version: 66.06
glider: 523
mission: 4
dive: 792
start: 7 25 113 9 5 49
data:
$ID,523
$MISSION,4
$DIVE,792
$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,-52090.516
$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,18
$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
$GPS1,085734,2106.112,-15758.700,24,0.8,24,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.9
$GPS2,090529,2106.044,-15758.698,14,1.1,14,9.8
$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,21.2,18765,-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,-146.0,0.0,0.0,0,119,0.00,0.00,-99.53,0.000,6,0.000,0.000,37,1921,3397,0,0,0,0,0,0
$GC,123,-0.80,-146.0,3.2,-4.8,16,137,9.43,0.00,0.00,0.000,6,0.215,0.000,2356,1921,3399,0,0,0,0,0,0
$GC,298,-0.80,-146.0,26.2,-11.2,48,305,0.00,2.30,0.00,0.000,4,0.000,0.061,2356,512,3400,0,0,0,0,0,0
$GC,547,-0.80,-146.0,59.5,-12.9,94,554,0.00,2.20,0.00,0.000,6,0.000,0.038,2348,1916,3400,0,0,0,0,0,0
$GC,887,-0.80,-146.0,94.1,-9.2,141,891,0.00,2.28,0.00,0.000,4,0.000,0.058,2347,509,3400,0,0,0,0,0,0
$GC,1102,-0.80,-146.0,113.5,-9.3,160,1106,0.00,2.20,0.00,0.000,6,0.000,0.038,2338,1932,3401,0,0,0,0,0,0
$GC,1429,-0.80,-146.0,142.0,-6.9,190,1433,0.00,2.33,0.00,0.000,4,0.000,0.057,2338,508,3401,0,0,0,0,0,0
$GC,1588,-0.80,-146.0,152.9,-6.8,204,1593,0.12,2.20,0.00,0.000,6,0.162,0.038,2360,1925,3401,0,0,0,0,0,0
$GC,1915,-0.80,-146.0,174.6,-6.6,234,1922,0.00,2.33,0.00,0.000,4,0.000,0.058,2360,506,3402,0,0,0,0,0,0
$GC,2173,-0.80,-146.0,192.7,-6.2,257,2177,0.00,2.17,0.00,0.000,6,0.000,0.039,2353,1919,3402,0,0,0,0,0,0
$GC,2502,-0.80,-146.0,216.6,-6.9,277,2506,0.00,2.20,0.00,0.000,4,0.000,0.054,2342,3330,3401,0,0,0,0,0,0
$GC,2635,-0.80,-146.0,226.5,-7.8,283,2639,0.00,2.22,0.00,0.000,6,0.000,0.045,2342,1913,3401,0,0,0,0,0,0
$GC,2964,-0.80,-146.0,248.6,-5.3,299,2968,0.00,2.25,0.00,0.000,4,0.000,0.059,2342,514,3401,0,0,0,0,0,0
$GC,3161,-0.80,-146.0,257.2,-4.1,308,3165,0.12,2.17,0.00,0.000,6,0.153,0.038,2365,1922,3401,0,0,0,0,0,0
$GC,3492,-0.80,-146.0,270.4,-5.0,324,3496,0.00,2.30,0.00,0.000,4,0.000,0.057,2365,509,3401,0,0,0,0,0,0
$GC,3600,-0.80,-146.0,277.0,-5.6,329,3604,0.00,2.17,0.00,0.000,6,0.000,0.037,2357,1930,3400,0,0,0,0,0,0
$GC,3932,-0.80,-146.0,295.4,-5.4,345,3936,0.00,2.28,0.00,0.000,4,0.000,0.056,2357,512,3399,0,0,0,0,0,0
$GC,4037,-0.80,-146.0,301.3,-4.6,349,4041,0.00,2.20,0.00,0.000,6,0.000,0.038,2347,1929,3399,0,0,0,0,0,0
