6709,begin climb
$GC,6712,0.76,146.0,449.4,0.0,416,6850,0.88,2.33,129.27,0.729,4,0.067,0.058,2893,3408,2203,0,0,0,0,0,0
$GC,6907,0.76,146.0,426.5,13.3,420,6911,0.00,2.28,0.00,0.000,6,0.000,0.047,2903,1996,2199,0,0,0,0,0,0
$GC,7249,0.76,146.0,388.3,10.6,429,7253,0.00,2.30,0.00,0.000,4,0.000,0.059,2903,3405,2196,0,0,0,0,0,0
$GC,7379,0.76,146.0,373.5,11.6,431,7384,0.00,2.25,0.00,0.000,6,0.000,0.048,2913,1998,2194,0,0,0,0,0,0
$GC,7710,0.76,146.0,336.5,11.7,440,7714,0.00,2.30,0.00,0.000,4,0.000,0.061,2913,3404,2193,0,0,0,0,0,0
$GC,7754,0.76,146.0,330.7,13.2,441,7759,0.12,2.25,0.00,0.000,6,0.150,0.051,2889,2001,2192,0,0,0,0,0,0
$GC,8073,0.76,146.0,294.0,11.3,450,8077,0.00,2.28,0.00,0.000,4,0.000,0.061,2889,3404,2192,0,0,0,0,0,0
$GC,8095,0.76,146.0,291.7,10.2,451,8099,0.00,2.22,0.00,0.000,6,0.000,0.049,2894,1997,2192,0,0,0,0,0,0
$GC,8416,0.77,148.8,261.5,9.4,467,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1998,2191,0,0,0,0,0,0
$GC,8726,0.82,192.3,235.0,7.6,482,8771,0.00,2.33,39.50,0.630,4,0.000,0.061,2895,3414,2015,0,0,0,0,0,0
$GC,8844,0.83,202.6,224.6,9.1,487,8859,0.00,2.28,10.57,0.563,6,0.000,0.049,2903,1996,1974,0,0,0,0,0,0
$GC,9182,0.83,202.6,191.7,9.8,507,9186,0.00,2.30,0.00,0.000,4,0.000,0.065,2908,586,1971,0,0,0,0,0,0
$GC,9212,0.83,202.6,188.4,10.1,509,9216,0.00,2.20,0.00,0.000,6,0.000,0.039,2908,2000,1971,0,0,0,0,0,0
$GC,9539,0.85,216.2,157.2,9.0,539,9563,0.00,2.33,13.30,0.538,4,0.000,0.061,2908,3413,1917,0,0,0,0,0,0
$GC,9666,0.85,216.2,145.4,9.7,550,9670,0.00,2.28,0.00,0.000,6,0.000,0.048,2917,1992,1916,0,0,0,0,0,0
$GC,9994,0.85,218.7,114.9,9.4,580,9998,0.00,2.25,0.00,0.000,4,0.000,0.061,2926,578,1916,0,0,0,0,0,0
$GC,10057,0.85,218.7,108.1,10.2,585,10061,0.00,2.20,0.00,0.000,6,0.000,0.039,2926,2000,1916,0,0,0,0,0,0
$GC,10384,0.89,248.4,78.2,8.3,617,10420,0.00,2.25,29.30,0.498,4,0.000,0.053,2926,3416,1787,0,0,0,0,0,0
$GC,10501,0.89,248.4,66.9,10.3,637,10507,0.00,2.25,0.00,0.000,6,0.000,0.044,2934,1992,1786,0,0,0,0,0,0
$GC,10835,0.92,271.5,35.3,8.5,698,10866,0.00,2.28,21.70,0.454,4,0.000,0.058,2935,593,1691,0,0,0,0,0,0
$GC,10906,0.98,319.9,29.7,7.4,710,10954,0.00,2.22,42.40,0.457,6,0.000,0.037,2935,2005,1494,0,0,0,0,0,0
$GC,11115,1.03,359.5,12.2,7.8,747,11156,0.10,2.30,33.28,0.437,4,0.085,0.057,3005,592,1332,0,0,0,0,0,0
$GC,11185,1.03,359.5,5.4,10.4,758,11194,0.08,2.25,0.00,0.000,6,0.110,0.039,2978,1995,1331,0,0,0,0,0,0
$STATE,11205,end climb,SURFACE_DEPTH_REACHED
$STATE,11205,begin surface coast
$FINISH,0.6,0.998971
$STATE,11227,end surface coast,CONTROL_FINISHED_OK
$STATE,11227,begin surface
$SM_CCo,11307,0.00,0.000,0,0,1328,361.08
$SM_GC,1.58,7.60,0.00,0.00,0.024,0.000,0.000,38,1888,1328,-8.01,-0.88,361.08
$IRIDIUM_FIX,2101.76,-15825.22,181002,232300
$TT8_MAMPS,0.027612
$HUMID,70.12
$INTERNAL_PRESSURE,9.32378
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,24.2,69.311
$10V_AH,9.9,77.019
$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,19.575,112.925,443.225,0.000,0.000,48.367,80.400,291.433,19.000,0.000,30.440,1391.162,6796.577,447.353,2557.682,792.354,0.000,1405.693,0.000,2492.728,0.000,119.976,0.000
$DEVICE_MAMPS,223.964,65.195,753.961,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,519.175,449.291,1462.270,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,41393,765
$CAP_FILE_SIZE,128204,0
$CFSIZE,260165632,214634496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250713,022950,2105.299,-15759.047,26,0.9,26,9.8