version: 66.06
glider: 523
mission: 4
dive: 148
start: 5 10 113 15 45 46
data:
$ID,523
$MISSION,4
$DIVE,148
$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,-38829.574
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,154003,2058.748,-15752.083,21,0.9,22,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.5
$GPS2,154529,2058.773,-15752.115,16,1.5,16,9.8
$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,306.1,24676,-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,-78.00,0.000,6,0.000,0.000,32,1977,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.7,-5.8,13,118,9.30,2.17,0.00,0.000,4,0.225,0.046,2383,3367,3397,0,0,0,0,0,0
$GC,302,-0.74,-146.0,45.2,-15.6,49,307,0.00,2.22,0.00,0.000,6,0.000,0.044,2383,1970,3398,0,0,0,0,0,0
$GC,631,-0.74,-146.0,97.2,-13.3,99,635,0.00,2.30,0.00,0.000,4,0.000,0.059,2383,544,3400,0,0,0,0,0,0
$GC,804,-0.74,-146.0,123.1,-14.6,114,812,0.00,2.17,0.00,0.000,6,0.000,0.034,2374,1962,3400,0,0,0,0,0,0
$GC,1131,-0.74,-146.0,165.9,-12.5,145,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1962,3401,0,0,0,0,0,0
$GC,1455,-0.74,-146.0,205.0,-11.7,174,1462,0.00,2.22,0.00,0.000,4,0.000,0.051,2374,545,3402,0,0,0,0,0,0
$GC,1518,-0.74,-146.0,212.8,-12.4,176,1524,0.15,2.15,0.00,0.000,6,0.160,0.033,2405,1974,3402,0,0,0,0,0,0
$GC,1834,-0.74,-146.0,240.2,-9.3,192,1838,0.00,2.12,0.00,0.000,4,0.000,0.054,2396,3362,3402,0,0,0,0,0,0
$GC,2004,-0.74,-146.0,255.3,-8.7,199,2010,0.00,2.20,0.00,0.000,6,0.000,0.043,2396,1956,3403,0,0,0,0,0,0
$GC,2324,-0.74,-146.0,285.0,-9.1,215,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1956,3402,0,0,0,0,0,0
$GC,2648,-0.74,-146.0,309.9,-7.0,228,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1956,3402,0,0,0,0,0,0
$GC,2974,-0.74,-146.0,331.4,-6.4,236,2978,0.00,2.22,0.00,0.000,4,0.000,0.051,2396,542,3401,0,0,0,0,0,0
$GC,3193,-0.74,-146.0,347.6,-7.9,241,3197,0.00,2.12,0.00,0.000,6,0.000,0.035,2386,1962,3400,0,0,0,0,0,0
$GC,3526,-0.74,-146.0,371.8,-7.3,249,3530,0.00,2.25,0.00,0.000,4,0.000,0.057,2386,549,3398,0,0,0,0,0,0
$GC,3599,-0.74,-146.0,378.3,-8.9,250,3603,0.00,2.15,0.00,0.000,6,0.000,0.038,2377,1962,3397,0,0,0,0,0,0
$GC,3936,-0.74,-146.0,409.8,-9.5,259,3941,0.00,2.17,0.00,0.000,4,0.000,0.058,2367,3369,3395,0,0,0,0,0,0
$GC,3969,-0.74,-146.0,412.7,-8.6,259,3974,0.12,2.20,0.00,0.000,6,0.153,0.042,2401,1954,3395,0,0,0,0,0,0
$GC,4301,-0.74,-146.0,434.0,-6.1,267,4304,0.00,2.20,0.00,0.000,4,0.000,0.062,2401,557,3393,0,0,0,0,0,0
$GC,4408,-0.74,-146.0,441.2,-6.8,269,4412,0.00,2.15,0.00,0.000,6,0.000,0.043,2393,1957,3391,0,0,0,0,0,0
$STATE,4591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4591,begin apogee
$GC,4597,-0.17,0.0,452.4,6.0,274,4719,0.57,0.00,118.35,0.787,6,0.119,0.000,2581,1957,2799,0,0,0,0,0,0
$STATE,4720,end apogee,CONTROL_FINISHED_OK
$STATE,4720,begin climb
