version: 66.06
glider: 523
mission: 4
dive: 795
start: 7 25 113 18 50 30
data:
$ID,523
$MISSION,4
$DIVE,795
$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,-52170.801
$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,28
$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
$GPS1,184228,2107.164,-15759.591,43,0.8,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.6
$GPS2,185011,2107.177,-15759.595,18,0.8,18,9.8
$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,28.9,17927,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-88.03,0.000,6,0.000,0.000,42,1915,3396,0,0,0,0,0,0
$GC,110,-0.80,-146.0,3.2,-5.1,14,125,9.45,2.25,0.00,0.000,4,0.218,0.051,2344,3337,3398,0,0,0,0,0,0
$GC,171,-0.80,-146.0,14.9,-12.7,24,178,0.00,2.30,0.00,0.000,6,0.000,0.046,2344,1925,3399,0,0,0,0,0,0
$GC,339,-0.80,-146.0,32.3,-8.2,55,345,0.00,2.30,0.00,0.000,4,0.000,0.064,2344,511,3399,0,0,0,0,0,0
$GC,594,-0.80,-146.0,58.2,-9.4,101,599,0.00,2.17,0.00,0.000,6,0.000,0.040,2334,1922,3400,0,0,0,0,0,0
$GC,935,-0.80,-146.0,90.5,-9.0,152,939,0.10,2.30,0.00,0.000,4,0.173,0.059,2359,508,3401,0,0,0,0,0,0
$GC,1084,-0.80,-146.0,104.4,-9.8,165,1091,0.00,2.20,0.00,0.000,6,0.000,0.040,2351,1931,3401,0,0,0,0,0,0
$GC,1419,-0.80,-146.0,133.3,-8.4,196,1424,0.00,2.30,0.00,0.000,4,0.000,0.059,2351,508,3402,0,0,0,0,0,0
$GC,1603,-0.80,-146.0,151.9,-11.5,212,1607,0.00,2.20,0.00,0.000,6,0.000,0.041,2341,1929,3402,0,0,0,0,0,0
$GC,1930,-0.80,-146.0,183.7,-7.8,242,1934,0.00,2.30,0.00,0.000,4,0.000,0.059,2341,508,3402,0,0,0,0,0,0
$GC,2114,-0.80,-146.0,199.5,-8.6,258,2119,0.12,2.20,0.00,0.000,6,0.156,0.040,2364,1920,3402,0,0,0,0,0,0
$GC,2435,-0.80,-146.0,223.9,-8.5,274,2439,0.00,2.25,0.00,0.000,4,0.000,0.058,2355,3334,3402,0,0,0,0,0,0
$GC,2544,-0.80,-146.0,233.9,-8.5,279,2548,0.00,2.25,0.00,0.000,6,0.000,0.046,2355,1914,3402,0,0,0,0,0,0
$GC,2879,-0.80,-146.0,250.3,-3.4,295,2883,0.00,2.28,0.00,0.000,4,0.000,0.064,2355,510,3402,0,0,0,0,0,0
$GC,3036,-0.80,-146.0,257.9,-5.4,302,3040,0.00,2.17,0.00,0.000,6,0.000,0.038,2345,1931,3402,0,0,0,0,0,0
$GC,3366,-0.80,-146.0,280.2,-7.9,318,3370,0.00,2.30,0.00,0.000,4,0.000,0.059,2346,511,3402,0,0,0,0,0,0
$GC,3624,-0.80,-146.0,300.0,-6.2,329,3629,0.00,2.15,0.00,0.000,6,0.000,0.038,2336,1920,3402,0,0,0,0,0,0
$GC,3962,-0.80,-146.0,319.5,-6.3,338,3966,0.00,2.30,0.00,0.000,4,0.000,0.061,2336,504,3401,0,0,0,0,0,0
$GC,4023,-0.80,-146.0,324.3,-7.9,339,4028,0.12,2.17,0.00,0.000,6,0.160,0.038,2358,1921,3401,0,0,0,0,0,0
$GC,4375,-0.80,-146.0,343.1,-4.9,348,4379,0.00,2.22,0.00,0.000,4,0.000,0.059,2349,3323,3400,0,0,0,0,0,0
$GC,4443,-0.80,-146.0,346.5,-5.0,349,4447,0.00,2.22,0.00,0.000,6,0.000,0.044,2349,1912,3399,0,0,0,0,0,0
$GC,4782,-0.80,-146.0,363.2,-5.1,358,4786,0.00,2.28,0.00,0.000,4,0.000,0.064,2350,511,3397,0,0,0,0,0,0
$GC,5040,-0.80,-146.0,379.7,-6.1,363,5046,0.00,2.17,0.00,0.000,6,0.000,0.038,2340,1919,3396,0,0,0,0,0,0
$GC,5375,-0.80,-146.0,400.5,-6.5,372,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1919,3395,0,0,0,0,0,0
$GC,5697,-0.80,-146.0,422.1,-6.4,380,5701,0.00,2.30,0.00,0.000,4,0.000,0.062,2340,509,3392,0,0,0,0,0,0
$GC,5956,-0.80,-146.0,436.1,-5.9,385,5962,0.12,2.22,0.00,0.000,6,0.158,0.041,2363,1930,3391,0,0,0,0,0,0
$STATE,6244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6244,begin apogee
