version: 66.06
glider: 523
mission: 4
dive: 100
start: 5 5 113 15 45 58
data:
$ID,523
$MISSION,4
$DIVE,100
$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,-37850.559
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,153936,2101.111,-15756.738,18,1.0,18,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.7
$GPS2,154541,2101.146,-15756.739,15,1.2,15,9.8
$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,315.6,16181,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.25,0.000,2,0.000,0.000,30,1978,3355,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.3,12,113,9.45,2.38,-0.85,0.000,4,0.232,0.066,2394,550,3396,0,0,0,0,0,0
$GC,234,-0.74,-146.0,36.7,-21.8,37,240,0.00,2.20,0.00,0.000,6,0.000,0.038,2386,1970,3397,0,0,0,0,0,0
$GC,571,-0.74,-146.0,85.7,-15.3,96,575,0.00,2.33,0.00,0.000,4,0.000,0.054,2385,541,3400,0,0,0,0,0,0
$GC,645,-0.74,-146.0,98.4,-17.5,102,649,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1964,3400,0,0,0,0,0,0
$GC,973,-0.74,-146.0,140.8,-10.4,132,977,0.00,2.28,0.00,0.000,4,0.000,0.053,2376,548,3401,0,0,0,0,0,0
$GC,1133,-0.74,-146.0,158.2,-12.0,146,1137,0.12,2.15,0.00,0.000,6,0.172,0.034,2398,1974,3402,0,0,0,0,0,0
$GC,1460,-0.74,-146.0,193.2,-11.0,176,1464,0.00,2.28,0.00,0.000,4,0.000,0.052,2399,550,3402,0,0,0,0,0,0
$GC,1583,-0.74,-146.0,205.9,-11.1,184,1588,0.00,2.12,0.00,0.000,6,0.000,0.035,2391,1959,3402,0,0,0,0,0,0
$GC,1901,-0.74,-146.0,235.7,-8.5,200,1905,0.00,2.17,0.00,0.000,4,0.000,0.056,2380,3360,3402,0,0,0,0,0,0
$GC,2054,-0.74,-146.0,247.9,-7.7,207,2058,0.00,2.17,0.00,0.000,6,0.000,0.043,2380,1959,3402,0,0,0,0,0,0
$GC,2382,-0.74,-146.0,274.7,-9.5,223,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1959,3402,0,0,0,0,0,0
$GC,2712,-0.74,-146.0,304.3,-7.4,238,2716,0.00,2.22,0.00,0.000,4,0.000,0.051,2371,3365,3402,0,0,0,0,0,0
$GC,2785,-0.74,-146.0,310.6,-8.4,239,2789,0.12,2.20,0.00,0.000,6,0.149,0.043,2404,1947,3402,0,0,0,0,0,0
$GC,3122,-0.74,-146.0,330.6,-5.2,248,3126,0.00,2.17,0.00,0.000,4,0.000,0.060,2405,554,3401,0,0,0,0,0,0
$GC,3155,-0.74,-146.0,332.6,-6.0,248,3161,0.00,2.12,0.00,0.000,6,0.000,0.038,2397,1957,3401,0,0,0,0,0,0
$GC,3487,-0.74,-146.0,361.2,-8.6,257,3491,0.00,2.25,0.00,0.000,4,0.000,0.058,2397,550,3398,0,0,0,0,0,0
$GC,3596,-0.74,-146.0,371.7,-8.8,259,3600,0.00,2.15,0.00,0.000,6,0.000,0.041,2388,1957,3397,0,0,0,0,0,0
$GC,3940,-0.74,-146.0,399.2,-8.0,268,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1957,3395,0,0,0,0,0,0
$GC,4263,-0.74,-146.0,424.6,-7.5,276,4268,0.00,2.22,0.00,0.000,4,0.000,0.062,2377,3363,3393,0,0,0,0,0,0
$GC,4410,-0.74,-146.0,436.4,-8.0,279,4414,0.00,2.17,0.00,0.000,6,0.000,0.043,2378,1961,3392,0,0,0,0,0,0
$STATE,4600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4600,begin apogee
