version: 66.06
glider: 523
mission: 4
dive: 140
start: 5 9 113 20 17 23
data:
$ID,523
$MISSION,4
$DIVE,140
$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,-38666.363
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,201128,2101.510,-15746.291,38,0.8,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-75.2
$GPS2,201706,2101.501,-15746.315,13,0.8,14,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,212.9,9035,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-76.97,0.000,6,0.000,0.000,28,1953,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-7.1,13,117,9.25,2.25,0.00,0.000,4,0.223,0.054,2389,551,3396,0,0,0,0,0,0
$GC,357,-0.74,-146.0,54.8,-15.8,60,364,0.00,2.20,0.00,0.000,6,0.000,0.036,2381,1973,3398,0,0,0,0,0,0
$GC,691,-0.74,-146.0,98.5,-12.5,108,695,0.00,2.28,0.00,0.000,4,0.000,0.054,2381,554,3399,0,0,0,0,0,0
$GC,919,-0.74,-146.0,128.7,-14.5,128,923,0.12,2.15,0.00,0.000,6,0.170,0.035,2403,1974,3399,0,0,0,0,0,0
$GC,1246,-0.74,-146.0,162.5,-10.3,158,1250,0.00,2.15,0.00,0.000,4,0.000,0.055,2395,3363,3400,0,0,0,0,0,0
$GC,1354,-0.74,-146.0,174.8,-10.9,167,1363,0.00,2.22,0.00,0.000,6,0.000,0.047,2394,1966,3401,0,0,0,0,0,0
$GC,1675,-0.74,-146.0,212.5,-11.0,193,1679,0.00,2.20,0.00,0.000,4,0.000,0.052,2394,549,3401,0,0,0,0,0,0
$GC,1888,-0.74,-146.0,233.8,-7.2,202,1892,0.00,2.12,0.00,0.000,6,0.000,0.032,2385,1971,3402,0,0,0,0,0,0
$GC,2205,-0.74,-146.0,253.3,-3.3,217,2209,0.00,2.22,0.00,0.000,4,0.000,0.051,2385,545,3402,0,0,0,0,0,0
$GC,2463,-0.74,-146.0,309.8,-2.0,226,2469,0.00,2.12,0.00,0.000,6,0.000,0.035,2375,1958,3401,0,0,0,0,0,0
$GC,2777,-0.74,-146.0,291.7,1.9,238,2781,0.00,2.22,0.00,0.000,4,0.000,0.054,2364,3369,3401,0,0,0,0,0,0
$GC,3035,-0.74,-146.0,312.0,-7.3,246,3041,0.12,2.20,0.00,0.000,6,0.156,0.044,2397,1955,3400,0,0,0,0,0,0
$GC,3366,-0.74,-146.0,334.7,-6.6,255,3370,0.00,2.22,0.00,0.000,4,0.000,0.051,2391,3363,3399,0,0,0,0,0,0
$GC,3451,-0.74,-146.0,339.9,-5.6,257,3455,0.00,2.17,0.00,0.000,6,0.000,0.041,2391,1953,3399,0,0,0,0,0,0
$GC,3776,-0.74,-146.0,347.9,-0.1,265,3780,0.00,2.25,0.00,0.000,4,0.000,0.052,2381,3367,3397,0,0,0,0,0,0
$STATE,3963,end dive,NO_VERTICAL_VELOCITY
$STATE,3964,begin apogee
$GC,3972,-0.17,0.0,348.5,0.0,269,4092,0.62,0.00,116.82,0.693,6,0.150,0.000,2576,1970,2799,0,0,0,0,0,0
$STATE,4093,end apogee,CONTROL_FINISHED_OK
$STATE,4093,begin climb
$GC,4096,0.74,146.0,348.0,0.0,272,4223,0.85,0.00,123.45,0.672,6,0.082,0.000,2869,1970,2204,0,0,0,0,0,0
$GC,4542,0.74,146.0,302.7,13.6,283,4546,0.00,2.28,0.00,0.000,4,0.000,0.062,2879,567,2194,0,0,0,0,0,0
$GC,4654,0.74,146.0,286.5,18.6,287,4658,0.00,2.20,0.00,0.000,6,0.000,0.040,2880,1971,2193,0,0,0,0,0,0
$GC,4975,0.74,146.0,246.5,9.4,303,4979,0.00,2.22,0.00,0.000,4,0.000,0.051,2880,3387,2192,0,0,0,0,0,0
$GC,5060,0.74,146.0,235.5,14.2,307,5064,0.00,2.22,0.00,0.000,6,0.000,0.044,2890,1974,2191,0,0,0,0,0,0
$GC,5378,0.74,146.0,197.3,12.0,323,5382,0.00,2.22,0.00,0.000,4,0.000,0.058,2900,568,2190,0,0,0,0,0,0
$GC,5426,0.74,146.0,190.8,12.3,327,5434,0.00,2.20,0.00,0.000,6,0.000,0.041,2900,1974,2189,0,0,0,0,0,0
$GC,5755,0.74,146.0,153.2,12.0,358,5759,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3386,2188,0,0,0,0,0,0
$GC,5796,0.74,146.0,147.7,12.8,361,5800,0.12,2.17,0.00,0.000,6,0.159,0.040,2874,1975,2187,0,0,0,0,0,0
$GC,6122,0.74,146.0,109.5,11.1,391,6126,0.00,2.22,0.00,0.000,4,0.000,0.056,2883,564,2187,0,0,0,0,0,0
$GC,6174,0.74,146.0,104.2,10.6,395,6178,0.00,2.17,0.00,0.000,6,0.000,0.038,2884,1985,2187,0,0,0,0,0,0
$GC,6502,0.74,146.0,70.4,10.9,433,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1986,2186,0,0,0,0,0,0
$GC,6832,0.76,166.0,38.1,8.2,494,6856,0.00,2.35,15.43,0.471,4,0.000,0.055,2893,563,2121,0,0,0,0,0,0
$GC,6868,0.80,194.7,35.3,7.8,500,6899,0.00,2.20,24.95,0.473,6,0.000,0.037,2893,1976,2005,0,0,0,0,0,0
$GC,7218,0.80,194.7,4.1,9.1,565,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1976,2002,0,0,0,0,0,0
$STATE,7230,end climb,SURFACE_DEPTH_REACHED
$STATE,7231,begin surface coast
$FINISH,0.5,0.997610
$STATE,7263,end surface coast,CONTROL_FINISHED_OK
$STATE,7263,begin surface
$SM_CCo,7281,49.90,0.443,0,0,1575,300.24
$SM_GC,1.19,0.00,0.00,49.90,0.000,0.000,0.443,29,1979,1575,-8.16,0.54,300.24
$IRIDIUM_FIX,2050.21,-15738.07,030802,171708
$TT8_MAMPS,0.028379
$HUMID,61.77
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,23.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,250.4,39.3
$24V_AH,24.8,11.721
$10V_AH,10.6,12.850
$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,18.375,61.850,280.650,49.900,0.000,30.771,44.665,140.060,9.000,0.000,15.264,1029.521,3880.956,377.589,1963.658,417.486,0.000,1057.836,0.000,1939.686,0.000,58.249,0.000
$DEVICE_MAMPS,223.197,62.127,693.368,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,388.683,342.134,1189.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,31794,573
$CAP_FILE_SIZE,83007,0
$CFSIZE,260165632,248520704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090513,222029,2101.091,-15746.345,16,0.8,16,9.8