version: 66.06
glider: 523
mission: 4
dive: 791
start: 7 25 113 5 57 25
data:
$ID,523
$MISSION,4
$DIVE,791
$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,-52074.652
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,054929,2105.607,-15758.841,17,1.3,17,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.0
$GPS2,055705,2105.628,-15758.889,16,1.0,16,9.8
$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,20.9,19597,-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,13,begin dive
$GC,16,-0.80,-146.0,0.0,0.0,0,112,0.00,0.00,-91.50,0.000,6,0.000,0.000,28,1910,3396,0,0,0,0,0,0
$GC,116,-0.80,-146.0,3.5,-6.3,15,131,9.43,2.28,0.00,0.000,4,0.218,0.051,2338,3330,3397,0,0,0,0,0,0
$GC,170,-0.80,-146.0,15.1,-12.8,24,177,0.00,2.25,0.00,0.000,6,0.000,0.048,2338,1933,3399,0,0,0,0,0,0
$GC,343,-0.80,-146.0,36.7,-11.8,55,349,0.00,2.28,0.00,0.000,4,0.000,0.064,2338,505,3399,0,0,0,0,0,0
$GC,525,-0.80,-146.0,61.6,-15.4,88,533,0.10,2.20,0.00,0.000,6,0.144,0.038,2359,1916,3399,0,0,0,0,0,0
$GC,861,-0.80,-146.0,93.2,-7.7,133,865,0.00,2.25,0.00,0.000,4,0.000,0.057,2350,3333,3400,0,0,0,0,0,0
$GC,925,-0.80,-146.0,99.0,-9.8,138,929,0.00,2.22,0.00,0.000,6,0.000,0.048,2350,1916,3400,0,0,0,0,0,0
$GC,1253,-0.80,-146.0,129.9,-8.6,168,1258,0.00,2.22,0.00,0.000,4,0.000,0.061,2350,508,3401,0,0,0,0,0,0
$GC,1356,-0.80,-146.0,139.3,-8.6,177,1364,0.00,2.20,0.00,0.000,6,0.000,0.035,2341,1923,3401,0,0,0,0,0,0
$GC,1685,-0.80,-146.0,165.0,-9.4,208,1689,0.00,2.30,0.00,0.000,4,0.000,0.058,2341,508,3401,0,0,0,0,0,0
$GC,1930,-0.80,-146.0,187.7,-7.2,230,1937,0.08,2.20,0.00,0.000,6,0.137,0.036,2356,1925,3402,0,0,0,0,0,0
$GC,2264,-0.80,-146.0,206.0,-5.5,257,2268,0.00,2.30,0.00,0.000,4,0.000,0.057,2356,505,3401,0,0,0,0,0,0
$GC,2349,-0.80,-146.0,211.5,-6.3,261,2353,0.00,2.15,0.00,0.000,6,0.000,0.035,2348,1922,3402,0,0,0,0,0,0
$GC,2679,-0.80,-146.0,234.9,-8.0,277,2684,0.00,2.30,0.00,0.000,4,0.000,0.057,2348,505,3401,0,0,0,0,0,0
$GC,2853,-0.80,-146.0,248.2,-6.7,284,2858,0.00,2.15,0.00,0.000,6,0.000,0.035,2338,1921,3402,0,0,0,0,0,0
$GC,3169,-0.80,-146.0,263.9,-5.0,300,3173,0.00,2.28,0.00,0.000,4,0.000,0.057,2338,505,3401,0,0,0,0,0,0
$GC,3301,-0.80,-146.0,271.3,-6.4,306,3306,0.12,2.17,0.00,0.000,6,0.160,0.036,2360,1922,3401,0,0,0,0,0,0
$GC,3630,-0.80,-146.0,288.2,-4.9,322,3634,0.00,2.28,0.00,0.000,4,0.000,0.057,2361,506,3401,0,0,0,0,0,0
$GC,3865,-0.80,-146.0,303.1,-6.0,332,3869,0.00,2.17,0.00,0.000,6,0.000,0.036,2353,1917,3400,0,0,0,0,0,0
$GC,4179,-0.80,-146.0,321.4,-5.7,340,4183,0.00,2.30,0.00,0.000,4,0.000,0.058,2353,504,3399,0,0,0,0,0,0
$GC,4420,-0.80,-146.0,337.9,-7.7,345,4424,0.00,2.17,0.00,0.000,6,0.000,0.038,2343,1925,3397,0,0,0,0,0,0
$GC,4763,-0.80,-146.0,363.6,-7.6,354,4767,0.00,2.28,0.00,0.000,4,0.000,0.059,2343,509,3396,0,0,0,0,0,0
$GC,4818,-0.80,-146.0,368.2,-7.8,355,4823,0.12,2.15,0.00,0.000,6,0.156,0.038,2366,1919,3396,0,0,0,0,0,0
$GC,5169,-0.80,-146.0,393.6,-7.5,364,5173,0.00,2.30,0.00,0.000,4,0.000,0.060,2366,508,3394,0,0,0,0,0,0
$GC,5333,-0.80,-146.0,407.2,-8.1,367,5337,0.00,2.20,0.00,0.000,6,0.000,0.038,2358,1929,3393,0,0,0,0,0,0
$GC,5666,-0.80,-146.0,431.3,-6.8,375,5670,0.00,2.33,0.00,0.000,4,0.000,0.059,2358,502,3391,0,0,0,0,0,0
$GC,5792,-0.80,-146.0,438.6,-5.9,377,5797,0.00,2.22,0.00,0.000,6,0.000,0.040,2349,1925,3390,0,0,0,0,0,0
$STATE,6001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6001,begin apogee