$GC,6252,-0.17,0.0,451.5,5.5,393,6380,0.62,0.00,124.80,0.750,6,0.113,0.000,2564,2000,2799,0,0,0,0,0,0
$STATE,6381,end apogee,CONTROL_FINISHED_OK
$STATE,6381,begin climb
$GC,6384,0.80,146.0,451.3,0.0,396,6523,0.88,2.28,129.52,0.725,4,0.067,0.055,2875,3415,2202,0,0,0,0,0,0
$GC,6629,0.80,146.0,423.1,11.7,401,6633,0.00,2.30,0.00,0.000,6,0.000,0.048,2884,2001,2198,0,0,0,0,0,0
$GC,6961,0.80,146.0,388.8,11.3,409,6965,0.00,2.28,0.00,0.000,4,0.000,0.058,2885,3411,2196,0,0,0,0,0,0
$GC,6994,0.80,146.0,384.5,13.2,409,7000,0.00,2.25,0.00,0.000,6,0.000,0.048,2893,2000,2195,0,0,0,0,0,0
$GC,7326,0.80,146.0,348.5,11.1,418,7330,0.00,2.30,0.00,0.000,4,0.000,0.059,2893,3414,2193,0,0,0,0,0,0
$GC,7455,0.80,146.0,332.4,12.4,421,7460,0.00,2.28,0.00,0.000,6,0.000,0.050,2899,1996,2193,0,0,0,0,0,0
$GC,7781,0.80,150.0,299.6,10.0,429,7785,0.00,2.28,0.00,0.000,4,0.000,0.060,2899,3405,2192,0,0,0,0,0,0
$GC,7833,0.80,150.0,294.4,10.6,431,7837,0.00,2.28,0.00,0.000,6,0.000,0.051,2908,1993,2192,0,0,0,0,0,0
$GC,8155,0.81,158.4,262.7,9.8,447,8170,0.00,2.30,10.25,0.587,4,0.000,0.060,2908,3414,2153,0,0,0,0,0,0
$GC,8243,0.81,158.4,252.9,10.9,450,8248,0.12,2.28,0.00,0.000,6,0.141,0.052,2882,2000,2151,0,0,0,0,0,0
$GC,8564,0.84,178.5,223.4,9.3,466,8588,0.00,2.30,18.88,0.605,4,0.000,0.061,2889,594,2071,0,0,0,0,0,0
$GC,8654,0.88,209.0,215.3,8.8,470,8689,0.00,2.20,27.83,0.604,6,0.000,0.041,2889,2004,1947,0,0,0,0,0,0
$GC,9014,0.93,256.2,186.3,8.0,495,9062,0.00,2.33,42.15,0.586,4,0.000,0.064,2890,590,1756,0,0,0,0,0,0
$GC,9134,0.98,292.6,175.9,8.5,505,9176,0.10,2.25,33.40,0.568,6,0.037,0.042,2975,1990,1607,0,0,0,0,0,0
$GC,9496,0.98,292.6,132.6,11.4,539,9500,0.12,2.30,0.00,0.000,4,0.135,0.056,2938,3414,1605,0,0,0,0,0,0
$GC,9603,0.98,292.6,120.2,10.8,548,9611,0.00,2.30,0.00,0.000,6,0.000,0.048,2946,1992,1605,0,0,0,0,0,0
$GC,9932,0.98,297.5,85.7,10.0,579,9945,0.00,2.28,5.57,0.406,4,0.000,0.061,2949,601,1587,0,0,0,0,0,0
$GC,9951,1.02,323.7,83.7,9.0,580,9982,0.00,2.22,23.62,0.493,6,0.000,0.040,2949,2007,1480,0,0,0,0,0,0
$GC,10309,1.10,388.4,57.0,7.2,641,10372,0.00,2.30,54.20,0.480,4,0.000,0.055,2949,3411,1214,0,0,0,0,0,0
$GC,10425,1.10,388.4,46.0,11.0,661,10431,0.00,2.28,0.00,0.000,6,0.000,0.046,2949,1995,1213,0,0,0,0,0,0
$GC,10753,1.10,388.4,9.6,10.7,722,10760,0.00,2.33,0.00,0.000,4,0.000,0.068,2950,592,1213,0,0,0,0,0,0
$STATE,10813,end climb,SURFACE_DEPTH_REACHED
$STATE,10813,begin surface coast
$FINISH,0.7,1.023302
$STATE,10840,end surface coast,CONTROL_FINISHED_OK
$STATE,10840,begin surface
$SM_CCo,10921,0.00,0.000,0,0,1210,389.78
$SM_GC,1.62,7.38,0.00,0.00,0.019,0.000,0.000,36,1934,1210,-7.93,0.42,389.78
$IRIDIUM_FIX,2057.14,-15756.04,191002,151523
$TT8_MAMPS,0.027612
$HUMID,69.68
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,24.2,69.992
$10V_AH,9.9,77.687
$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,19.150,103.950,470.225,0.000,0.000,27.407,36.687,242.599,19.000,0.000,18.941,1360.429,6390.088,470.672,2536.434,618.693,0.000,1428.624,0.000,2476.707,0.000,119.297,0.000
$DEVICE_MAMPS,217.828,110.448,750.126,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,501.101,415.737,1386.255,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41349,738
$CAP_FILE_SIZE,120116,0
$CFSIZE,260165632,214261760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250713,215324,2107.703,-15759.021,17,1.7,17,9.8