version: 66.06
glider: 523
mission: 4
dive: 154
start: 5 11 113 6 56 27
data:
$ID,523
$MISSION,4
$DIVE,154
$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,-38965.344
$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,29
$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
$GPS1,065035,2103.562,-15758.266,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.3
$GPS2,065611,2103.587,-15758.342,19,0.9,19,9.8
$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,314.0,10892,-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,-76.25,0.000,2,0.000,0.000,39,1951,3389,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-5.6,12,111,9.18,0.00,0.00,0.000,6,0.222,0.000,2394,1950,3390,0,0,0,0,0,0
$GC,270,-0.74,-146.0,38.5,-15.1,44,277,0.00,2.30,0.00,0.000,4,0.000,0.058,2384,3367,3392,0,0,0,0,0,0
$GC,356,-0.74,-146.0,51.4,-14.9,59,362,0.00,2.25,0.00,0.000,6,0.000,0.046,2384,1967,3391,0,0,0,0,0,0
$GC,691,-0.74,-146.0,101.2,-13.9,107,695,0.00,2.28,0.00,0.000,4,0.000,0.058,2384,547,3393,0,0,0,0,0,0
$GC,908,-0.74,-146.0,131.7,-14.2,126,912,0.00,2.12,0.00,0.000,6,0.000,0.033,2375,1973,3393,0,0,0,0,0,0
$GC,1235,-0.74,-146.0,171.4,-10.2,156,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1973,3394,0,0,0,0,0,0
$GC,1550,-0.74,-146.0,205.9,-11.7,184,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1973,3394,0,0,0,0,0,0
$GC,1862,-0.74,-146.0,241.0,-10.2,199,1866,0.00,2.28,0.00,0.000,4,0.000,0.050,2375,544,3395,0,0,0,0,0,0
$GC,2120,-0.74,-146.0,266.2,-8.9,210,2126,0.12,2.10,0.00,0.000,6,0.166,0.034,2398,1961,3395,0,0,0,0,0,0
$GC,2437,-0.74,-146.0,287.7,-7.5,226,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1961,3395,0,0,0,0,0,0
$GC,2764,-0.74,-146.0,313.5,-8.2,238,2768,0.00,2.28,0.00,0.000,4,0.000,0.056,2398,547,3395,0,0,0,0,0,0
$GC,3021,-0.74,-146.0,338.4,-9.0,243,3025,0.00,2.15,0.00,0.000,6,0.000,0.037,2390,1970,3393,0,0,0,0,0,0
$GC,3359,-0.74,-146.0,361.2,-6.2,252,3363,0.00,2.30,0.00,0.000,4,0.000,0.058,2390,541,3391,0,0,0,0,0,0
$GC,3437,-0.74,-146.0,366.3,-7.0,253,3443,0.00,2.17,0.00,0.000,6,0.000,0.040,2380,1965,3390,0,0,0,0,0,0
$GC,3769,-0.74,-146.0,389.1,-7.5,262,3773,0.00,2.17,0.00,0.000,4,0.000,0.058,2370,3363,3389,0,0,0,0,0,0
$GC,3883,-0.74,-146.0,399.4,-8.5,264,3888,0.12,2.17,0.00,0.000,6,0.147,0.043,2404,1950,3388,0,0,0,0,0,0
$GC,4228,-0.74,-146.0,422.1,-6.1,273,4232,0.00,2.25,0.00,0.000,4,0.000,0.057,2396,3373,3385,0,0,0,0,0,0
$GC,4283,-0.74,-146.0,426.2,-7.3,274,4287,0.00,2.17,0.00,0.000,6,0.000,0.044,2397,1960,3385,0,0,0,0,0,0
$STATE,4595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4595,begin apogee
$GC,4601,-0.17,0.0,452.3,8.6,282,4721,0.57,0.00,117.03,0.785,6,0.117,0.000,2586,1960,2800,0,0,0,0,0,0
$STATE,4722,end apogee,CONTROL_FINISHED_OK
$STATE,4722,begin climb
$GC,4725,0.74,146.0,453.6,0.0,285,4859,0.82,2.38,124.90,0.754,4,0.077,0.054,2873,3383,2203,0,0,0,0,0,0
$GC,4899,0.74,146.0,431.8,17.3,289,4903,0.00,2.30,0.00,0.000,6,0.000,0.049,2882,1973,2201,0,0,0,0,0,0
