version: 66.06
glider: 523
mission: 4
dive: 95
start: 5 5 113 2 59 57
data:
$ID,523
$MISSION,4
$DIVE,95
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$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,166
$T_MISSION,180
$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,-37745.969
$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,2640
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,35
$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
$GPS1,025401,2059.102,-15750.774,19,1.1,19,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.7
$GPS2,025941,2059.153,-15750.755,18,1.1,18,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,301.2,25898,-16.7,-9.036
$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,-0.74,-146.0,0.0,0.0,0,97,0.00,0.00,-77.82,0.000,6,0.000,0.000,40,1991,3393,0,0,0,0,0,0
$GC,101,-0.74,-146.0,4.0,-6.6,13,116,9.43,2.35,0.00,0.000,4,0.232,0.048,2392,540,3394,0,0,0,0,0,0
$GC,331,-0.74,-146.0,52.5,-17.6,55,337,0.00,2.17,0.00,0.000,6,0.000,0.036,2383,1957,3396,0,0,0,0,0,0
$GC,661,-0.74,-146.0,100.1,-14.9,103,665,0.00,2.28,0.00,0.000,4,0.000,0.054,2383,548,3398,0,0,0,0,0,0
$GC,868,-0.74,-146.0,131.5,-14.8,121,875,0.00,2.15,0.00,0.000,6,0.000,0.034,2374,1956,3399,0,0,0,0,0,0
$GC,1195,-0.74,-146.0,167.6,-9.1,152,1199,0.00,2.25,0.00,0.000,4,0.000,0.052,2374,546,3399,0,0,0,0,0,0
$GC,1291,-0.74,-146.0,179.2,-12.3,160,1299,0.10,2.15,0.00,0.000,6,0.146,0.034,2396,1962,3399,0,0,0,0,0,0
$GC,1615,-0.74,-146.0,206.2,-8.6,188,1619,0.00,2.25,0.00,0.000,4,0.000,0.051,2396,543,3400,0,0,0,0,0,0
$GC,1804,-0.74,-146.0,223.8,-10.0,196,1809,0.00,2.15,0.00,0.000,6,0.000,0.036,2388,1955,3400,0,0,0,0,0,0
$GC,2121,-0.74,-146.0,255.5,-10.5,211,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1956,3400,0,0,0,0,0,0
$GC,2432,-0.74,-146.0,285.4,-9.0,226,2436,0.00,2.25,0.00,0.000,4,0.000,0.057,2388,547,3400,0,0,0,0,0,0
$GC,2690,-0.74,-146.0,308.6,-8.3,235,2695,0.00,2.17,0.00,0.000,6,0.000,0.039,2379,1969,3400,0,0,0,0,0,0
$GC,3022,-0.74,-146.0,335.3,-8.4,244,3026,0.00,2.15,0.00,0.000,4,0.000,0.058,2369,3369,3398,0,0,0,0,0,0
$GC,3198,-0.74,-146.0,351.0,-8.2,248,3203,0.12,2.20,0.00,0.000,6,0.153,0.043,2402,1953,3397,0,0,0,0,0,0
$GC,3525,-0.74,-146.0,371.3,-6.3,256,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1953,3395,0,0,0,0,0,0
$GC,3849,-0.74,-146.0,391.5,-6.4,264,3853,0.00,2.22,0.00,0.000,4,0.000,0.065,2403,542,3393,0,0,0,0,0,0
$GC,3939,-0.74,-146.0,397.7,-6.4,266,3943,0.00,2.20,0.00,0.000,6,0.000,0.045,2394,1968,3392,0,0,0,0,0,0
$GC,4263,-0.74,-146.0,418.8,-6.8,274,4267,0.00,2.15,0.00,0.000,4,0.000,0.058,2384,3366,3389,0,0,0,0,0,0
$GC,4427,-0.74,-146.0,430.8,-7.3,277,4431,0.00,2.20,0.00,0.000,6,0.000,0.048,2384,1963,3389,0,0,0,0,0,0
$STATE,4716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4716,begin apogee
