version: 66.06
glider: 523
mission: 4
dive: 156
start: 5 11 113 11 58 40
data:
$ID,523
$MISSION,4
$DIVE,156
$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,-38998.027
$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,25
$R_STBD_OVSHOOT,34
$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
$GPS1,115304,2105.162,-15800.179,39,1.0,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.0
$GPS2,115823,2105.166,-15800.236,16,1.1,16,9.8
$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,321.9,6663,-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,-76.05,0.000,2,0.000,0.000,24,1975,3356,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-3.9,12,112,9.15,0.00,-0.90,0.000,6,0.219,0.000,2394,1966,3396,0,0,0,0,0,0
$GC,273,-0.74,-146.0,41.6,-17.1,44,281,0.00,2.22,0.00,0.000,4,0.000,0.054,2386,3366,3398,0,0,0,0,0,0
$GC,327,-0.74,-146.0,50.3,-16.6,53,332,0.00,2.25,0.00,0.000,6,0.000,0.048,2386,1952,3399,0,0,0,0,0,0
$GC,662,-0.74,-146.0,103.0,-15.9,102,666,0.00,2.22,0.00,0.000,4,0.000,0.056,2386,539,3400,0,0,0,0,0,0
$GC,757,-0.74,-146.0,117.9,-15.9,110,761,0.00,2.17,0.00,0.000,6,0.000,0.034,2376,1978,3400,0,0,0,0,0,0
$GC,1084,-0.74,-146.0,165.4,-13.0,140,1088,0.00,2.30,0.00,0.000,4,0.000,0.051,2376,538,3401,0,0,0,0,0,0
$GC,1159,-0.74,-146.0,176.2,-13.7,146,1166,0.10,2.17,0.00,0.000,6,0.146,0.036,2398,1956,3401,0,0,0,0,0,0
$GC,1482,-0.74,-146.0,207.9,-8.5,173,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1958,3402,0,0,0,0,0,0
$GC,1791,-0.74,-146.0,233.9,-8.0,188,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1958,3403,0,0,0,0,0,0
$GC,2104,-0.74,-146.0,260.0,-8.7,203,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1958,3403,0,0,0,0,0,0
$GC,2410,-0.74,-146.0,284.0,-8.2,218,2414,0.00,2.17,0.00,0.000,4,0.000,0.054,2390,3367,3403,0,0,0,0,0,0
$GC,2562,-0.74,-146.0,298.1,-9.3,225,2566,0.00,2.22,0.00,0.000,6,0.000,0.045,2390,1952,3403,0,0,0,0,0,0
$GC,2886,-0.74,-146.0,320.6,-6.1,234,2890,0.00,2.25,0.00,0.000,4,0.000,0.061,2390,549,3403,0,0,0,0,0,0
$GC,3077,-0.74,-146.0,333.1,-6.3,238,3080,0.00,2.15,0.00,0.000,6,0.000,0.040,2380,1961,3401,0,0,0,0,0,0
$GC,3428,-0.74,-146.0,360.2,-8.4,247,3432,0.00,2.30,0.00,0.000,4,0.000,0.061,2380,545,3399,0,0,0,0,0,0
$GC,3489,-0.74,-146.0,366.0,-9.0,248,3494,0.12,2.17,0.00,0.000,6,0.166,0.042,2405,1963,3398,0,0,0,0,0,0
$GC,3841,-0.74,-146.0,391.1,-7.0,257,3845,0.00,2.17,0.00,0.000,4,0.000,0.054,2396,3368,3396,0,0,0,0,0,0
$GC,3967,-0.74,-146.0,401.2,-8.3,259,3973,0.00,2.20,0.00,0.000,6,0.000,0.041,2396,1946,3396,0,0,0,0,0,0
$GC,4298,-0.74,-146.0,429.5,-9.0,268,4305,0.00,2.22,0.00,0.000,4,0.000,0.054,2385,3367,3393,0,0,0,0,0,0
$GC,4333,-0.74,-146.0,433.2,-10.9,268,4337,0.00,2.17,0.00,0.000,6,0.000,0.041,2386,1960,3393,0,0,0,0,0,0
$STATE,4540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4540,begin apogee