$GC,5211,0.74,146.0,381.3,16.5,297,5216,0.00,2.28,0.00,0.000,4,0.000,0.067,2893,558,2196,0,0,0,0,0,0
$GC,5256,0.74,146.0,374.0,16.6,298,5260,0.00,2.22,0.00,0.000,6,0.000,0.044,2893,1970,2194,0,0,0,0,0,0
$GC,5574,0.74,146.0,324.9,14.7,306,5578,0.00,2.22,0.00,0.000,4,0.000,0.054,2893,3395,2193,0,0,0,0,0,0
$GC,5652,0.74,146.0,313.2,14.7,307,5657,0.00,2.22,0.00,0.000,6,0.000,0.042,2901,1971,2192,0,0,0,0,0,0
$GC,5965,0.74,146.0,271.0,14.3,320,5969,0.00,2.20,0.00,0.000,4,0.000,0.060,2911,567,2191,0,0,0,0,0,0
$GC,6113,0.74,146.0,248.2,14.8,326,6119,0.12,2.15,0.00,0.000,6,0.158,0.038,2879,1985,2190,0,0,0,0,0,0
$GC,6428,0.74,146.0,210.8,10.7,342,6433,0.00,2.28,0.00,0.000,4,0.000,0.065,2887,559,2189,0,0,0,0,0,0
$GC,6473,0.74,146.0,205.4,12.2,344,6477,0.00,2.17,0.00,0.000,6,0.000,0.044,2887,1972,2188,0,0,0,0,0,0
$GC,6804,0.74,146.0,167.2,11.5,373,6808,0.00,2.17,0.00,0.000,4,0.000,0.053,2887,3393,2187,0,0,0,0,0,0
$GC,6909,0.74,146.0,153.8,12.3,382,6913,0.00,2.20,0.00,0.000,6,0.000,0.041,2896,1974,2187,0,0,0,0,0,0
$GC,7236,0.74,146.0,117.4,11.8,412,7240,0.00,2.20,0.00,0.000,4,0.000,0.051,2896,3389,2187,0,0,0,0,0,0
$GC,7266,0.74,146.0,113.9,11.7,414,7270,0.00,2.17,0.00,0.000,6,0.000,0.040,2906,1974,2187,0,0,0,0,0,0
$GC,7590,0.74,146.0,74.0,13.4,448,7597,0.00,2.22,0.00,0.000,4,0.000,0.057,2916,561,2187,0,0,0,0,0,0
$GC,7708,0.74,146.0,61.4,10.4,469,7714,0.12,2.17,0.00,0.000,6,0.143,0.038,2881,1993,2187,0,0,0,0,0,0
$GC,8038,0.79,190.9,34.4,7.2,530,8080,0.00,2.17,35.35,0.486,4,0.000,0.050,2881,3388,2021,0,0,0,0,0,0
$GC,8130,0.79,191.9,26.9,9.0,546,8138,0.00,2.22,0.00,0.000,6,0.000,0.038,2883,1966,2020,0,0,0,0,0,0
$GC,8298,0.79,191.9,12.2,9.3,577,8305,0.00,2.22,0.00,0.000,4,0.000,0.054,2893,570,2019,0,0,0,0,0,0
$GC,8344,0.79,191.9,7.7,10.3,585,8352,0.00,2.17,0.00,0.000,6,0.000,0.033,2893,1984,2019,0,0,0,0,0,0
$STATE,8394,end climb,SURFACE_DEPTH_REACHED
$STATE,8394,begin surface coast
$FINISH,0.5,1.003118
$STATE,8426,end surface coast,CONTROL_FINISHED_OK
$STATE,8426,begin surface
$SM_CCo,8444,49.50,0.446,0,0,1575,300.24
$SM_GC,1.27,0.00,0.00,49.50,0.000,0.000,0.446,27,1984,1575,-8.17,0.68,300.24
$IRIDIUM_FIX,2059.45,-15803.33,050802,040444
$TT8_MAMPS,0.029146
$HUMID,61.53
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.40
$XPDR_PINGS,3
$24V_AH,24.7,12.826
$10V_AH,10.6,14.077
$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,18.325,75.375,277.275,49.500,0.000,25.257,32.079,149.504,19.500,0.000,19.542,1100.923,4910.714,378.383,2008.055,431.001,0.000,1088.036,0.000,1955.305,0.000,119.277,0.000
$DEVICE_MAMPS,221.663,67.496,784.641,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.913,346.665,1176.547,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31977,600
$CAP_FILE_SIZE,94544,0
$CFSIZE,260165632,247853056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110513,091854,2104.388,-15759.206,14,1.2,14,9.8