$GC,4723,0.74,146.0,452.8,0.0,277,4857,0.82,2.35,125.32,0.755,4,0.078,0.053,2869,3384,2203,0,0,0,0,0,0
$GC,4879,0.74,146.0,436.7,13.7,280,4885,0.00,2.33,0.00,0.000,6,0.000,0.044,2877,1981,2200,0,0,0,0,0,0
$GC,5211,0.74,146.0,389.5,14.2,289,5215,0.00,2.28,0.00,0.000,4,0.000,0.061,2888,563,2195,0,0,0,0,0,0
$GC,5295,0.74,146.0,376.8,15.5,291,5299,0.00,2.22,0.00,0.000,6,0.000,0.045,2888,1970,2193,0,0,0,0,0,0
$GC,5624,0.74,146.0,323.9,16.0,299,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1970,2191,0,0,0,0,0,0
$GC,5931,0.74,146.0,280.5,13.7,309,5934,0.00,2.25,0.00,0.000,4,0.000,0.058,2898,552,2190,0,0,0,0,0,0
$GC,5954,0.74,146.0,277.6,12.6,310,5958,0.00,2.20,0.00,0.000,6,0.000,0.039,2898,1979,2190,0,0,0,0,0,0
$GC,6280,0.74,146.0,240.4,11.2,326,6284,0.00,2.28,0.00,0.000,4,0.000,0.058,2908,562,2188,0,0,0,0,0,0
$GC,6353,0.74,146.0,231.9,12.4,329,6358,0.12,2.17,0.00,0.000,6,0.145,0.039,2874,1977,2188,0,0,0,0,0,0
$GC,6671,0.74,146.0,196.6,10.5,345,6675,0.00,2.17,0.00,0.000,4,0.000,0.054,2874,3380,2186,0,0,0,0,0,0
$GC,6830,0.74,146.0,178.2,13.6,359,6834,0.00,2.20,0.00,0.000,6,0.000,0.048,2881,1970,2186,0,0,0,0,0,0
$GC,7157,0.74,146.0,140.5,10.1,389,7161,0.00,2.20,0.00,0.000,4,0.000,0.058,2891,558,2185,0,0,0,0,0,0
$GC,7275,0.74,146.0,127.3,10.8,399,7282,0.00,2.17,0.00,0.000,6,0.000,0.038,2891,1965,2185,0,0,0,0,0,0
$GC,7602,0.74,146.0,93.4,11.3,430,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1966,2185,0,0,0,0,0,0
$GC,7925,0.74,146.0,56.1,10.5,479,7931,0.00,2.25,0.00,0.000,4,0.000,0.057,2900,554,2186,0,0,0,0,0,0
$GC,7964,0.74,146.0,51.6,11.0,486,7971,0.00,2.20,0.00,0.000,6,0.000,0.038,2900,1979,2186,0,0,0,0,0,0
$GC,8295,0.75,153.2,18.3,8.7,547,8310,0.00,2.22,4.60,0.361,4,0.000,0.053,2900,3385,2174,0,0,0,0,0,0
$GC,8366,0.75,153.2,11.4,9.8,559,8373,0.00,2.22,0.00,0.000,6,0.000,0.041,2908,1968,2174,0,0,0,0,0,0
$STATE,8457,end climb,SURFACE_DEPTH_REACHED
$STATE,8457,begin surface coast
$FINISH,0.5,1.023444
$STATE,8491,end surface coast,CONTROL_FINISHED_OK
$STATE,8491,begin surface
$SM_CCo,8509,65.88,0.452,0,0,1575,300.24
$SM_GC,1.36,0.00,0.00,65.88,0.000,0.000,0.452,32,1963,1575,-8.16,0.08,300.24
$IRIDIUM_FIX,2057.14,-15753.90,040802,131343
$TT8_MAMPS,0.028379
$HUMID,61.53
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,24.7,12.345
$10V_AH,10.5,13.541
$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,18.375,70.775,248.275,65.875,0.000,30.479,32.342,139.733,19.000,0.000,16.522,1079.107,5101.440,390.456,1908.941,422.185,0.000,1057.295,0.000,1863.323,0.000,119.141,0.000
$DEVICE_MAMPS,224.731,62.127,786.942,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,395.389,332.516,1126.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31885,582
$CAP_FILE_SIZE,90472,0
$CFSIZE,260165632,248139776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100513,180959,2059.567,-15753.098,39,0.8,39,9.8