$GC,4381,-0.80,-146.0,313.7,-3.4,358,4385,0.00,2.30,0.00,0.000,4,0.000,0.058,2347,508,3397,0,0,0,0,0,0
$GC,4513,-0.80,-146.0,318.9,-4.0,361,4517,0.00,2.20,0.00,0.000,6,0.000,0.038,2338,1922,3396,0,0,0,0,0,0
$GC,4840,-0.80,-146.0,336.0,-5.7,369,4844,0.00,2.28,0.00,0.000,4,0.000,0.059,2338,512,3395,0,0,0,0,0,0
$GC,4884,-0.80,-146.0,339.5,-7.3,370,4889,0.12,2.17,0.00,0.000,6,0.159,0.040,2360,1920,3395,0,0,0,0,0,0
$GC,5208,-0.80,-146.0,356.0,-4.8,378,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1920,3392,0,0,0,0,0,0
$GC,5528,-0.80,-146.0,373.2,-5.2,386,5532,0.00,2.33,0.00,0.000,4,0.000,0.061,2360,507,3390,0,0,0,0,0,0
$GC,5708,-0.80,-146.0,382.8,-5.1,390,5712,0.00,2.22,0.00,0.000,6,0.000,0.041,2352,1927,3390,0,0,0,0,0,0
$GC,6032,-0.80,-146.0,403.3,-7.0,398,6036,0.00,2.33,0.00,0.000,4,0.000,0.061,2352,508,3388,0,0,0,0,0,0
$GC,6228,-0.80,-146.0,415.8,-6.3,402,6232,0.00,2.20,0.00,0.000,6,0.000,0.041,2342,1924,3387,0,0,0,0,0,0
$GC,6572,-0.80,-146.0,432.7,-4.5,411,6576,0.00,2.33,0.00,0.000,4,0.000,0.061,2342,506,3386,0,0,0,0,0,0
$GC,6833,-0.80,-146.0,446.2,-5.5,416,6839,0.12,2.25,0.00,0.000,6,0.156,0.044,2365,1930,3384,0,0,0,0,0,0
$STATE,6959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6959,begin apogee
$GC,6967,-0.17,0.0,451.4,4.1,420,7094,0.62,0.00,123.93,0.762,6,0.112,0.000,2567,2006,2800,0,0,0,0,0,0
$STATE,7094,end apogee,CONTROL_FINISHED_OK
$STATE,7095,begin climb
$GC,7097,0.80,146.0,449.9,0.0,423,7235,0.88,2.30,129.35,0.734,4,0.067,0.059,2876,3401,2202,0,0,0,0,0,0
$GC,7275,0.80,146.0,428.6,12.3,427,7279,0.00,2.25,0.00,0.000,6,0.000,0.045,2886,2001,2199,0,0,0,0,0,0
$GC,7589,0.83,172.4,396.0,9.0,435,7618,0.00,2.38,23.15,0.694,4,0.000,0.068,2896,589,2096,0,0,0,0,0,0
$GC,7647,0.83,174.5,390.4,10.1,436,7651,0.00,2.22,0.00,0.000,6,0.000,0.044,2896,1995,2095,0,0,0,0,0,0
$GC,7995,0.83,174.5,350.7,11.4,445,7999,0.00,2.25,0.00,0.000,4,0.000,0.054,2896,3410,2092,0,0,0,0,0,0
$GC,8180,0.83,174.5,329.3,11.9,449,8184,0.00,2.25,0.00,0.000,6,0.000,0.048,2905,1999,2091,0,0,0,0,0,0
$GC,8501,0.86,200.1,298.6,9.0,457,8531,0.00,2.33,25.00,0.665,4,0.000,0.060,2905,3411,1983,0,0,0,0,0,0
$GC,8621,0.89,218.3,287.8,9.4,462,8647,0.00,2.28,17.58,0.637,6,0.000,0.048,2914,1996,1909,0,0,0,0,0,0
$GC,8960,0.93,250.4,257.7,8.7,479,8994,0.00,2.33,29.50,0.641,4,0.000,0.060,2914,3419,1778,0,0,0,0,0,0
