version: 66.06
glider: 523
mission: 4
dive: 794
start: 7 25 113 15 42 7
data:
$ID,523
$MISSION,4
$DIVE,794
$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,-52151.227
$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,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
$GPS1,153400,2106.832,-15759.241,19,0.9,19,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.2
$GPS2,154147,2106.872,-15759.358,18,0.9,18,9.8
$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,26.8,18125,-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,-146.0,0.0,0.0,0,118,0.00,0.00,-98.43,0.000,6,0.000,0.000,50,1916,3397,0,0,0,0,0,0
$GC,123,-0.80,-146.0,3.3,-5.5,16,137,9.48,2.28,0.00,0.000,4,0.219,0.051,2345,3331,3398,0,0,0,0,0,0
$GC,146,-0.80,-146.0,10.4,-24.2,19,154,0.00,2.28,0.00,0.000,6,0.000,0.048,2345,1925,3399,0,0,0,0,0,0
$GC,313,-0.80,-146.0,32.3,-12.7,50,320,0.00,2.35,0.00,0.000,4,0.000,0.070,2345,511,3400,0,0,0,0,0,0
$GC,400,-0.80,-146.0,44.4,-13.9,65,405,0.00,2.22,0.00,0.000,6,0.000,0.041,2335,1931,3400,0,0,0,0,0,0
$GC,731,-0.80,-146.0,82.3,-9.9,124,735,0.00,2.33,0.00,0.000,4,0.000,0.064,2335,506,3401,0,0,0,0,0,0
$GC,967,-0.80,-146.0,103.0,-9.9,145,972,0.15,2.20,0.00,0.000,6,0.157,0.039,2365,1928,3401,0,0,0,0,0,0
$GC,1295,-0.80,-146.0,132.0,-8.5,175,1299,0.00,2.33,0.00,0.000,4,0.000,0.062,2365,508,3402,0,0,0,0,0,0
$GC,1544,-0.80,-146.0,152.1,-8.6,197,1551,0.00,2.22,0.00,0.000,6,0.000,0.040,2357,1918,3402,0,0,0,0,0,0
$GC,1871,-0.80,-146.0,177.3,-8.2,228,1875,0.00,2.28,0.00,0.000,4,0.000,0.061,2357,508,3403,0,0,0,0,0,0
$GC,1993,-0.80,-146.0,187.6,-8.2,238,2001,0.00,2.22,0.00,0.000,6,0.000,0.040,2347,1919,3403,0,0,0,0,0,0
$GC,2324,-0.80,-146.0,213.8,-8.3,262,2328,0.00,2.25,0.00,0.000,4,0.000,0.061,2337,3332,3403,0,0,0,0,0,0
$GC,2352,-0.80,-146.0,216.3,-8.4,263,2356,0.00,2.22,0.00,0.000,6,0.000,0.046,2337,1913,3403,0,0,0,0,0,0
$GC,2670,-0.80,-146.0,239.7,-7.2,278,2675,0.00,2.28,0.00,0.000,4,0.000,0.065,2337,506,3403,0,0,0,0,0,0
$GC,2928,-0.80,-146.0,256.3,-5.7,289,2933,0.12,2.20,0.00,0.000,6,0.162,0.040,2359,1924,3403,0,0,0,0,0,0
$GC,3247,-0.80,-146.0,273.3,-6.9,304,3251,0.00,2.30,0.00,0.000,4,0.000,0.060,2359,508,3403,0,0,0,0,0,0
$GC,3347,-0.80,-146.0,281.5,-8.7,308,3353,0.00,2.20,0.00,0.000,6,0.000,0.039,2351,1919,3403,0,0,0,0,0,0
$GC,3686,-0.80,-146.0,306.8,-7.7,323,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1919,3401,0,0,0,0,0,0
$GC,4007,-0.80,-146.0,330.0,-6.8,331,4012,0.00,2.33,0.00,0.000,4,0.000,0.060,2351,504,3400,0,0,0,0,0,0
$GC,4069,-0.80,-146.0,334.5,-7.0,332,4073,0.00,2.20,0.00,0.000,6,0.000,0.040,2341,1924,3400,0,0,0,0,0,0
$GC,4418,-0.80,-146.0,359.7,-7.6,341,4423,0.00,2.30,0.00,0.000,4,0.000,0.060,2341,511,3398,0,0,0,0,0,0
$GC,4677,-0.80,-146.0,378.7,-7.0,346,4682,0.12,2.20,0.00,0.000,6,0.160,0.041,2363,1923,3397,0,0,0,0,0,0
$GC,5010,-0.80,-146.0,396.2,-5.2,354,5014,0.00,2.30,0.00,0.000,4,0.000,0.059,2363,508,3396,0,0,0,0,0,0
$GC,5257,-0.80,-146.0,410.0,-4.9,359,5261,0.00,2.22,0.00,0.000,6,0.000,0.039,2356,1932,3395,0,0,0,0,0,0
$GC,5597,-0.80,-146.0,430.6,-5.8,368,5601,0.00,2.33,0.00,0.000,4,0.000,0.059,2355,505,3393,0,0,0,0,0,0
$GC,5794,-0.80,-146.0,442.9,-6.3,372,5798,0.00,2.22,0.00,0.000,6,0.000,0.040,2346,1923,3392,0,0,0,0,0,0
$STATE,5931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5931,begin apogee
$GC,5939,-0.17,0.0,452.2,6.8,376,6067,0.70,0.00,124.70,0.752,6,0.117,0.000,2566,2011,2800,0,0,0,0,0,0
$STATE,6068,end apogee,CONTROL_FINISHED_OK
