version: 66.06
glider: 523
mission: 4
dive: 737
start: 7 17 113 17 40 21
data:
$ID,523
$MISSION,4
$DIVE,737
$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,157
$T_MISSION,190
$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,1
$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,-50874.316
$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,2618
$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,1940
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,28
$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
$GPS1,172842,2108.836,-15753.419,16,0.9,16,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.0
$GPS2,173929,2108.804,-15753.535,16,0.8,16,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.247,-0.069
$KALMAN_X,-4544.7,-1090.1,-133.3,5698.1,-388.4
$KALMAN_Y,1118.7,242.6,125.8,-1903.4,67.9
$MHEAD_RNG_PITCHd_Wd,95.9,19163,-17.6,-9.554
$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,-0.76,-146.0,0.0,0.0,0,112,0.00,0.00,-89.38,0.000,6,0.000,0.000,52,1895,3396,0,0,0,0,0,0
$GC,116,-0.76,-146.0,4.0,-6.4,15,131,9.52,2.12,0.00,0.000,4,0.222,0.047,2362,549,3398,0,0,0,0,0,0
$GC,170,-0.76,-146.0,16.9,-14.5,24,178,0.00,2.22,0.00,0.000,6,0.000,0.045,2354,1930,3398,0,0,0,0,0,0
$GC,340,-0.76,-146.0,34.8,-10.1,55,345,0.00,2.22,0.00,0.000,4,0.000,0.058,2354,563,3399,0,0,0,0,0,0
$GC,441,-0.76,-146.0,47.1,-12.0,73,446,0.00,2.17,0.00,0.000,6,0.000,0.045,2345,1951,3399,0,0,0,0,0,0
$GC,779,-0.76,-146.0,83.5,-10.9,132,783,0.00,2.25,0.00,0.000,4,0.000,0.057,2344,555,3400,0,0,0,0,0,0
$GC,1028,-0.76,-146.0,114.5,-10.7,154,1036,0.10,2.20,0.00,0.000,6,0.142,0.044,2366,1937,3400,0,0,0,0,0,0
$GC,1355,-0.76,-146.0,142.1,-7.1,185,1359,0.00,2.22,0.00,0.000,4,0.000,0.057,2366,562,3400,0,0,0,0,0,0
$GC,1607,-0.76,-146.0,165.0,-10.0,207,1616,0.00,2.20,0.00,0.000,6,0.000,0.044,2359,1943,3400,0,0,0,0,0,0
$GC,1935,-0.76,-146.0,195.6,-8.8,238,1939,0.00,2.22,0.00,0.000,4,0.000,0.058,2359,556,3400,0,0,0,0,0,0
$GC,2029,-0.76,-146.0,204.8,-9.3,244,2036,0.00,2.20,0.00,0.000,6,0.000,0.044,2350,1955,3400,0,0,0,0,0,0
$GC,2355,-0.76,-146.0,227.8,-6.5,260,2359,0.00,2.25,0.00,0.000,4,0.000,0.057,2350,563,3400,0,0,0,0,0,0
$GC,2418,-0.76,-146.0,231.9,-6.3,263,2422,0.12,2.15,0.00,0.000,6,0.158,0.043,2372,1947,3400,0,0,0,0,0,0
$GC,2748,-0.76,-146.0,250.4,-6.4,279,2752,0.00,2.25,0.00,0.000,4,0.000,0.062,2363,3350,3400,0,0,0,0,0,0
$GC,2787,-0.76,-146.0,253.8,-8.2,280,2792,0.00,2.20,0.00,0.000,6,0.000,0.051,2363,1968,3400,0,0,0,0,0,0
$GC,3105,-0.76,-146.0,277.6,-7.1,296,3109,0.00,2.33,0.00,0.000,4,0.000,0.067,2363,529,3400,0,0,0,0,0,0
$GC,3296,-0.76,-146.0,291.0,-7.1,304,3302,0.00,2.17,0.00,0.000,6,0.000,0.039,2354,1947,3400,0,0,0,0,0,0
$GC,3611,-0.76,-146.0,306.1,-4.6,317,3615,0.00,2.33,0.00,0.000,4,0.000,0.062,2354,519,3399,0,0,0,0,0,0
$GC,3756,-0.76,-146.0,315.0,-7.4,320,3760,0.00,2.20,0.00,0.000,6,0.000,0.040,2344,1948,3398,0,0,0,0,0,0
$GC,4069,-0.76,-146.0,339.5,-7.7,328,4073,0.00,2.33,0.00,0.000,4,0.000,0.062,2344,529,3397,0,0,0,0,0,0
$GC,4191,-0.76,-146.0,348.3,-7.0,330,4195,0.12,2.17,0.00,0.000,6,0.162,0.041,2366,1939,3396,0,0,0,0,0,0
$GC,4522,-0.76,-146.0,362.0,-4.0,338,4526,0.00,2.35,0.00,0.000,4,0.000,0.061,2366,526,3394,0,0,0,0,0,0
$GC,4601,-0.76,-146.0,366.2,-5.2,339,4606,0.00,2.22,0.00,0.000,6,0.000,0.041,2359,1949,3393,0,0,0,0,0,0
$GC,4932,-0.76,-146.0,382.9,-5.0,348,4936,0.00,2.35,0.00,0.000,4,0.000,0.061,2359,517,3392,0,0,0,0,0,0
$GC,5191,-0.76,-146.0,398.2,-6.7,353,5196,0.00,2.22,0.00,0.000,6,0.000,0.042,2349,1950,3391,0,0,0,0,0,0
