version: 66.06
glider: 523
mission: 4
dive: 790
start: 7 25 113 2 50 24
data:
$ID,523
$MISSION,4
$DIVE,790
$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,147
$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,-52056.672
$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,2622
$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,46
$R_STBD_OVSHOOT,24
$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
$GPS1,022950,2105.299,-15759.047,26,0.9,26,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.9
$GPS2,025005,2105.362,-15758.383,33,1.3,38,9.8
$SPEED_LIMITS,0.177,0.262
$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,17.9,19601,-18.6,-10.204
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.80,-146.0,0.0,0.0,0,106,0.00,0.00,-86.68,0.000,6,0.000,0.000,38,1882,3396,0,0,0,0,0,0
$GC,110,-0.80,-146.0,3.4,-6.1,14,125,9.55,2.17,0.00,0.000,4,0.219,0.051,2353,532,3396,0,0,0,0,0,0
$GC,300,-0.80,-146.0,34.0,-12.7,49,305,0.00,2.17,0.00,0.000,6,0.000,0.038,2345,1923,3398,0,0,0,0,0,0
$GC,631,-0.80,-146.0,66.8,-9.8,110,639,0.00,2.25,0.00,0.000,4,0.000,0.057,2334,3320,3398,0,0,0,0,0,0
$GC,801,-0.80,-146.0,83.3,-10.1,138,805,0.00,2.17,0.00,0.000,6,0.000,0.044,2334,1943,3398,0,0,0,0,0,0
$GC,1128,-0.80,-146.0,116.0,-7.0,168,1132,0.10,2.33,0.00,0.000,4,0.177,0.057,2359,502,3399,0,0,0,0,0,0
$GC,1321,-0.80,-146.0,126.0,-5.1,185,1325,0.00,2.20,0.00,0.000,6,0.000,0.035,2351,1932,3399,0,0,0,0,0,0
$GC,1648,-0.80,-146.0,152.8,-9.6,215,1652,0.00,2.30,0.00,0.000,4,0.000,0.054,2351,502,3399,0,0,0,0,0,0
$GC,1899,-0.80,-146.0,175.3,-7.6,237,1906,0.00,2.20,0.00,0.000,6,0.000,0.035,2341,1918,3399,0,0,0,0,0,0
$GC,2226,-0.80,-146.0,197.6,-6.4,268,2230,0.00,2.28,0.00,0.000,4,0.000,0.054,2341,508,3399,0,0,0,0,0,0
$GC,2454,-0.80,-146.0,217.2,-8.1,279,2458,0.12,2.15,0.00,0.000,6,0.161,0.035,2363,1930,3399,0,0,0,0,0,0
$GC,2772,-0.80,-146.0,238.8,-5.7,294,2775,0.00,2.20,0.00,0.000,4,0.000,0.054,2355,3321,3399,0,0,0,0,0,0
$GC,2845,-0.80,-146.0,242.5,-4.8,297,2849,0.00,2.22,0.00,0.000,6,0.000,0.044,2355,1909,3399,0,0,0,0,0,0
$GC,3168,-0.80,-146.0,263.4,-8.1,313,3172,0.00,2.22,0.00,0.000,4,0.000,0.055,2355,511,3398,0,0,0,0,0,0
$GC,3332,-0.80,-146.0,278.3,-8.1,320,3336,0.00,2.17,0.00,0.000,6,0.000,0.035,2345,1930,3398,0,0,0,0,0,0
$GC,3651,-0.80,-146.0,296.9,-3.6,335,3655,0.00,2.25,0.00,0.000,4,0.000,0.053,2345,512,3397,0,0,0,0,0,0
$GC,3909,-0.80,-146.0,312.2,-6.9,342,3915,0.00,2.17,0.00,0.000,6,0.000,0.035,2335,1925,3395,0,0,0,0,0,0
$GC,4243,-0.80,-146.0,334.1,-6.6,351,4247,0.00,2.30,0.00,0.000,4,0.000,0.054,2335,502,3394,0,0,0,0,0,0
$GC,4349,-0.80,-146.0,341.7,-6.9,353,4353,0.15,2.17,0.00,0.000,6,0.155,0.036,2366,1925,3393,0,0,0,0,0,0
$GC,4696,-0.80,-146.0,362.6,-6.2,362,4700,0.00,2.20,0.00,0.000,4,0.000,0.057,2357,3322,3392,0,0,0,0,0,0
$GC,4751,-0.80,-146.0,367.3,-8.1,363,4755,0.00,2.20,0.00,0.000,6,0.000,0.043,2357,1913,3392,0,0,0,0,0,0
$GC,5100,-0.80,-146.0,394.8,-7.7,372,5104,0.00,2.22,0.00,0.000,4,0.000,0.057,2357,505,3390,0,0,0,0,0,0
$GC,5231,-0.80,-146.0,405.4,-7.9,374,5237,0.00,2.17,0.00,0.000,6,0.000,0.036,2347,1931,3389,0,0,0,0,0,0
$GC,5566,-0.80,-146.0,432.5,-7.8,383,5570,0.00,2.22,0.00,0.000,4,0.000,0.059,2337,3322,3387,0,0,0,0,0,0
$GC,5594,-0.80,-146.0,434.8,-7.5,383,5599,0.00,2.20,0.00,0.000,6,0.000,0.044,2337,1923,3387,0,0,0,0,0,0
$STATE,5888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5888,begin apogee
