version: 66.06
glider: 523
mission: 4
dive: 157
start: 5 11 113 14 28 28
data:
$ID,523
$MISSION,4
$DIVE,157
$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,-39011.973
$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,32
$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
$GPS1,142231,2106.197,-15801.233,26,0.8,27,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.0
$GPS2,142811,2106.260,-15801.383,12,1.9,12,9.8
$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,333.2,4018,-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,-77.85,0.000,6,0.000,0.000,28,1987,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-5.8,13,117,9.18,2.20,0.00,0.000,4,0.222,0.048,2382,3363,3397,0,0,0,0,0,0
$GC,342,-0.74,-146.0,54.8,-16.5,57,348,0.00,2.20,0.00,0.000,6,0.000,0.045,2383,1969,3399,0,0,0,0,0,0
$GC,677,-0.74,-146.0,105.0,-14.5,103,681,0.00,2.28,0.00,0.000,4,0.000,0.058,2383,545,3401,0,0,0,0,0,0
$GC,820,-0.74,-146.0,126.3,-14.2,116,824,0.00,2.15,0.00,0.000,6,0.000,0.034,2373,1976,3401,0,0,0,0,0,0
$GC,1153,-0.74,-146.0,168.5,-13.8,147,1157,0.00,2.28,0.00,0.000,4,0.000,0.051,2373,544,3402,0,0,0,0,0,0
$GC,1349,-0.74,-146.0,197.6,-13.2,164,1356,0.10,2.15,0.00,0.000,6,0.143,0.033,2395,1958,3402,0,0,0,0,0,0
$GC,1665,-0.74,-146.0,228.8,-9.7,181,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1959,3402,0,0,0,0,0,0
$GC,1975,-0.74,-146.0,254.0,-8.2,196,1979,0.00,2.17,0.00,0.000,4,0.000,0.057,2386,3369,3403,0,0,0,0,0,0
$GC,2014,-0.74,-146.0,257.4,-8.8,198,2018,0.00,2.22,0.00,0.000,6,0.000,0.044,2386,1955,3403,0,0,0,0,0,0
$GC,2340,-0.74,-146.0,289.4,-10.1,214,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1955,3403,0,0,0,0,0,0
$GC,2668,-0.74,-146.0,321.8,-9.6,225,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1955,3403,0,0,0,0,0,0
$GC,2994,-0.74,-146.0,344.0,-6.6,233,2998,0.00,2.25,0.00,0.000,4,0.000,0.058,2386,549,3401,0,0,0,0,0,0
$GC,3224,-0.74,-146.0,364.4,-9.6,238,3228,0.00,2.15,0.00,0.000,6,0.000,0.038,2377,1963,3399,0,0,0,0,0,0
$GC,3540,-0.74,-146.0,390.2,-7.8,246,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1963,3397,0,0,0,0,0,0
$GC,3863,-0.74,-146.0,417.5,-8.9,254,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1963,3395,0,0,0,0,0,0
$GC,4187,-0.74,-146.0,444.5,-8.3,262,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1963,3393,0,0,0,0,0,0
$STATE,4267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4267,begin apogee
$GC,4274,-0.17,0.0,451.6,8.6,264,4396,0.62,0.00,118.60,0.780,6,0.120,0.000,2580,1963,2799,0,0,0,0,0,0
$STATE,4396,end apogee,CONTROL_FINISHED_OK
$STATE,4397,begin climb
$GC,4399,0.74,146.0,454.5,0.0,267,4534,0.85,2.35,124.80,0.752,4,0.078,0.057,2872,3371,2202,0,0,0,0,0,0