$GC,5525,-0.76,-146.0,421.8,-7.8,362,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1950,3389,0,0,0,0,0,0
$STATE,5722,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5722,begin apogee
$GC,5730,-0.17,0.0,439.0,8.5,367,5856,0.68,0.00,123.10,0.740,6,0.123,0.000,2560,1986,2800,0,0,0,0,0,0
$STATE,5857,end apogee,CONTROL_FINISHED_OK
$STATE,5857,begin climb
$GC,5860,0.76,146.0,443.1,0.0,370,5998,0.90,2.38,128.77,0.719,4,0.082,0.061,2868,3401,2204,0,0,0,0,0,0
$GC,6050,0.76,146.0,429.4,10.1,375,6054,0.00,2.30,0.00,0.000,6,0.000,0.044,2878,1982,2201,0,0,0,0,0,0
$GC,6379,0.76,146.0,395.4,10.9,383,6383,0.00,2.30,0.00,0.000,4,0.000,0.061,2878,3392,2197,0,0,0,0,0,0
$GC,6592,0.76,146.0,368.6,12.2,387,6597,0.00,2.25,0.00,0.000,6,0.000,0.047,2887,1983,2195,0,0,0,0,0,0
$GC,6923,0.76,146.0,331.7,11.0,396,6927,0.00,2.30,0.00,0.000,4,0.000,0.063,2887,3392,2194,0,0,0,0,0,0
$GC,7082,0.76,146.0,312.2,12.9,399,7087,0.12,2.25,0.00,0.000,6,0.142,0.050,2861,1988,2193,0,0,0,0,0,0
$GC,7407,0.76,146.0,278.4,10.2,412,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1988,2193,0,0,0,0,0,0
$GC,7716,0.79,166.9,249.2,8.6,427,7740,0.00,2.38,17.52,0.616,4,0.000,0.063,2861,3398,2118,0,0,0,0,0,0
$GC,7760,0.82,188.2,245.6,8.6,429,7785,0.00,2.28,19.95,0.614,6,0.000,0.053,2868,1981,2032,0,0,0,0,0,0
$GC,8110,0.92,275.5,222.7,5.7,446,8198,0.12,2.38,77.10,0.616,4,0.077,0.059,2959,573,1675,0,0,0,0,0,0
$GC,8262,0.92,275.5,206.3,12.8,453,8267,0.15,2.22,0.00,0.000,6,0.123,0.038,2916,1994,1674,0,0,0,0,0,0
$GC,8588,0.92,275.5,169.3,10.4,481,8592,0.00,2.22,0.00,0.000,4,0.000,0.054,2916,3398,1672,0,0,0,0,0,0
$GC,8650,0.92,275.5,162.3,11.7,486,8654,0.00,2.28,0.00,0.000,6,0.000,0.048,2922,1975,1672,0,0,0,0,0,0
$GC,8978,0.92,275.5,130.3,10.1,516,8982,0.00,2.25,0.00,0.000,4,0.000,0.061,2933,573,1672,0,0,0,0,0,0
$GC,9051,0.92,275.5,123.0,10.3,522,9055,0.00,2.20,0.00,0.000,6,0.000,0.041,2933,1994,1671,0,0,0,0,0,0
$GC,9378,0.92,275.5,92.2,9.6,552,9382,0.00,2.35,0.00,0.000,4,0.000,0.067,2934,574,1672,0,0,0,0,0,0
$GC,9462,0.92,275.5,84.0,10.2,559,9466,0.00,2.22,0.00,0.000,6,0.000,0.044,2934,1991,1672,0,0,0,0,0,0
$GC,9796,0.99,329.1,57.6,7.2,615,9848,0.00,2.33,45.35,0.481,4,0.000,0.065,2934,580,1457,0,0,0,0,0,0
$GC,9956,1.01,344.2,45.1,8.9,643,9981,0.00,2.22,14.00,0.439,6,0.000,0.042,2934,1981,1395,0,0,0,0,0,0
$GC,10302,1.05,376.9,16.4,8.1,707,10336,0.00,2.28,27.25,0.436,4,0.000,0.054,2934,3398,1263,0,0,0,0,0,0
$GC,10386,1.07,390.9,9.1,8.9,721,10407,0.00,2.28,12.93,0.406,6,0.000,0.049,2934,1992,1205,0,0,0,0,0,0
$STATE,10455,end climb,SURFACE_DEPTH_REACHED
$STATE,10455,begin surface coast
$FINISH,0.7,1.015790
$STATE,10489,end surface coast,CONTROL_FINISHED_OK
$STATE,10489,begin surface
$SM_CCo,10568,0.00,0.000,0,0,1202,391.98
$SM_GC,1.55,7.40,0.00,0.00,0.024,0.000,0.000,44,1932,1202,-7.92,-0.17,391.98
$IRIDIUM_FIX,2057.14,-15751.76,111002,171755
$TT8_MAMPS,0.028379
$HUMID,68.42
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,24.3,64.084
$10V_AH,9.9,71.035
$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,19.250,99.375,465.975,0.000,0.000,54.309,82.969,284.672,18.500,0.000,16.893,1345.687,6117.932,494.101,2508.127,741.773,32.356,1418.925,0.000,2455.492,0.000,115.218,0.000
$DEVICE_MAMPS,222.430,159.536,740.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,501.132,423.716,1413.714,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,41289,739
$CAP_FILE_SIZE,120865,0
$CFSIZE,260165632,217968640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170713,203736,2108.777,-15753.608,31,0.8,31,9.8