version: 66.06
glider: 523
mission: 4
dive: 793
start: 7 25 113 12 29 11
data:
$ID,523
$MISSION,4
$DIVE,793
$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,-52131.953
$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,23
$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
$GPS1,122043,2106.477,-15758.379,19,0.8,20,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.6
$GPS2,122852,2106.394,-15758.467,40,0.8,40,9.8
$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,21.2,18005,-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,15,-0.80,-146.0,0.0,0.0,0,112,0.00,0.00,-93.55,0.000,6,0.000,0.000,30,1876,3396,0,0,0,0,0,0
$GC,117,-0.80,-146.0,3.2,-5.3,15,131,9.48,2.33,0.00,0.000,4,0.217,0.048,2344,3335,3397,0,0,0,0,0,0
$GC,177,-0.80,-146.0,15.0,-13.4,25,184,0.00,2.25,0.00,0.000,6,0.000,0.049,2344,1947,3398,0,0,0,0,0,0
$GC,343,-0.80,-146.0,36.4,-14.8,56,351,0.00,2.38,0.00,0.000,4,0.000,0.064,2344,508,3398,0,0,0,0,0,0
$GC,463,-0.80,-146.0,54.0,-14.2,77,469,0.10,2.20,0.00,0.000,6,0.175,0.040,2358,1932,3399,0,0,0,0,0,0
$GC,795,-0.80,-146.0,82.5,-7.1,135,799,0.00,2.30,0.00,0.000,4,0.000,0.060,2358,509,3399,0,0,0,0,0,0
$GC,1044,-0.80,-146.0,102.5,-9.0,157,1052,0.00,2.22,0.00,0.000,6,0.000,0.039,2350,1925,3400,0,0,0,0,0,0
$GC,1373,-0.80,-146.0,128.5,-7.1,188,1377,0.00,2.30,0.00,0.000,4,0.000,0.061,2350,509,3401,0,0,0,0,0,0
$GC,1533,-0.80,-146.0,141.5,-8.2,202,1538,0.00,2.20,0.00,0.000,6,0.000,0.041,2340,1930,3401,0,0,0,0,0,0
$GC,1861,-0.80,-146.0,166.3,-7.4,232,1865,0.00,2.30,0.00,0.000,4,0.000,0.060,2340,506,3401,0,0,0,0,0,0
$GC,1991,-0.80,-146.0,175.9,-7.7,243,1996,0.12,2.22,0.00,0.000,6,0.163,0.041,2362,1928,3401,0,0,0,0,0,0
$GC,2327,-0.80,-146.0,202.1,-7.9,273,2331,0.00,2.30,0.00,0.000,4,0.000,0.059,2362,510,3401,0,0,0,0,0,0
$GC,2545,-0.80,-146.0,218.1,-6.5,282,2550,0.00,2.17,0.00,0.000,6,0.000,0.040,2355,1926,3401,0,0,0,0,0,0
$GC,2864,-0.80,-146.0,238.4,-7.3,298,2868,0.00,2.30,0.00,0.000,4,0.000,0.059,2354,511,3401,0,0,0,0,0,0
$GC,3016,-0.80,-146.0,250.6,-7.6,304,3021,0.00,2.20,0.00,0.000,6,0.000,0.039,2345,1929,3401,0,0,0,0,0,0
$GC,3332,-0.80,-146.0,268.2,-4.8,320,3337,0.00,2.33,0.00,0.000,4,0.000,0.059,2345,507,3401,0,0,0,0,0,0
$GC,3501,-0.80,-146.0,278.6,-6.7,327,3506,0.00,2.20,0.00,0.000,6,0.000,0.039,2335,1922,3401,0,0,0,0,0,0
$GC,3819,-0.80,-146.0,304.8,-9.0,342,3826,0.00,2.33,0.00,0.000,4,0.000,0.059,2335,501,3400,0,0,0,0,0,0
$GC,4079,-0.80,-146.0,323.0,-4.9,347,4084,0.15,2.22,0.00,0.000,6,0.156,0.040,2365,1926,3399,0,0,0,0,0,0
$GC,4413,-0.80,-146.0,340.1,-5.8,355,4417,0.00,2.33,0.00,0.000,4,0.000,0.059,2365,507,3397,0,0,0,0,0,0
$GC,4454,-0.80,-146.0,342.5,-6.1,356,4458,0.00,2.22,0.00,0.000,6,0.000,0.040,2357,1927,3397,0,0,0,0,0,0
$GC,4781,-0.80,-146.0,360.7,-5.9,364,4785,0.00,2.25,0.00,0.000,4,0.000,0.061,2347,3331,3396,0,0,0,0,0,0
$GC,4827,-0.80,-146.0,363.8,-5.9,365,4831,0.00,2.25,0.00,0.000,6,0.000,0.044,2347,1911,3396,0,0,0,0,0,0
$GC,5162,-0.80,-146.0,385.5,-6.5,373,5166,0.00,2.25,0.00,0.000,4,0.000,0.064,2347,511,3394,0,0,0,0,0,0
$GC,5420,-0.80,-146.0,402.7,-6.4,378,5425,0.00,2.20,0.00,0.000,6,0.000,0.041,2337,1931,3392,0,0,0,0,0,0
$GC,5752,-0.80,-146.0,422.1,-5.8,387,5756,0.00,2.33,0.00,0.000,4,0.000,0.062,2337,512,3391,0,0,0,0,0,0
$GC,5908,-0.80,-146.0,433.3,-7.4,390,5913,0.12,2.22,0.00,0.000,6,0.163,0.042,2359,1927,3390,0,0,0,0,0,0
$STATE,6213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6213,begin apogee
$GC,6222,-0.17,0.0,452.1,6.2,398,6349,0.65,0.00,124.22,0.759,6,0.115,0.000,2567,2016,2800,0,0,0,0,0,0