$GC,5896,-0.17,0.0,451.4,4.9,391,6023,0.73,0.00,123.60,0.744,6,0.118,0.000,2566,2018,2800,0,0,0,0,0,0
$STATE,6024,end apogee,CONTROL_FINISHED_OK
$STATE,6024,begin climb
$GC,6027,0.80,146.0,450.9,0.0,394,6164,0.88,2.33,128.93,0.722,4,0.066,0.054,2886,584,2202,0,0,0,0,0,0
$GC,6249,0.80,146.0,427.8,11.7,399,6253,0.00,2.17,0.00,0.000,6,0.000,0.035,2886,1986,2198,0,0,0,0,0,0
$GC,6563,0.81,154.1,396.1,9.8,407,6577,0.00,2.35,7.45,0.584,4,0.000,0.058,2895,581,2171,0,0,0,0,0,0
$GC,6657,0.84,175.9,387.2,9.2,409,6682,0.00,2.22,20.33,0.670,6,0.000,0.041,2896,2004,2083,0,0,0,0,0,0
$GC,7014,0.87,204.2,354.3,8.9,418,7045,0.00,2.33,26.20,0.671,4,0.000,0.059,2904,584,1966,0,0,0,0,0,0
$GC,7132,0.87,204.2,343.1,10.4,420,7136,0.00,2.25,0.00,0.000,6,0.000,0.044,2904,2010,1965,0,0,0,0,0,0
$GC,7464,0.87,204.2,306.3,11.3,428,7468,0.00,2.30,0.00,0.000,4,0.000,0.059,2911,584,1963,0,0,0,0,0,0
$GC,7531,0.87,204.2,298.5,11.5,429,7535,0.00,2.25,0.00,0.000,6,0.000,0.043,2911,2007,1963,0,0,0,0,0,0
$GC,7852,0.91,235.3,267.6,8.7,445,7886,0.00,2.38,28.33,0.634,4,0.000,0.061,2919,586,1839,0,0,0,0,0,0
$GC,7921,0.93,249.5,261.1,9.5,448,7940,0.00,2.25,14.15,0.592,6,0.000,0.044,2919,2010,1782,0,0,0,0,0,0
$GC,8272,0.93,249.5,224.7,10.7,465,8276,0.00,2.22,0.00,0.000,4,0.000,0.061,2919,3406,1781,0,0,0,0,0,0
$GC,8362,0.93,249.5,214.1,11.2,469,8366,0.00,2.25,0.00,0.000,6,0.000,0.044,2928,1988,1780,0,0,0,0,0,0
$GC,8688,0.93,253.7,182.8,10.0,492,8696,0.00,0.00,5.12,0.451,6,0.000,0.000,2928,1988,1764,0,0,0,0,0,0
$GC,9016,0.95,269.2,150.1,9.5,523,9041,0.00,2.33,15.27,0.535,4,0.000,0.059,2928,3399,1700,0,0,0,0,0,0
$GC,9099,0.95,269.2,142.1,10.4,530,9103,0.00,2.20,0.00,0.000,6,0.000,0.047,2934,2000,1700,0,0,0,0,0,0
$GC,9428,0.96,279.6,108.2,9.7,560,9444,0.00,2.30,10.50,0.482,4,0.000,0.058,2934,3400,1659,0,0,0,0,0,0
$GC,9486,0.96,279.6,102.3,10.3,565,9490,0.00,2.20,0.00,0.000,6,0.000,0.044,2938,1993,1659,0,0,0,0,0,0
$GC,9812,1.02,329.7,76.8,7.9,598,9867,0.00,2.35,43.97,0.498,4,0.000,0.054,2938,3410,1454,0,0,0,0,0,0
$GC,9903,1.02,329.7,68.8,10.5,613,9909,0.00,2.25,0.00,0.000,6,0.000,0.043,2946,1999,1452,0,0,0,0,0,0
$GC,10233,1.06,356.6,36.8,8.9,674,10264,0.00,2.30,23.33,0.449,4,0.000,0.058,2946,587,1344,0,0,0,0,0,0
$GC,10349,1.08,375.1,26.7,9.3,694,10371,0.00,2.22,16.38,0.437,6,0.000,0.035,2946,2004,1270,0,0,0,0,0,0
$GC,10532,1.10,387.7,7.5,9.6,727,10553,0.00,2.28,11.15,0.404,4,0.000,0.058,2946,3400,1218,0,0,0,0,0,0
$STATE,10576,end climb,SURFACE_DEPTH_REACHED
$STATE,10576,begin surface coast
$FINISH,0.7,1.022826
$STATE,10609,end surface coast,CONTROL_FINISHED_OK
$STATE,10611,begin surface
$SM_CCo,10692,0.00,0.000,0,0,1216,388.55
$SM_GC,1.46,7.38,0.00,0.00,0.018,0.000,0.000,33,1913,1216,-7.94,-0.17,388.55
$IRIDIUM_FIX,2104.07,-15758.18,191002,020200
$TT8_MAMPS,0.028379
$HUMID,69.57
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,24.2,69.444
$10V_AH,9.9,77.137
$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,18.900,103.425,474.700,0.000,0.000,104.537,204.513,519.499,19.250,0.000,39.197,1353.088,6344.090,470.721,2550.999,1179.263,0.000,1411.546,0.000,2478.384,0.000,120.071,0.000
$DEVICE_MAMPS,218.595,69.797,743.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,502.200,429.886,1453.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41126,740
$CAP_FILE_SIZE,128901,0
$CFSIZE,260165632,214568960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250713,054929,2105.607,-15758.841,17,1.3,17,9.8