version: 66.06
glider: 523
mission: 4
dive: 801
start: 7 26 113 14 0 1
data:
$ID,523
$MISSION,4
$DIVE,801
$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,160
$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,290
$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,-52313.82
$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,2624
$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,1900
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,17
$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
$GPS1,135253,2109.573,-15758.387,14,0.9,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.2
$GPS2,135941,2109.587,-15758.472,17,0.8,17,9.8
$SPEED_LIMITS,0.177,0.270
$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,34.4,13294,-18.0,-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,-0.79,-155.7,0.0,0.0,0,112,0.00,0.00,-92.18,0.000,6,0.000,0.000,46,1891,3434,0,0,0,0,0,0
$GC,117,-0.79,-155.7,3.5,-5.9,15,131,9.57,2.28,0.00,0.000,4,0.222,0.057,2350,3314,3436,0,0,0,0,0,0
$GC,140,-0.79,-155.7,10.7,-24.7,18,147,0.00,2.30,0.00,0.000,6,0.000,0.051,2350,1905,3437,0,0,0,0,0,0
$GC,313,-0.79,-155.7,32.7,-11.4,49,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1905,3437,0,0,0,0,0,0
$GC,642,-0.79,-155.7,68.0,-10.8,110,650,0.00,2.35,0.00,0.000,4,0.000,0.060,2340,3315,3438,0,0,0,0,0,0
$GC,741,-0.79,-155.7,78.0,-9.9,127,746,0.00,2.28,0.00,0.000,6,0.000,0.048,2340,1886,3438,0,0,0,0,0,0
$GC,1075,-0.79,-155.7,107.0,-9.0,160,1079,0.00,2.35,0.00,0.000,4,0.000,0.058,2331,3319,3440,0,0,0,0,0,0
$GC,1236,-0.79,-155.7,121.4,-8.6,174,1241,0.12,2.25,0.00,0.000,6,0.150,0.048,2364,1901,3441,0,0,0,0,0,0
$GC,1569,-0.79,-155.7,144.2,-7.4,205,1573,0.00,2.30,0.00,0.000,4,0.000,0.058,2356,3321,3441,0,0,0,0,0,0
$GC,1631,-0.79,-155.7,149.3,-7.9,210,1636,0.00,2.28,0.00,0.000,6,0.000,0.048,2356,1897,3441,0,0,0,0,0,0
$GC,1959,-0.79,-155.7,172.8,-6.8,240,1963,0.00,2.28,0.00,0.000,4,0.000,0.063,2356,483,3441,0,0,0,0,0,0
$GC,2000,-0.79,-155.7,175.5,-6.6,243,2004,0.00,2.20,0.00,0.000,6,0.000,0.040,2346,1907,3441,0,0,0,0,0,0
$GC,2328,-0.79,-155.7,195.3,-7.0,273,2332,0.00,2.28,0.00,0.000,4,0.000,0.063,2336,3313,3441,0,0,0,0,0,0
$GC,2387,-0.79,-155.7,199.9,-7.2,278,2395,0.10,2.30,0.00,0.000,6,0.125,0.051,2368,1898,3442,0,0,0,0,0,0
$GC,2706,-0.79,-155.7,219.1,-6.8,294,2710,0.00,2.28,0.00,0.000,4,0.000,0.064,2368,488,3441,0,0,0,0,0,0
$GC,2963,-0.79,-155.7,236.3,-6.0,305,2967,0.00,2.17,0.00,0.000,6,0.000,0.039,2361,1900,3441,0,0,0,0,0,0
