version: 66.06
glider: 523
mission: 4
dive: 153
start: 5 11 113 4 28 47
data:
$ID,523
$MISSION,4
$DIVE,153
$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,-38945.168
$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,30
$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
$GPS1,042259,2102.679,-15757.118,16,1.2,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.4
$GPS2,042830,2102.709,-15757.195,16,2.0,16,9.8
$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,311.3,13389,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.38,0.000,6,0.000,0.000,25,1965,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-7.0,13,118,9.25,2.20,0.00,0.000,4,0.222,0.047,2384,3376,3396,0,0,0,0,0,0
$GC,315,-0.74,-146.0,46.6,-17.5,52,322,0.00,2.25,0.00,0.000,6,0.000,0.044,2383,1965,3398,0,0,0,0,0,0
$GC,650,-0.74,-146.0,100.3,-14.3,101,654,0.00,2.22,0.00,0.000,4,0.000,0.055,2383,541,3399,0,0,0,0,0,0
$GC,760,-0.74,-146.0,116.5,-13.1,110,768,0.00,2.17,0.00,0.000,6,0.000,0.034,2374,1970,3399,0,0,0,0,0,0
$GC,1088,-0.74,-146.0,160.0,-13.5,141,1092,0.00,2.15,0.00,0.000,4,0.000,0.055,2363,3358,3401,0,0,0,0,0,0
$GC,1122,-0.74,-146.0,165.0,-14.3,143,1130,0.10,2.22,0.00,0.000,6,0.129,0.046,2397,1965,3401,0,0,0,0,0,0
$GC,1449,-0.74,-146.0,199.3,-9.7,174,1454,0.00,2.20,0.00,0.000,4,0.000,0.053,2397,547,3401,0,0,0,0,0,0
$GC,1494,-0.74,-146.0,204.2,-10.7,177,1498,0.00,2.10,0.00,0.000,6,0.000,0.032,2389,1962,3401,0,0,0,0,0,0
$GC,1821,-0.74,-146.0,236.7,-8.8,193,1825,0.00,2.25,0.00,0.000,4,0.000,0.051,2389,546,3402,0,0,0,0,0,0
$GC,2019,-0.74,-146.0,257.4,-9.5,202,2022,0.00,2.12,0.00,0.000,6,0.000,0.034,2379,1960,3401,0,0,0,0,0,0
$GC,2350,-0.74,-146.0,286.1,-8.4,218,2354,0.00,2.20,0.00,0.000,4,0.000,0.054,2369,3363,3401,0,0,0,0,0,0
$GC,2377,-0.74,-146.0,288.9,-8.6,219,2382,0.12,2.20,0.00,0.000,6,0.150,0.043,2403,1947,3402,0,0,0,0,0,0
$GC,2700,-0.74,-146.0,308.2,-5.9,232,2704,0.00,2.22,0.00,0.000,4,0.000,0.057,2403,542,3401,0,0,0,0,0,0
$GC,2957,-0.74,-146.0,328.7,-7.2,237,2963,0.00,2.15,0.00,0.000,6,0.000,0.037,2395,1956,3401,0,0,0,0,0,0
$GC,3291,-0.74,-146.0,351.1,-7.1,246,3295,0.00,2.25,0.00,0.000,4,0.000,0.058,2395,551,3399,0,0,0,0,0,0
$GC,3439,-0.74,-146.0,363.9,-8.4,249,3442,0.00,2.15,0.00,0.000,6,0.000,0.038,2385,1960,3398,0,0,0,0,0,0
$GC,3790,-0.74,-146.0,390.9,-8.2,258,3794,0.00,2.17,0.00,0.000,4,0.000,0.058,2375,3364,3396,0,0,0,0,0,0
$GC,3957,-0.74,-146.0,408.0,-10.4,261,3963,0.00,2.20,0.00,0.000,6,0.000,0.044,2375,1951,3395,0,0,0,0,0,0
$GC,4290,-0.74,-146.0,437.4,-8.6,270,4294,0.00,2.20,0.00,0.000,4,0.000,0.064,2375,553,3393,0,0,0,0,0,0
$STATE,4433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4433,begin apogee
$GC,4442,-0.17,0.0,450.6,8.8,273,4563,0.65,0.00,118.38,0.779,6,0.123,0.000,2580,1971,2799,0,0,0,0,0,0
$STATE,4564,end apogee,CONTROL_FINISHED_OK
$STATE,4564,begin climb