$GC,6008,-0.17,0.0,450.7,5.8,383,6135,0.68,0.00,124.25,0.743,6,0.117,0.000,2562,1998,2800,0,0,0,0,0,0
$STATE,6136,end apogee,CONTROL_FINISHED_OK
$STATE,6136,begin climb
$GC,6139,0.80,146.0,452.8,0.0,386,6277,0.90,2.30,128.60,0.724,4,0.069,0.055,2879,3402,2202,0,0,0,0,0,0
$GC,6346,0.80,146.0,435.7,10.6,390,6352,0.00,2.22,0.00,0.000,6,0.000,0.041,2889,1995,2199,0,0,0,0,0,0
$GC,6678,0.80,146.0,397.4,11.9,399,6682,0.00,2.28,0.00,0.000,4,0.000,0.055,2889,3405,2196,0,0,0,0,0,0
$GC,6779,0.80,146.0,384.2,13.1,401,6783,0.00,2.22,0.00,0.000,6,0.000,0.043,2897,1990,2195,0,0,0,0,0,0
$GC,7127,0.80,146.0,344.9,11.7,410,7131,0.00,2.28,0.00,0.000,4,0.000,0.056,2897,3404,2194,0,0,0,0,0,0
$GC,7258,0.80,146.0,328.6,11.7,413,7262,0.00,2.22,0.00,0.000,6,0.000,0.044,2908,1993,2192,0,0,0,0,0,0
$GC,7582,0.88,208.5,301.7,7.3,421,7643,0.00,2.35,53.83,0.662,4,0.000,0.058,2906,3398,1949,0,0,0,0,0,0
$GC,7701,0.88,208.5,290.3,10.8,425,7705,0.00,2.20,0.00,0.000,6,0.000,0.042,2907,1996,1947,0,0,0,0,0,0
$GC,8017,0.91,235.3,259.7,8.9,440,8046,0.00,2.28,24.80,0.617,4,0.000,0.056,2907,3405,1839,0,0,0,0,0,0
$GC,8128,0.93,256.7,249.2,9.2,445,8153,0.00,2.25,20.30,0.601,6,0.000,0.044,2908,1990,1752,0,0,0,0,0,0
$GC,8471,0.93,256.7,211.9,11.5,462,8475,0.00,2.33,0.00,0.000,4,0.000,0.056,2908,3411,1750,0,0,0,0,0,0
$GC,8499,0.93,256.7,208.3,11.6,463,8504,0.00,2.25,0.00,0.000,6,0.000,0.047,2917,2001,1749,0,0,0,0,0,0
$GC,8826,1.01,320.9,180.8,7.2,489,8888,0.00,2.33,56.20,0.582,4,0.000,0.056,2917,3408,1489,0,0,0,0,0,0
$GC,8937,1.03,330.4,171.2,9.8,498,8953,0.00,2.25,9.20,0.502,6,0.000,0.042,2924,1995,1453,0,0,0,0,0,0
$GC,9280,1.03,330.4,138.1,10.9,530,9284,0.00,2.28,0.00,0.000,4,0.000,0.055,2924,3405,1450,0,0,0,0,0,0
$GC,9345,1.03,330.4,130.5,11.6,535,9352,0.00,2.25,0.00,0.000,6,0.000,0.042,2932,1993,1450,0,0,0,0,0,0
$GC,9672,1.03,334.4,98.4,10.0,566,9685,0.00,2.30,4.93,0.390,4,0.000,0.055,2932,3399,1433,0,0,0,0,0,0
$GC,9766,1.03,334.4,88.2,11.1,574,9774,0.00,2.22,0.00,0.000,6,0.000,0.044,2933,2001,1433,0,0,0,0,0,0
$GC,10102,1.12,404.7,60.2,6.9,627,10172,0.12,2.35,58.58,0.479,4,0.081,0.057,2994,3405,1147,0,0,0,0,0,0
$GC,10210,1.15,429.6,51.6,9.0,645,10256,0.00,2.22,30.77,0.442,6,0.000,0.041,2995,1999,1046,0,0,0,0,1,0
$GC,10585,1.15,429.6,12.1,11.4,713,10592,0.00,2.30,0.00,0.000,4,0.000,0.055,2994,3408,1039,0,0,0,0,0,0
$STATE,10658,end climb,SURFACE_DEPTH_REACHED
$STATE,10659,begin surface coast
$FINISH,1.8,1.023328
$STATE,10667,end surface coast,CONTROL_FINISHED_OK
$STATE,10667,begin surface
$SM_CCo,10749,0.00,0.000,0,0,1037,432.46
$SM_GC,1.39,7.53,0.00,0.00,0.022,0.000,0.000,37,1923,1037,-7.94,0.17,432.46
$IRIDIUM_FIX,2059.45,-15758.18,191002,020254
$TT8_MAMPS,0.028379
$HUMID,71.02
$INTERNAL_PRESSURE,9.32378
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,24.2,69.558
$10V_AH,10.0,77.246
$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,19.075,108.300,511.450,0.000,0.000,23.655,35.341,243.159,19.250,0.000,17.348,1330.877,6183.140,512.169,2545.412,625.949,0.000,1488.102,0.000,2494.702,0.000,117.275,0.000
$DEVICE_MAMPS,217.828,106.613,743.223,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,494.561,419.474,1409.388,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41316,728
$CAP_FILE_SIZE,121658,0
$CFSIZE,260165632,214515712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,250713,085734,2106.112,-15758.700,24,0.8,24,9.8