$GC,3281,-0.79,-155.7,257.2,-7.2,320,3285,0.00,2.35,0.00,0.000,4,0.000,0.061,2361,488,3441,0,0,0,0,0,0
$GC,3455,-0.79,-155.7,272.3,-8.2,328,3459,0.00,2.20,0.00,0.000,6,0.000,0.040,2351,1907,3440,0,0,0,0,0,0
$GC,3785,-0.79,-155.7,298.3,-7.5,344,3789,0.00,2.35,0.00,0.000,4,0.000,0.061,2351,482,3440,0,0,0,0,0,0
$GC,3836,-0.79,-155.7,302.7,-8.0,346,3840,0.00,2.22,0.00,0.000,6,0.000,0.041,2341,1900,3439,0,0,0,0,0,0
$GC,4151,-0.79,-155.7,326.6,-7.6,354,4155,0.00,2.35,0.00,0.000,4,0.000,0.061,2341,488,3438,0,0,0,0,0,0
$GC,4240,-0.79,-155.7,333.4,-6.7,356,4245,0.12,2.22,0.00,0.000,6,0.155,0.041,2363,1904,3437,0,0,0,0,0,0
$GC,4564,-0.79,-155.7,351.8,-5.9,364,4568,0.00,2.33,0.00,0.000,4,0.000,0.061,2364,488,3436,0,0,0,0,0,0
$GC,4756,-0.79,-155.7,363.7,-5.8,368,4760,0.00,2.22,0.00,0.000,6,0.000,0.042,2356,1899,3435,0,0,0,0,0,0
$GC,5104,-0.79,-155.7,381.8,-4.7,377,5108,0.00,2.30,0.00,0.000,4,0.000,0.062,2356,489,3433,0,0,0,0,0,0
$GC,5272,-0.79,-155.7,391.3,-8.1,380,5276,0.00,2.22,0.00,0.000,6,0.000,0.043,2346,1899,3431,0,0,0,0,0,0
$GC,5607,-0.79,-155.7,421.7,-10.3,388,5611,0.00,2.33,0.00,0.000,4,0.000,0.067,2336,3311,3430,0,0,0,0,0,0
$GC,5623,-0.79,-155.7,423.9,-10.9,388,5628,0.12,2.28,0.00,0.000,6,0.149,0.049,2368,1895,3430,0,0,0,0,0,0
$GC,5969,-0.79,-155.7,448.1,-6.9,397,5973,0.00,2.30,0.00,0.000,4,0.000,0.067,2368,480,3428,0,0,0,0,0,0
$STATE,5988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5988,begin apogee
$GC,5998,-0.17,0.0,450.5,9.2,397,6134,0.62,0.00,132.60,0.756,6,0.117,0.000,2563,1979,2799,0,0,0,0,0,0
$STATE,6135,end apogee,CONTROL_FINISHED_OK
$STATE,6135,begin climb
$GC,6138,0.79,155.7,456.1,0.0,401,6283,0.88,2.40,137.57,0.736,4,0.068,0.063,2872,3385,2164,0,0,0,0,0,0
$GC,6376,0.83,189.5,442.4,8.7,406,6411,0.00,2.28,30.45,0.703,6,0.000,0.048,2882,1976,2027,0,0,0,0,0,0
$GC,6757,0.83,189.5,400.4,11.0,416,6761,0.00,2.33,0.00,0.000,4,0.000,0.060,2882,3398,2022,0,0,0,0,0,0
$GC,6841,0.83,189.5,388.9,13.4,418,6845,0.00,2.25,0.00,0.000,6,0.000,0.046,2891,1973,2021,0,0,0,0,0,0
$GC,7166,0.84,192.3,355.0,10.1,426,7170,0.00,2.28,0.00,0.000,4,0.000,0.059,2891,3390,2021,0,0,0,0,0,0
$GC,7227,0.84,192.3,347.8,12.1,427,7231,0.00,2.22,0.00,0.000,6,0.000,0.050,2899,1982,2020,0,0,0,0,0,0
$GC,7569,0.88,229.1,316.2,8.6,436,7611,0.00,2.33,35.38,0.677,4,0.000,0.061,2898,3398,1864,0,0,0,0,0,0
$GC,7692,0.88,229.1,304.3,10.4,438,7696,0.00,2.30,0.00,0.000,6,0.000,0.052,2907,1981,1862,0,0,0,0,0,0