$GC,4547,-0.17,0.0,452.7,9.2,273,4669,0.60,0.00,118.88,0.788,6,0.117,0.000,2582,1959,2800,0,0,0,0,0,0
$STATE,4669,end apogee,CONTROL_FINISHED_OK
$STATE,4670,begin climb
$GC,4672,0.74,146.0,455.1,0.0,276,4804,0.82,0.00,125.25,0.757,6,0.074,0.000,2873,1959,2203,0,0,0,0,0,0
$GC,5119,0.74,146.0,402.4,12.4,287,5123,0.00,2.22,0.00,0.000,4,0.000,0.061,2883,564,2195,0,0,0,0,0,0
$GC,5175,0.74,146.0,395.0,13.3,288,5179,0.00,2.22,0.00,0.000,6,0.000,0.041,2883,1982,2194,0,0,0,0,0,0
$GC,5522,0.74,146.0,344.4,15.5,297,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1982,2192,0,0,0,0,0,0
$GC,5847,0.74,146.0,295.0,15.1,305,5851,0.00,2.28,0.00,0.000,4,0.000,0.062,2893,561,2190,0,0,0,0,0,0
$GC,5934,0.74,146.0,282.6,14.1,309,5938,0.00,2.20,0.00,0.000,6,0.000,0.041,2893,1980,2189,0,0,0,0,0,0
$GC,6260,0.74,146.0,240.6,12.1,325,6264,0.00,2.20,0.00,0.000,4,0.000,0.055,2893,3388,2188,0,0,0,0,0,0
$GC,6416,0.74,146.0,222.6,11.2,332,6420,0.00,2.20,0.00,0.000,6,0.000,0.043,2902,1973,2187,0,0,0,0,0,0
$GC,6741,0.74,146.0,180.4,13.2,354,6745,0.00,2.20,0.00,0.000,4,0.000,0.059,2913,562,2187,0,0,0,0,0,0
$GC,6837,0.74,146.0,167.4,13.3,362,6846,0.10,2.20,0.00,0.000,6,0.125,0.041,2879,1974,2186,0,0,0,0,0,0
$GC,7166,0.74,146.0,132.2,11.1,393,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1974,2185,0,0,0,0,0,0
$GC,7495,0.74,146.0,96.2,11.3,424,7499,0.00,2.20,0.00,0.000,4,0.000,0.054,2879,3394,2185,0,0,0,0,0,0
$GC,7568,0.74,146.0,87.1,12.3,430,7572,0.00,2.22,0.00,0.000,6,0.000,0.044,2886,1964,2185,0,0,0,0,0,0
$GC,7898,0.76,168.2,58.0,8.1,484,7922,0.00,2.22,16.92,0.496,4,0.000,0.057,2897,558,2113,0,0,0,0,0,0
$GC,7999,0.79,193.0,50.1,8.0,502,8030,0.00,2.20,21.58,0.488,6,0.000,0.035,2896,1986,2013,0,0,0,0,0,0
$GC,8353,0.79,193.0,15.5,11.8,567,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1986,2012,0,0,0,0,0,0
$STATE,8469,end climb,SURFACE_DEPTH_REACHED
$STATE,8469,begin surface coast
$FINISH,0.6,1.010766
$STATE,8499,end surface coast,CONTROL_FINISHED_OK
$STATE,8499,begin surface
$SM_CCo,8516,48.15,0.445,0,0,1574,300.24
$SM_GC,1.24,0.00,0.00,48.15,0.000,0.000,0.445,27,1986,1574,-8.17,0.74,300.24
$IRIDIUM_FIX,2059.45,-15801.19,050802,090910
$TT8_MAMPS,0.028379
$HUMID,62.40
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.7,12.989
$10V_AH,10.6,14.251
$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,18.150,61.975,282.625,48.150,0.000,29.300,32.427,132.978,19.250,0.000,16.641,1082.769,5105.621,377.981,1899.183,418.689,0.000,1051.857,0.000,1857.206,0.000,119.433,0.000
$DEVICE_MAMPS,218.595,62.127,787.709,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.931,332.433,1122.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,31910,594
$CAP_FILE_SIZE,89812,0
$CFSIZE,260165632,247762944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110513,142231,2106.197,-15801.233,26,0.8,27,9.8