version: 66.06
glider: 523
mission: 4
dive: 796
start: 7 25 113 22 1 9
data:
$ID,523
$MISSION,4
$DIVE,796
$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,-52190.012
$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,25
$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
$GPS1,215324,2107.703,-15759.021,17,1.7,17,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.4
$GPS2,220049,2107.648,-15759.057,18,1.7,18,9.8
$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,28.3,16667,-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,-92.55,0.000,6,0.000,0.000,29,1934,3397,0,0,0,0,0,0
$GC,117,-0.80,-146.0,3.1,-4.3,15,131,9.50,2.22,0.00,0.000,4,0.216,0.054,2350,3329,3398,0,0,0,0,0,0
$GC,190,-0.80,-146.0,16.6,-11.7,28,198,0.00,2.28,0.00,0.000,6,0.000,0.048,2350,1928,3399,0,0,0,0,0,0
$GC,361,-0.80,-146.0,37.1,-12.1,59,366,0.00,2.33,0.00,0.000,4,0.000,0.065,2350,499,3400,0,0,0,0,0,0
$GC,508,-0.80,-146.0,58.0,-13.6,86,516,0.00,2.25,0.00,0.000,6,0.000,0.039,2341,1922,3400,0,0,0,0,0,0
$GC,847,-0.80,-146.0,92.3,-8.4,134,851,0.00,2.28,0.00,0.000,4,0.000,0.060,2341,507,3400,0,0,0,0,0,0
$GC,1043,-0.80,-146.0,111.6,-10.6,151,1048,0.12,2.20,0.00,0.000,6,0.161,0.040,2362,1920,3401,0,0,0,0,0,0
$GC,1371,-0.80,-146.0,140.7,-8.4,181,1375,0.00,2.28,0.00,0.000,4,0.000,0.060,2362,506,3401,0,0,0,0,0,0
$GC,1595,-0.80,-146.0,158.1,-6.8,201,1599,0.00,2.17,0.00,0.000,6,0.000,0.039,2355,1920,3402,0,0,0,0,0,0
$GC,1923,-0.80,-146.0,180.8,-7.7,231,1927,0.00,2.33,0.00,0.000,4,0.000,0.061,2355,507,3402,0,0,0,0,0,0
$GC,2105,-0.80,-146.0,196.0,-8.5,247,2109,0.00,2.20,0.00,0.000,6,0.000,0.041,2345,1919,3402,0,0,0,0,0,0
$GC,2441,-0.80,-146.0,214.6,-4.6,266,2445,0.00,2.33,0.00,0.000,4,0.000,0.061,2345,499,3402,0,0,0,0,0,0
$GC,2698,-0.80,-146.0,232.3,-6.4,277,2704,0.00,2.22,0.00,0.000,6,0.000,0.040,2335,1927,3402,0,0,0,0,0,0
$GC,3015,-0.80,-146.0,247.3,-4.0,293,3019,0.00,2.33,0.00,0.000,4,0.000,0.059,2335,505,3402,0,0,0,0,0,0
$GC,3200,-0.80,-146.0,255.1,-4.8,301,3205,0.15,2.22,0.00,0.000,6,0.153,0.041,2365,1929,3402,0,0,0,0,0,0
$GC,3518,-0.80,-146.0,273.1,-6.8,316,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1929,3402,0,0,0,0,0,0
$GC,3825,-0.80,-146.0,296.7,-7.6,331,3829,0.00,2.30,0.00,0.000,4,0.000,0.058,2366,502,3400,0,0,0,0,0,0
$GC,4015,-0.80,-146.0,310.3,-6.4,337,4019,0.00,2.20,0.00,0.000,6,0.000,0.040,2358,1932,3399,0,0,0,0,0,0
$GC,4365,-0.80,-146.0,330.2,-5.8,346,4368,0.00,2.33,0.00,0.000,4,0.000,0.060,2358,499,3397,0,0,0,0,0,0
$GC,4438,-0.80,-146.0,335.2,-6.5,347,4442,0.00,2.22,0.00,0.000,6,0.000,0.041,2348,1924,3397,0,0,0,0,0,0
$GC,4776,-0.80,-146.0,359.9,-7.5,356,4780,0.00,2.28,0.00,0.000,4,0.000,0.063,2337,3336,3396,0,0,0,0,0,0
$GC,4877,-0.80,-146.0,367.5,-7.9,358,4881,0.00,2.25,0.00,0.000,6,0.000,0.048,2338,1914,3396,0,0,0,0,0,0
$GC,5191,-0.80,-146.0,387.0,-5.5,366,5195,0.00,2.30,0.00,0.000,4,0.000,0.066,2337,501,3393,0,0,0,0,0,0
$GC,5451,-0.80,-146.0,402.2,-5.9,371,5457,0.12,2.22,0.00,0.000,6,0.161,0.040,2359,1927,3391,0,0,0,0,0,0
$GC,5783,-0.80,-146.0,417.1,-4.4,380,5787,0.00,2.35,0.00,0.000,4,0.000,0.062,2360,505,3390,0,0,0,0,0,0
$GC,6003,-0.80,-146.0,427.9,-4.6,385,6008,0.00,2.20,0.00,0.000,6,0.000,0.041,2352,1917,3389,0,0,0,0,0,0
$GC,6329,-0.80,-146.0,446.9,-6.7,393,6333,0.00,2.28,0.00,0.000,4,0.000,0.064,2341,3330,3387,0,0,0,0,0,0
$STATE,6376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6376,begin apogee