$GC,4584,0.74,146.0,434.8,13.6,271,4589,0.00,2.33,0.00,0.000,6,0.000,0.049,2881,1970,2199,0,0,0,0,0,0
$GC,4927,0.74,146.0,388.2,13.9,280,4931,0.00,2.33,0.00,0.000,4,0.000,0.067,2892,555,2194,0,0,0,0,0,0
$GC,5011,0.74,146.0,376.4,14.1,282,5015,0.00,2.22,0.00,0.000,6,0.000,0.044,2892,1966,2193,0,0,0,0,0,0
$GC,5335,0.74,146.0,325.7,16.0,290,5339,0.00,2.28,0.00,0.000,4,0.000,0.065,2901,561,2191,0,0,0,0,0,0
$GC,5436,0.74,146.0,309.8,16.3,292,5440,0.00,2.22,0.00,0.000,6,0.000,0.047,2901,1975,2191,0,0,0,0,0,0
$GC,5767,0.74,146.0,260.0,13.8,306,5771,0.00,2.17,0.00,0.000,4,0.000,0.054,2901,3384,2189,0,0,0,0,0,0
$GC,5822,0.74,146.0,251.6,15.2,308,5829,0.12,2.22,0.00,0.000,6,0.163,0.042,2878,1969,2188,0,0,0,0,0,0
$GC,6138,0.74,146.0,216.0,10.9,324,6142,0.00,2.22,0.00,0.000,4,0.000,0.059,2887,568,2187,0,0,0,0,0,0
$GC,6165,0.74,146.0,213.2,10.1,325,6169,0.00,2.20,0.00,0.000,6,0.000,0.043,2887,1988,2187,0,0,0,0,0,0
$GC,6490,0.74,146.0,176.9,12.4,349,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1988,2186,0,0,0,0,0,0
$GC,6819,0.74,146.0,140.0,10.3,380,6823,0.00,2.30,0.00,0.000,4,0.000,0.061,2896,569,2186,0,0,0,0,0,0
$GC,6914,0.74,146.0,129.5,11.1,388,6919,0.00,2.17,0.00,0.000,6,0.000,0.044,2896,1970,2186,0,0,0,0,0,0
$GC,7243,0.74,146.0,93.0,10.9,418,7247,0.00,2.20,0.00,0.000,4,0.000,0.053,2896,3388,2186,0,0,0,0,0,0
$GC,7348,0.74,146.0,81.0,11.2,427,7352,0.00,2.22,0.00,0.000,6,0.000,0.045,2905,1968,2186,0,0,0,0,0,0
$GC,7680,0.74,146.0,48.0,9.3,486,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1967,2186,0,0,0,0,0,0
$GC,8009,0.75,153.0,19.6,8.7,547,8024,0.00,2.25,4.50,0.354,4,0.000,0.053,2905,3383,2175,0,0,0,0,0,0
$GC,8039,0.75,153.0,16.8,9.8,551,8047,0.10,2.20,0.00,0.000,6,0.120,0.041,2879,1979,2175,0,0,0,0,0,0
$STATE,8196,end climb,SURFACE_DEPTH_REACHED
$STATE,8196,begin surface coast
$FINISH,0.5,1.007592
$STATE,8230,end surface coast,CONTROL_FINISHED_OK
$STATE,8230,begin surface
$SM_CCo,8248,65.55,0.445,0,0,1575,300.24
$SM_GC,1.39,0.00,0.00,65.55,0.000,0.000,0.445,24,1974,1575,-8.18,0.40,300.24
$IRIDIUM_FIX,2101.76,-15758.18,050802,121248
$TT8_MAMPS,0.028379
$HUMID,60.78
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.7,13.065
$10V_AH,10.6,14.335
$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,18.175,57.950,247.900,65.550,0.000,24.854,33.336,159.698,19.250,0.000,13.318,1065.241,4911.899,369.115,1879.308,428.441,0.000,1013.513,0.000,1837.083,0.000,119.284,0.000
$DEVICE_MAMPS,221.663,66.729,780.039,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,398.455,332.199,1141.714,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31847,586
$CAP_FILE_SIZE,86429,0
$CFSIZE,260165632,247717888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110513,164754,2107.470,-15802.354,13,1.5,13,9.8