$GC,4722,-0.17,0.0,450.9,6.9,284,4843,0.60,0.00,117.90,0.794,6,0.123,0.000,2579,1963,2800,0,0,0,0,0,0
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$GC,4847,0.74,146.0,451.2,0.0,287,4977,0.88,0.00,126.22,0.761,6,0.077,0.000,2876,1963,2204,0,0,0,0,0,0
$GC,5283,0.74,146.0,397.8,12.6,298,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1963,2195,0,0,0,0,0,0
$GC,5608,0.74,146.0,357.1,12.9,306,5612,0.00,2.25,0.00,0.000,4,0.000,0.061,2886,556,2193,0,0,0,0,0,0
$GC,5692,0.74,146.0,345.5,12.9,308,5696,0.00,2.22,0.00,0.000,6,0.000,0.043,2886,1979,2192,0,0,0,0,0,0
$GC,6016,0.74,146.0,301.0,13.3,316,6020,0.00,2.17,0.00,0.000,4,0.000,0.056,2886,3380,2191,0,0,0,0,0,0
$GC,6062,0.74,146.0,294.7,14.7,317,6066,0.00,2.22,0.00,0.000,6,0.000,0.050,2894,1967,2190,0,0,0,0,0,0
$GC,6394,0.74,146.0,251.4,12.7,333,6398,0.00,2.22,0.00,0.000,4,0.000,0.062,2904,565,2189,0,0,0,0,0,0
$GC,6466,0.74,146.0,242.0,13.3,336,6470,0.00,2.20,0.00,0.000,6,0.000,0.044,2904,1978,2188,0,0,0,0,0,0
$GC,6788,0.74,146.0,204.9,11.8,352,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1978,2187,0,0,0,0,0,0
$GC,7107,0.74,146.0,163.8,12.5,380,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1979,2187,0,0,0,0,0,0
$GC,7427,0.74,146.0,127.7,10.4,410,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1979,2186,0,0,0,0,0,0
$GC,7756,0.74,146.0,94.5,9.8,441,7760,0.00,2.22,0.00,0.000,4,0.000,0.053,2904,3390,2187,0,0,0,0,0,0
$GC,7830,0.74,146.0,86.2,10.8,447,7834,0.12,2.25,0.00,0.000,6,0.150,0.045,2876,1967,2186,0,0,0,0,0,0
$GC,8157,0.75,155.3,54.6,8.6,502,8169,0.00,2.22,6.18,0.431,4,0.000,0.058,2885,567,2165,0,0,0,0,0,0
$GC,8254,0.75,155.3,45.1,9.8,519,8259,0.00,2.17,0.00,0.000,6,0.000,0.039,2886,1983,2164,0,0,0,0,0,0
$GC,8581,0.77,177.0,16.6,8.1,580,8608,0.00,0.00,19.98,0.465,6,0.000,0.000,2885,1983,2076,0,0,0,0,0,0
$STATE,8755,end climb,SURFACE_DEPTH_REACHED
$STATE,8755,begin surface coast
$FINISH,0.4,1.021776
$STATE,8792,end surface coast,CONTROL_FINISHED_OK
$STATE,8792,begin surface
$SM_CCo,8810,56.00,0.453,0,0,1575,300.24
$SM_GC,1.26,0.00,0.00,56.00,0.000,0.000,0.453,51,1989,1575,-8.09,0.82,300.24
$IRIDIUM_FIX,2047.91,-15752.63,300702,000029
$TT8_MAMPS,0.028379
$HUMID,61.49
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.6,8.153
$10V_AH,10.5,8.922
$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,18.475,57.475,270.275,56.000,0.000,31.114,35.882,146.448,19.000,0.000,19.128,1128.852,5210.182,400.925,2038.805,426.861,0.000,1072.021,0.000,1993.852,0.000,117.235,0.000
$DEVICE_MAMPS,232.401,65.195,793.845,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,421.650,347.357,1224.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,34909,619
$CAP_FILE_SIZE,89306,0
$CFSIZE,260165632,250605568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,052858,2059.445,-15751.746,36,0.8,36,9.8