$GC,9085,0.93,250.4,243.8,11.7,484,9089,0.00,2.28,0.00,0.000,6,0.000,0.050,2922,1997,1777,0,0,0,0,0,0
$GC,9412,0.95,272.0,211.1,9.2,500,9437,0.00,2.30,20.20,0.600,4,0.000,0.060,2922,3408,1690,0,0,0,0,0,0
$GC,9472,0.96,274.7,205.3,10.1,503,9481,0.00,2.28,3.95,0.409,6,0.000,0.051,2931,2001,1680,0,0,0,0,0,0
$GC,9804,0.96,274.7,171.7,11.5,531,9808,0.00,2.30,0.00,0.000,4,0.000,0.062,2932,3406,1679,0,0,0,0,0,0
$GC,9910,0.96,274.7,158.5,11.7,540,9914,0.00,2.22,0.00,0.000,6,0.000,0.048,2935,1999,1678,0,0,0,0,0,0
$GC,10237,0.97,286.2,125.4,9.7,570,10254,0.00,2.33,11.52,0.518,4,0.000,0.061,2935,3419,1633,0,0,0,0,0,0
$GC,10282,0.98,294.5,121.2,9.8,573,10301,0.00,2.30,9.07,0.491,6,0.000,0.051,2943,2006,1598,0,0,0,0,0,0
$GC,10621,0.99,298.7,86.7,10.0,605,10635,0.00,2.33,5.20,0.409,4,0.000,0.061,2943,3409,1581,0,0,0,0,0,0
$GC,10650,1.00,306.0,83.8,9.9,607,10663,0.00,2.28,8.15,0.460,6,0.000,0.051,2950,1997,1551,0,0,0,0,0,0
$GC,10989,1.04,341.0,53.6,8.6,665,11024,0.00,2.28,30.58,0.492,4,0.000,0.059,2958,582,1408,0,0,0,0,0,0
$GC,11087,1.06,358.5,45.0,9.4,682,11111,0.00,2.28,15.95,0.461,6,0.000,0.042,2958,2008,1336,0,0,0,0,0,0
$GC,11435,1.09,385.2,10.6,9.0,746,11463,0.00,2.40,22.80,0.438,4,0.000,0.063,2958,586,1227,0,0,0,0,0,0
$GC,11510,1.15,428.8,4.5,8.2,758,11525,0.00,2.25,10.32,0.395,2,0.000,0.042,2957,1988,1183,0,0,0,0,0,0
$STATE,11526,end climb,SURFACE_DEPTH_REACHED
$STATE,11526,begin surface coast
$FINISH,0.7,1.000169
$STATE,11559,end surface coast,CONTROL_FINISHED_OK
$STATE,11559,begin surface
$SM_CCo,11638,0.00,0.000,0,0,1180,397.38
$SM_GC,1.44,7.43,0.00,0.00,0.020,0.000,0.000,36,1882,1180,-7.94,-1.07,397.38
$IRIDIUM_FIX,2101.76,-15800.33,191002,060635
$TT8_MAMPS,0.028379
$HUMID,71.34
$INTERNAL_PRESSURE,9.31402
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,24.2,69.669
$10V_AH,10.0,77.360
$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,18.850,109.025,486.250,0.000,0.000,38.173,38.672,246.822,19.000,0.000,15.229,1441.569,6820.842,488.117,2699.999,655.402,0.000,1513.924,0.000,2641.162,0.000,117.256,0.000
$DEVICE_MAMPS,214.760,105.846,761.631,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,521.316,444.394,1446.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41291,766
$CAP_FILE_SIZE,130418,0
$CFSIZE,260165632,214446080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250713,122043,2106.477,-15758.379,19,0.8,20,9.8