$STATE,6350,end apogee,CONTROL_FINISHED_OK
$STATE,6350,begin climb
$GC,6354,0.80,146.0,454.4,0.0,401,6492,0.85,2.28,129.15,0.735,4,0.064,0.058,2872,3397,2202,0,0,0,0,0,0
$GC,6599,0.80,146.0,432.2,11.5,406,6604,0.00,2.25,0.00,0.000,6,0.000,0.044,2881,2002,2198,0,0,0,0,0,0
$GC,6931,0.81,158.4,399.8,9.6,414,6947,0.00,2.30,11.20,0.647,4,0.000,0.065,2892,585,2153,0,0,0,0,0,0
$GC,6959,0.84,183.2,397.2,9.0,414,6988,0.00,2.25,22.95,0.690,6,0.000,0.042,2892,2001,2053,0,0,0,0,0,0
$GC,7299,0.85,190.2,363.0,9.9,423,7313,0.00,2.33,7.65,0.595,4,0.000,0.057,2892,3420,2023,0,0,0,0,0,0
$GC,7423,0.85,190.2,350.0,10.9,425,7427,0.00,2.28,0.00,0.000,6,0.000,0.048,2900,1999,2021,0,0,0,0,0,0
$GC,7754,0.89,217.1,318.9,8.9,433,7785,0.00,2.30,25.25,0.671,4,0.000,0.060,2900,3408,1913,0,0,0,0,0,0
$GC,7807,0.90,231.3,313.8,9.5,434,7827,0.00,2.28,13.82,0.629,6,0.000,0.050,2908,1999,1856,0,0,0,0,0,0
$GC,8142,0.90,231.3,277.6,11.3,447,8146,0.00,2.30,0.00,0.000,4,0.000,0.061,2908,3414,1854,0,0,0,0,0,0
$GC,8198,0.90,231.3,270.8,11.3,449,8203,0.00,2.28,0.00,0.000,6,0.000,0.051,2918,1992,1854,0,0,0,0,0,0
$GC,8514,0.90,231.3,237.2,10.7,465,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1992,1854,0,0,0,0,0,0
$GC,8823,0.91,233.7,206.2,10.1,480,8827,0.00,2.30,0.00,0.000,4,0.000,0.062,2917,3405,1853,0,0,0,0,0,0
$GC,8948,0.91,233.7,192.2,12.1,488,8952,0.00,2.28,0.00,0.000,6,0.000,0.051,2926,1983,1851,0,0,0,0,0,0
$GC,9275,0.93,253.6,159.7,9.3,518,9302,0.00,2.38,20.50,0.567,4,0.000,0.057,2926,3418,1764,0,0,0,0,0,0
$GC,9376,0.93,253.6,148.7,11.3,527,9380,0.00,2.28,0.00,0.000,6,0.000,0.048,2935,1993,1763,0,0,0,0,0,0
$GC,9704,0.93,253.6,112.8,11.6,557,9708,0.00,2.28,0.00,0.000,4,0.000,0.056,2935,3417,1763,0,0,0,0,0,0
$GC,9788,0.93,253.6,103.0,11.4,564,9792,0.00,2.25,0.00,0.000,6,0.000,0.051,2939,2000,1763,0,0,0,0,0,0
$GC,10116,0.98,292.8,76.0,8.4,598,10158,0.00,2.30,35.20,0.509,4,0.000,0.060,2949,595,1604,0,0,0,0,0,0
$GC,10206,0.98,292.8,67.8,10.6,613,10211,0.00,2.25,0.00,0.000,6,0.000,0.044,2949,2014,1603,0,0,0,0,0,0
$GC,10539,1.04,340.9,38.7,7.9,674,10585,0.00,2.38,41.15,0.476,4,0.000,0.067,2950,588,1409,0,0,0,0,0,0
$GC,10608,1.08,376.9,32.5,8.5,686,10645,0.00,2.28,30.58,0.459,6,0.000,0.042,2950,2000,1262,0,0,0,0,0,0
$GC,10807,1.13,419.4,15.1,8.2,722,10861,0.10,2.28,41.83,0.432,4,0.085,0.056,3011,3412,1089,0,0,0,0,1,0
$GC,10887,1.13,419.4,6.7,11.3,734,10895,0.08,2.30,0.00,0.000,6,0.114,0.044,2992,1993,1087,0,0,0,0,0,0
$STATE,10922,end climb,SURFACE_DEPTH_REACHED
$STATE,10922,begin surface coast
$FINISH,0.7,1.009560
$STATE,10954,end surface coast,CONTROL_FINISHED_OK
$STATE,10954,begin surface
$SM_CCo,11034,0.00,0.000,0,0,1084,420.68
$SM_GC,1.52,7.65,0.00,0.00,0.026,0.000,0.000,50,1917,1084,-7.93,0.00,420.68
$IRIDIUM_FIX,2057.14,-15743.60,191002,090959
$TT8_MAMPS,0.027612
$HUMID,72.09
$INTERNAL_PRESSURE,9.28472
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,24.2,69.780
$10V_AH,10.0,77.472
$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,19.300,109.400,503.500,0.000,0.000,31.007,37.553,233.167,19.000,0.000,40.806,1373.339,6381.357,493.074,2632.655,633.175,0.000,1494.720,0.000,2553.854,0.000,117.264,0.000
$DEVICE_MAMPS,217.061,107.380,759.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,505.680,437.131,1460.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41224,746
$CAP_FILE_SIZE,125359,0
$CFSIZE,260165632,214384640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,250713,153400,2106.832,-15759.241,19,0.9,19,9.8