$GC,8007,0.90,242.2,274.1,9.6,452,8028,0.00,2.35,12.95,0.613,4,0.000,0.061,2907,3398,1811,0,0,0,0,0,0
$GC,8120,0.90,242.2,262.8,10.2,457,8124,0.00,2.22,0.00,0.000,6,0.000,0.043,2910,1974,1809,0,0,0,0,0,0
$GC,8446,0.90,242.2,231.0,11.0,473,8450,0.00,2.28,0.00,0.000,4,0.000,0.053,2910,3396,1809,0,0,0,0,0,0
$GC,8491,0.90,242.2,225.5,12.5,475,8495,0.00,2.22,0.00,0.000,6,0.000,0.047,2919,1979,1809,0,0,0,0,0,0
$GC,8819,0.90,242.2,189.0,10.9,495,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1979,1809,0,0,0,0,0,0
$GC,9148,0.90,242.2,148.8,11.5,526,9152,0.00,2.25,0.00,0.000,4,0.000,0.058,2929,573,1809,0,0,0,0,0,0
$GC,9170,0.90,242.2,145.9,10.6,527,9178,0.00,2.22,0.00,0.000,6,0.000,0.037,2929,1993,1809,0,0,0,0,0,0
$GC,9498,0.98,310.1,120.9,7.2,558,9567,0.00,2.28,59.30,0.551,4,0.000,0.052,2929,3389,1534,0,0,0,0,0,0
$GC,9597,0.98,310.4,112.2,10.2,566,9604,0.00,2.28,0.00,0.000,6,0.000,0.041,2935,1975,1533,0,0,0,0,0,0
$GC,9925,1.06,378.4,82.3,7.2,597,9990,0.00,2.33,56.85,0.510,4,0.000,0.051,2935,3384,1258,0,0,0,0,0,0
$GC,10158,1.09,399.4,60.2,9.3,635,10183,0.10,2.25,18.88,0.469,6,0.083,0.047,2974,1979,1170,0,0,0,0,0,0
$GC,10512,1.09,399.4,27.9,10.2,699,10519,0.00,2.30,0.00,0.000,4,0.000,0.060,2974,568,1166,0,0,0,0,0,0
$GC,10549,1.09,399.4,24.2,10.7,705,10557,0.00,2.22,0.00,0.000,6,0.000,0.038,2974,1980,1167,0,0,0,0,0,0
$GC,10717,1.14,444.2,8.1,8.2,736,10770,0.00,2.35,47.50,0.444,4,0.000,0.066,2974,563,987,0,0,0,0,0,0
$STATE,10776,end climb,SURFACE_DEPTH_REACHED
$STATE,10776,begin surface coast
$FINISH,0.6,1.010415
$STATE,10807,end surface coast,CONTROL_FINISHED_OK
$STATE,10807,begin surface
$SM_CCo,10888,0.00,0.000,0,0,981,446.19
$SM_GC,1.42,7.60,0.00,0.00,0.025,0.000,0.000,39,1903,981,-7.96,0.06,446.19
$IRIDIUM_FIX,2059.45,-15658.10,201002,101023
$TT8_MAMPS,0.027612
$HUMID,70.75
$INTERNAL_PRESSURE,9.29449
$TCM_TEMP,20.80
$XPDR_PINGS,1
$24V_AH,24.2,70.660
$10V_AH,9.9,78.350
$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,19.250,114.075,531.475,0.000,0.000,25.426,38.654,181.320,19.000,0.000,20.412,1355.047,6265.312,512.168,2566.457,588.493,0.000,1494.223,0.000,2511.794,0.000,117.260,0.000
$DEVICE_MAMPS,221.663,67.496,756.262,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,508.755,425.002,1485.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,41344,750
$CAP_FILE_SIZE,122252,0
$CFSIZE,260165632,213901312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260713,170234,2109.783,-15758.807,29,0.9,29,9.8