$STATE,6068,begin climb
$GC,6071,0.80,146.0,455.1,0.0,379,6209,0.88,2.28,129.18,0.728,4,0.067,0.056,2877,3398,2202,0,0,0,0,0,0
$GC,6310,0.80,146.0,432.8,11.2,384,6314,0.00,2.25,0.00,0.000,6,0.000,0.043,2886,1987,2198,0,0,0,0,0,0
$GC,6647,0.81,152.7,397.5,9.9,393,6658,0.00,2.30,6.00,0.551,4,0.000,0.054,2886,3405,2177,0,0,0,0,0,0
$GC,6721,0.81,152.7,389.8,11.1,394,6725,0.00,2.25,0.00,0.000,6,0.000,0.045,2894,1992,2175,0,0,0,0,0,0
$GC,7057,0.81,152.7,354.2,10.5,403,7061,0.00,2.28,0.00,0.000,4,0.000,0.064,2904,589,2174,0,0,0,0,0,0
$GC,7080,0.81,154.6,351.9,10.1,403,7084,0.00,2.20,0.00,0.000,6,0.000,0.041,2904,2003,2174,0,0,0,0,0,0
$GC,7423,0.81,155.5,317.3,10.2,412,7427,0.00,2.25,0.00,0.000,4,0.000,0.062,2904,3413,2173,0,0,0,0,0,0
$GC,7434,0.81,158.1,316.0,10.1,412,7445,0.00,2.25,6.12,0.545,6,0.000,0.047,2913,1995,2155,0,0,0,0,0,0
$GC,7766,0.82,162.7,283.4,10.0,424,7776,0.00,2.28,5.68,0.521,4,0.000,0.058,2913,3408,2134,0,0,0,0,0,0
$GC,7788,0.83,169.4,281.0,9.9,425,7804,0.12,2.25,7.62,0.563,6,0.143,0.048,2886,1998,2108,0,0,0,0,0,0
$GC,8115,0.83,170.8,250.2,10.1,441,8119,0.00,2.30,0.00,0.000,4,0.000,0.067,2894,588,2105,0,0,0,0,0,0
$GC,8201,0.83,170.8,240.8,10.6,445,8205,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,2003,2105,0,0,0,0,0,0
$GC,8528,0.91,236.6,212.5,7.1,461,8592,0.00,2.33,59.35,0.614,4,0.000,0.062,2895,3411,1835,0,0,0,0,0,0
$GC,8682,0.97,287.8,201.4,7.8,468,8733,0.00,2.25,45.83,0.589,6,0.000,0.045,2902,1996,1625,0,0,0,0,0,0
$GC,9057,1.05,354.2,173.6,7.1,501,9119,0.17,2.35,56.85,0.567,4,0.058,0.058,3009,3409,1355,0,0,0,0,0,0
$GC,9177,1.05,354.2,160.2,13.0,511,9182,0.20,2.28,0.00,0.000,6,0.130,0.048,2961,1998,1353,0,0,0,0,0,0
$GC,9505,1.06,362.2,128.5,9.8,541,9518,0.00,2.30,7.72,0.457,4,0.000,0.059,2970,580,1322,0,0,0,0,0,0
$GC,9554,1.06,362.2,123.4,11.2,545,9558,0.00,2.22,0.00,0.000,6,0.000,0.038,2970,2017,1321,0,0,0,0,0,0
$GC,9881,1.06,362.2,86.1,10.8,575,9885,0.00,2.20,0.00,0.000,4,0.000,0.054,2970,3406,1321,0,0,0,0,0,0
$GC,9943,1.06,362.2,78.7,12.3,581,9949,0.00,2.22,0.00,0.000,6,0.000,0.042,2977,1991,1321,0,0,0,0,0,0
$GC,10274,1.06,362.2,44.0,10.5,642,10282,0.00,2.30,0.00,0.000,4,0.000,0.058,2978,3398,1321,0,0,0,0,0,0
$GC,10311,1.06,362.2,39.8,12.6,648,10318,0.00,2.22,0.00,0.000,6,0.000,0.043,2986,1999,1320,0,0,0,0,0,0
$GC,10638,1.06,362.2,4.4,11.6,709,10647,0.00,2.28,0.00,0.000,4,0.000,0.061,2995,595,1321,0,0,0,0,0,0
$STATE,10653,end climb,SURFACE_DEPTH_REACHED
$STATE,10653,begin surface coast
$FINISH,1.6,1.023360
$STATE,10661,end surface coast,CONTROL_FINISHED_OK
$STATE,10661,begin surface
$SM_CCo,10742,0.00,0.000,0,0,1320,363.04
$SM_GC,1.61,7.53,0.00,0.00,0.023,0.000,0.000,42,1915,1320,-7.94,-0.17,363.04
$IRIDIUM_FIX,2052.52,-15749.62,191002,121206
$TT8_MAMPS,0.027612
$HUMID,71.06
$INTERNAL_PRESSURE,9.32378
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,24.2,69.885
$10V_AH,9.9,77.579
$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,19.475,108.525,449.050,0.000,0.000,27.839,37.925,237.709,19.000,0.000,18.639,1340.149,6276.013,473.850,2488.801,622.379,0.000,1411.339,0.000,2433.223,0.000,117.272,0.000
$DEVICE_MAMPS,219.362,98.176,751.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,484.473,408.901,1367.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41269,712
$CAP_FILE_SIZE,121699,0
$CFSIZE,260165632,214323200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250713,184228,2107.164,-15759.591,43,0.8,43,9.8