version: 66.06
glider: 523
mission: 4
dive: 802
start: 7 26 113 17 9 55
data:
$ID,523
$MISSION,4
$DIVE,802
$D_SURF,3
$D_FLARE,3
$D_TGT,210
$D_ABORT,250
$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,70
$T_MISSION,100
$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,-52332.852
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,170234,2109.783,-15758.807,29,0.9,29,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.2
$GPS2,170936,2109.815,-15758.868,17,1.1,17,9.8
$SPEED_LIMITS,0.173,0.268
$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,37.8,13492,-17.6,-10.000
$D_GRID,210
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.78,-155.7,0.0,0.0,0,120,0.00,0.00,-101.40,0.000,2,0.000,0.000,39,1904,3381,0,0,0,0,0,0
$GC,124,-0.78,-155.7,3.0,-4.4,16,146,9.52,2.30,-1.25,0.000,4,0.219,0.069,2351,3303,3437,0,0,0,0,0,0
$GC,171,-0.78,-155.7,12.4,-13.4,23,179,0.00,2.30,0.00,0.000,6,0.000,0.048,2351,1904,3438,0,0,0,0,0,0
$GC,339,-0.78,-155.7,35.6,-13.3,54,347,0.00,2.35,0.00,0.000,4,0.000,0.064,2351,488,3438,0,0,0,0,0,0
$GC,398,-0.78,-155.7,43.8,-13.1,64,405,0.00,2.25,0.00,0.000,6,0.000,0.043,2341,1899,3438,0,0,0,0,0,0
$GC,736,-0.78,-155.7,80.3,-11.1,125,740,0.12,2.28,0.00,0.000,4,0.167,0.061,2364,3321,3438,0,0,0,0,0,0
$GC,860,-0.78,-155.7,91.9,-8.3,136,865,0.00,2.25,0.00,0.000,6,0.000,0.046,2364,1899,3439,0,0,0,0,0,0
$GC,1188,-0.78,-155.7,116.0,-7.3,166,1192,0.00,2.33,0.00,0.000,4,0.000,0.066,2364,480,3440,0,0,0,0,0,0
$GC,1371,-0.78,-155.7,132.7,-9.1,182,1379,0.00,2.25,0.00,0.000,6,0.000,0.040,2355,1906,3440,0,0,0,0,0,0
$GC,1699,-0.78,-155.7,158.0,-6.5,213,1703,0.00,2.35,0.00,0.000,4,0.000,0.061,2355,482,3440,0,0,0,0,0,0
$GC,1936,-0.78,-155.7,177.9,-7.4,234,1940,0.00,2.20,0.00,0.000,6,0.000,0.040,2345,1902,3440,0,0,0,0,0,0
$GC,2271,-0.78,-155.7,204.1,-8.4,263,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1902,3440,0,0,0,0,0,0
$STATE,2351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2351,begin apogee
$GC,2359,-0.17,0.0,211.5,9.0,267,2493,0.70,0.00,127.82,0.545,6,0.120,0.000,2565,1999,2798,0,0,0,0,0,0
$STATE,2493,end apogee,CONTROL_FINISHED_OK
$STATE,2493,begin climb
$GC,2496,0.78,155.7,215.3,0.0,274,2638,0.88,2.35,130.98,0.535,4,0.071,0.058,2876,3380,2163,0,0,0,0,0,0
$GC,2708,0.88,233.5,204.7,6.7,284,2782,0.00,2.25,67.20,0.524,6,0.000,0.043,2884,1970,1846,0,0,0,0,0,0
$GC,3111,0.92,267.7,174.6,8.5,318,3150,0.10,0.00,30.60,0.502,6,0.085,0.000,2944,1970,1707,0,0,0,0,0,0
$GC,3471,0.92,270.4,139.0,9.9,352,3484,0.00,2.33,3.67,0.320,4,0.000,0.057,2944,3368,1696,0,0,0,0,0,0
$GC,3554,0.92,270.4,130.3,10.1,359,3562,0.08,2.22,0.00,0.000,6,0.118,0.046,2924,1988,1696,0,0,0,0,0,0
$GC,3884,0.96,301.4,100.1,8.7,390,3919,0.00,2.30,27.73,0.465,4,0.000,0.057,2923,3375,1570,0,0,0,0,0,0
$GC,3979,0.97,309.8,91.2,9.6,398,3999,0.00,2.28,9.02,0.414,6,0.000,0.048,2927,1977,1535,0,0,0,0,0,0
$GC,4320,0.97,314.6,60.7,9.8,448,4333,0.00,2.30,5.32,0.357,4,0.000,0.058,2927,3365,1515,0,0,0,0,0,0
$GC,4375,1.00,332.2,55.7,9.2,457,4399,0.00,2.22,16.40,0.427,6,0.000,0.050,2930,1977,1443,0,0,0,0,0,0
$GC,4729,1.06,385.2,25.9,7.7,521,4783,0.10,2.35,43.90,0.426,4,0.088,0.067,2981,570,1226,0,0,0,0,0,0
$GC,4840,1.06,385.2,13.8,11.1,539,4847,0.00,2.22,0.00,0.000,6,0.000,0.039,2981,1966,1224,0,0,0,0,0,0
$STATE,4936,end climb,SURFACE_DEPTH_REACHED
$STATE,4936,begin surface coast
$FINISH,1.0,1.023277
$STATE,4960,end surface coast,CONTROL_FINISHED_OK
$STATE,4960,begin surface
$SM_CCo,5039,0.00,0.000,0,0,1223,387.08
$SM_GC,1.68,7.43,0.00,0.00,0.019,0.000,0.000,50,1865,1223,-7.94,-0.93,387.08
$IRIDIUM_FIX,2057.14,-15756.91,201002,141413
$TT8_MAMPS,0.027612
$HUMID,65.55
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,24.5,70.742
$10V_AH,9.9,78.443
$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,18.925,45.950,462.650,0.000,0.000,25.687,42.945,189.372,7.000,0.000,18.400,905.925,1693.978,443.374,1914.150,494.342,0.000,1102.200,0.000,1901.930,0.000,44.873,0.000
$DEVICE_MAMPS,218.595,94.341,544.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,376.114,353.913,1466.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355400
$DATA_FILE_SIZE,31790,561
$CAP_FILE_SIZE,70900,0
$CFSIZE,260165632,213901312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260713,183449,2110.091,-15759.077,18,0.8,19,9.8