$GC,4606,-0.17,0.0,451.4,7.8,284,4728,0.62,0.00,118.57,0.786,6,0.124,0.000,2580,1961,2800,0,0,0,0,0,0
$STATE,4729,end apogee,CONTROL_FINISHED_OK
$STATE,4729,begin climb
$GC,4732,0.74,146.0,452.9,0.0,287,4861,0.85,0.00,125.78,0.757,6,0.078,0.000,2875,1961,2204,0,0,0,0,0,0
$GC,5180,0.74,146.0,394.4,13.9,298,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1961,2196,0,0,0,0,0,0
$GC,5503,0.74,146.0,350.3,14.1,306,5507,0.00,2.28,0.00,0.000,4,0.000,0.067,2886,562,2193,0,0,0,0,0,0
$GC,5588,0.74,146.0,338.5,13.7,308,5592,0.00,2.20,0.00,0.000,6,0.000,0.041,2885,1983,2192,0,0,0,0,0,0
$GC,5918,0.74,146.0,291.9,13.7,317,5922,0.00,2.17,0.00,0.000,4,0.000,0.054,2886,3383,2191,0,0,0,0,0,0
$GC,5957,0.74,146.0,286.4,14.6,319,5961,0.00,2.22,0.00,0.000,6,0.000,0.044,2895,1967,2190,0,0,0,0,0,0
$GC,6284,0.74,146.0,247.0,12.4,335,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1967,2189,0,0,0,0,0,0
$GC,6593,0.74,146.0,211.8,11.3,350,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1967,2188,0,0,0,0,0,0
$GC,6910,0.74,146.0,171.3,12.8,375,6914,0.00,2.17,0.00,0.000,4,0.000,0.059,2905,568,2187,0,0,0,0,0,0
$GC,7027,0.74,146.0,157.1,11.6,385,7031,0.00,2.15,0.00,0.000,6,0.000,0.039,2905,1982,2186,0,0,0,0,0,0
$GC,7353,0.74,146.0,115.9,13.8,415,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1982,2186,0,0,0,0,0,0
$GC,7674,0.74,146.0,81.5,9.8,445,7678,0.00,2.25,0.00,0.000,4,0.000,0.059,2914,567,2186,0,0,0,0,0,0
$GC,7720,0.74,146.0,76.8,9.8,451,7726,0.12,2.17,0.00,0.000,6,0.140,0.038,2878,1987,2186,0,0,0,0,0,0
$GC,8053,0.77,173.6,48.3,7.9,512,8084,0.00,2.20,21.40,0.501,4,0.000,0.053,2878,3377,2091,0,0,0,0,0,0
$GC,8152,0.77,173.6,40.2,9.4,529,8158,0.00,2.20,0.00,0.000,6,0.000,0.042,2885,1972,2090,0,0,0,0,0,0
$GC,8476,0.83,219.5,13.4,7.1,590,8522,0.00,2.28,38.58,0.470,4,0.000,0.054,2893,573,1904,0,0,0,0,0,0
$STATE,8597,end climb,SURFACE_DEPTH_REACHED
$STATE,8597,begin surface coast
$FINISH,1.9,1.023245
$STATE,8604,end surface coast,CONTROL_FINISHED_OK
$STATE,8604,begin surface
$SM_CCo,8624,42.97,0.453,0,0,1575,300.24
$SM_GC,1.24,0.00,0.00,42.97,0.000,0.000,0.453,51,1971,1575,-8.09,0.31,300.24
$IRIDIUM_FIX,2057.14,-15804.20,300702,131315
$TT8_MAMPS,0.027612
$HUMID,62.20
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.6,8.549
$10V_AH,10.5,9.363
$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,18.825,66.250,304.325,42.975,0.000,24.414,44.036,172.710,19.250,0.000,15.478,1103.770,5138.635,397.386,1927.078,466.035,0.000,1052.915,0.000,1887.038,0.000,121.164,0.000
$DEVICE_MAMPS,232.401,67.496,786.175,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.983,343.692,1179.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,34960,612
$CAP_FILE_SIZE,89961,0
$CFSIZE,260165632,250368000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050513,181137,2101.899,-15757.514,32,1.0,32,9.8