$GC,6384,-0.17,0.0,450.1,6.1,394,6512,0.70,0.00,124.28,0.755,6,0.123,0.000,2564,1998,2800,0,0,0,0,0,0
$STATE,6513,end apogee,CONTROL_FINISHED_OK
$STATE,6513,begin climb
$GC,6517,0.80,146.0,451.6,0.0,397,6651,0.90,0.00,130.20,0.729,6,0.069,0.000,2879,1998,2204,0,0,0,0,0,0
$GC,6963,0.80,146.0,401.0,10.8,408,6967,0.00,2.30,0.00,0.000,4,0.000,0.056,2879,3412,2196,0,0,0,0,0,0
$GC,7020,0.80,146.0,394.8,11.2,409,7024,0.00,2.25,0.00,0.000,6,0.000,0.047,2889,1988,2196,0,0,0,0,0,0
$GC,7367,0.80,146.0,360.7,10.3,418,7371,0.00,2.25,0.00,0.000,4,0.000,0.064,2899,588,2194,0,0,0,0,0,0
$GC,7389,0.80,146.0,357.8,12.1,418,7393,0.00,2.22,0.00,0.000,6,0.000,0.041,2899,2001,2194,0,0,0,0,0,0
$GC,7727,0.80,146.0,319.4,10.8,427,7731,0.00,2.30,0.00,0.000,4,0.000,0.061,2908,593,2192,0,0,0,0,0,0
$GC,7844,0.81,158.6,307.7,9.6,429,7860,0.00,2.20,10.82,0.615,6,0.000,0.043,2908,2001,2153,0,0,0,0,0,0
$GC,8185,0.84,179.5,277.4,9.2,444,8210,0.00,2.30,19.58,0.639,4,0.000,0.063,2908,3419,2067,0,0,0,0,0,0
$GC,8321,0.84,179.5,262.9,10.6,450,8324,0.00,2.28,0.00,0.000,6,0.000,0.048,2918,1994,2064,0,0,0,0,0,0
$GC,8654,0.86,194.7,229.1,9.5,466,8675,0.00,2.30,14.62,0.596,4,0.000,0.061,2919,3405,2005,0,0,0,0,0,0
$GC,8766,0.86,194.7,216.3,11.6,471,8770,0.00,2.28,0.00,0.000,6,0.000,0.051,2927,1992,2002,0,0,0,0,0,0
$GC,9092,0.87,203.1,183.7,9.8,494,9102,0.00,0.00,8.75,0.529,6,0.000,0.000,2927,1992,1970,0,0,0,0,0,0
$GC,9419,0.89,218.2,153.2,9.5,525,9444,0.00,2.35,14.85,0.547,4,0.000,0.061,2927,3404,1909,0,0,0,0,0,0
$GC,9480,0.89,218.2,147.1,10.3,530,9484,0.00,2.25,0.00,0.000,6,0.000,0.051,2935,1996,1908,0,0,0,0,0,0
$GC,9809,0.89,224.0,117.4,9.9,560,9820,0.00,2.30,6.40,0.453,4,0.000,0.061,2935,3408,1886,0,0,0,0,0,0
$GC,9879,0.93,255.1,110.0,8.7,566,9915,0.00,2.22,28.80,0.529,6,0.000,0.044,2945,1983,1758,0,0,0,0,0,0
$GC,10236,1.01,320.6,81.1,7.1,599,10301,0.00,2.33,56.97,0.506,4,0.000,0.061,2955,592,1491,0,0,0,0,0,0
$GC,10329,1.02,324.9,72.9,10.0,613,10342,0.00,2.25,5.22,0.384,6,0.000,0.041,2955,2009,1474,0,0,0,0,0,0
$GC,10672,1.02,324.9,36.8,10.3,675,10677,0.00,2.25,0.00,0.000,4,0.000,0.056,2954,3421,1472,0,0,0,0,0,0
$GC,10721,1.02,327.2,31.3,10.1,684,10729,0.00,2.28,0.00,0.000,6,0.000,0.044,2962,2002,1472,0,0,0,0,0,0
$STATE,11033,end climb,SURFACE_DEPTH_REACHED
$STATE,11033,begin surface coast
$FINISH,0.9,1.023378
$STATE,11067,end surface coast,CONTROL_FINISHED_OK
$STATE,11067,begin surface
$SM_CCo,11147,0.00,0.000,0,0,1471,326.00
$SM_GC,1.41,7.43,0.00,0.00,0.021,0.000,0.000,51,1920,1471,-7.93,0.08,326.00
$IRIDIUM_FIX,2057.14,-15756.04,191002,151523
$TT8_MAMPS,0.027612
$HUMID,71.26
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,21.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,411.6,57.4
$24V_AH,24.2,70.090
$10V_AH,9.9,77.798
$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,18.925,99.750,420.500,0.000,0.000,32.534,34.941,224.363,17.500,0.000,18.579,1379.813,6536.792,445.607,2613.490,609.605,0.000,1393.915,0.000,2561.692,0.000,110.677,0.000
$DEVICE_MAMPS,215.527,102.778,754.728,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,509.662,441.764,1461.583,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41269,749
$CAP_FILE_SIZE,119810,0
$CFSIZE,260165632,214200320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,260713,010805,2108.117,-15758.491,33,0.8,33,9.8