$GC,4567,0.74,146.0,453.3,0.0,276,4696,0.85,0.00,125.25,0.751,6,0.076,0.000,2876,1971,2204,0,0,0,0,0,0
$GC,5014,0.74,146.0,393.2,15.3,287,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1970,2195,0,0,0,0,0,0
$GC,5339,0.74,146.0,348.4,13.3,295,5343,0.00,2.25,0.00,0.000,4,0.000,0.053,2876,3386,2193,0,0,0,0,0,0
$GC,5389,0.74,146.0,341.0,14.6,296,5393,0.00,2.25,0.00,0.000,6,0.000,0.042,2885,1971,2192,0,0,0,0,0,0
$GC,5702,0.74,146.0,297.6,13.6,304,5706,0.00,2.25,0.00,0.000,4,0.000,0.060,2896,561,2190,0,0,0,0,0,0
$GC,5742,0.74,146.0,292.3,13.6,306,5746,0.00,2.20,0.00,0.000,6,0.000,0.040,2896,1981,2190,0,0,0,0,0,0
$GC,6068,0.74,146.0,245.3,14.3,322,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1981,2189,0,0,0,0,0,0
$GC,6378,0.74,146.0,203.1,13.0,337,6382,0.00,2.28,0.00,0.000,4,0.000,0.062,2906,568,2188,0,0,0,0,0,0
$GC,6437,0.74,146.0,195.0,13.0,341,6445,0.00,2.20,0.00,0.000,6,0.000,0.044,2906,1966,2187,0,0,0,0,0,0
$GC,6765,0.74,146.0,154.2,13.2,372,6769,0.00,2.22,0.00,0.000,4,0.000,0.053,2906,3397,2187,0,0,0,0,0,0
$GC,6906,0.74,146.0,136.0,12.2,384,6914,0.10,2.28,0.00,0.000,6,0.130,0.046,2882,1973,2186,0,0,0,0,0,0
$GC,7233,0.74,151.4,105.2,8.8,415,7237,0.00,2.22,0.00,0.000,4,0.000,0.057,2891,552,2186,0,0,0,0,0,0
$GC,7318,0.74,151.4,97.7,9.0,422,7326,0.00,2.22,0.00,0.000,6,0.000,0.038,2891,1987,2185,0,0,0,0,0,0
$GC,7646,0.74,151.4,64.5,11.2,466,7653,0.00,2.30,0.00,0.000,4,0.000,0.057,2900,561,2186,0,0,0,0,0,0
$GC,7703,0.74,151.4,59.0,9.9,476,7710,0.00,2.20,0.00,0.000,6,0.000,0.039,2900,1976,2186,0,0,0,0,0,0
$GC,8040,0.74,151.4,29.1,9.3,537,8047,0.00,2.20,0.00,0.000,4,0.000,0.051,2900,3381,2186,0,0,0,0,0,0
$GC,8144,0.74,151.4,19.3,9.2,556,8152,0.00,2.20,0.00,0.000,6,0.000,0.038,2910,1964,2187,0,0,0,0,0,0
$GC,8313,0.74,151.4,4.1,10.3,587,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1964,2188,0,0,0,0,0,0
$STATE,8325,end climb,SURFACE_DEPTH_REACHED
$STATE,8325,begin surface coast
$FINISH,0.5,0.999367
$STATE,8353,end surface coast,CONTROL_FINISHED_OK
$STATE,8353,begin surface
$SM_CCo,8371,66.35,0.449,0,0,1575,300.24
$SM_GC,1.21,0.00,0.00,66.35,0.000,0.000,0.449,39,1951,1575,-8.13,-0.25,300.24
$IRIDIUM_FIX,2050.21,-15747.49,050802,020243
$TT8_MAMPS,0.028379
$HUMID,61.89
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.20
$XPDR_PINGS,8
$24V_AH,24.7,12.748
$10V_AH,10.5,13.988
$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,18.300,75.150,243.625,66.350,0.000,30.904,32.703,141.990,20.750,0.000,16.786,1099.859,4858.889,387.090,1994.589,428.834,0.000,1084.681,0.000,1946.285,0.000,121.154,0.000
$DEVICE_MAMPS,222.430,63.661,778.505,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.723,336.593,1173.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,31883,594
$CAP_FILE_SIZE,92415,0
$CFSIZE,260165632,247902208
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110513,065035,2103.562,-15758.266,31,0.9,31,9.8