version: 66.06
glider: 523
mission: 4
dive: 167
start: 5 12 113 15 36 10
data:
$ID,523
$MISSION,4
$DIVE,167
$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,-39191.895
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,153032,2107.152,-15755.747,19,0.9,20,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.3
$GPS2,153554,2107.180,-15755.863,18,1.1,18,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,86.7,22511,-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,-76.12,0.000,2,0.000,0.000,43,1952,3366,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.1,12,112,9.30,0.00,-0.65,0.000,6,0.228,0.000,2394,1946,3397,0,0,0,0,0,0
$GC,270,-0.74,-146.0,39.8,-17.0,44,277,0.00,2.28,0.00,0.000,4,0.000,0.060,2395,552,3399,0,0,0,0,0,0
$GC,291,-0.74,-146.0,42.8,-16.0,47,296,0.00,2.17,0.00,0.000,6,0.000,0.040,2387,1971,3398,0,0,0,0,0,0
$GC,625,-0.74,-146.0,96.8,-13.3,98,629,0.00,2.17,0.00,0.000,4,0.000,0.055,2376,3369,3399,0,0,0,0,0,0
$GC,731,-0.74,-146.0,111.9,-13.4,107,736,0.00,2.22,0.00,0.000,6,0.000,0.044,2376,1949,3400,0,0,0,0,0,0
$GC,1059,-0.74,-146.0,155.6,-11.9,137,1063,0.00,2.17,0.00,0.000,4,0.000,0.054,2376,551,3401,0,0,0,0,0,0
$GC,1132,-0.74,-146.0,164.3,-11.4,143,1140,0.12,2.12,0.00,0.000,6,0.173,0.034,2398,1978,3401,0,0,0,0,0,0
$GC,1467,-0.74,-146.0,196.1,-9.1,174,1471,0.00,2.25,0.00,0.000,4,0.000,0.052,2399,551,3401,0,0,0,0,0,0
$GC,1677,-0.74,-146.0,219.2,-11.1,185,1682,0.00,2.12,0.00,0.000,6,0.000,0.034,2391,1962,3401,0,0,0,0,0,0
$GC,1995,-0.74,-146.0,252.1,-9.4,201,1999,0.00,2.17,0.00,0.000,4,0.000,0.053,2380,3366,3402,0,0,0,0,0,0
$GC,2115,-0.74,-146.0,265.7,-11.7,206,2119,0.00,2.20,0.00,0.000,6,0.000,0.043,2380,1953,3402,0,0,0,0,0,0
$GC,2438,-0.74,-146.0,294.2,-8.3,222,2442,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,553,3402,0,0,0,0,0,0
$GC,2639,-0.74,-146.0,311.5,-7.9,228,2644,0.12,2.10,0.00,0.000,6,0.170,0.035,2403,1960,3402,0,0,0,0,0,0
$GC,2978,-0.74,-146.0,332.7,-6.3,237,2982,0.00,2.22,0.00,0.000,4,0.000,0.056,2404,553,3402,0,0,0,0,0,0
$GC,3000,-0.74,-146.0,334.6,-7.7,237,3005,0.00,2.15,0.00,0.000,6,0.000,0.038,2396,1966,3402,0,0,0,0,0,0
$GC,3340,-0.74,-146.0,362.9,-8.4,246,3344,0.00,2.28,0.00,0.000,4,0.000,0.058,2396,551,3400,0,0,0,0,0,0
$GC,3525,-0.74,-146.0,379.6,-8.5,250,3530,0.00,2.15,0.00,0.000,6,0.000,0.038,2386,1964,3399,0,0,0,0,0,0
$GC,3846,-0.74,-146.0,402.2,-6.9,258,3850,0.00,2.20,0.00,0.000,4,0.000,0.057,2376,3362,3397,0,0,0,0,0,0
$GC,3991,-0.74,-146.0,413.1,-7.8,261,3995,0.00,2.17,0.00,0.000,6,0.000,0.042,2377,1947,3397,0,0,0,0,0,0
$GC,4340,-0.74,-146.0,438.7,-7.1,270,4344,0.00,2.22,0.00,0.000,4,0.000,0.062,2376,551,3394,0,0,0,0,0,0
$STATE,4500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4500,begin apogee
$GC,4508,-0.17,0.0,450.4,7.2,273,4630,0.65,0.00,118.45,0.779,6,0.128,0.000,2579,1978,2799,0,0,0,0,0,0
$STATE,4631,end apogee,CONTROL_FINISHED_OK
$STATE,4631,begin climb
$GC,4634,0.74,146.0,450.7,0.0,276,4763,0.85,0.00,125.45,0.749,6,0.079,0.000,2873,1978,2204,0,0,0,0,0,0
$GC,5087,0.74,146.0,388.8,14.4,288,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1978,2195,0,0,0,0,0,0
$GC,5410,0.74,146.0,345.7,13.2,296,5414,0.00,2.30,0.00,0.000,4,0.000,0.062,2883,565,2193,0,0,0,0,0,0
$GC,5476,0.74,146.0,336.4,14.0,297,5481,0.00,2.17,0.00,0.000,6,0.000,0.041,2883,1976,2192,0,0,0,0,0,0
$GC,5793,0.74,146.0,292.4,13.9,306,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1976,2191,0,0,0,0,0,0
$GC,6102,0.74,146.0,253.8,11.4,321,6106,0.00,2.28,0.00,0.000,4,0.000,0.064,2893,566,2189,0,0,0,0,0,0
$GC,6126,0.74,146.0,251.5,10.0,322,6130,0.00,2.20,0.00,0.000,6,0.000,0.044,2893,1976,2189,0,0,0,0,0,0
$GC,6447,0.74,146.0,218.5,10.0,338,6451,0.00,2.20,0.00,0.000,4,0.000,0.058,2893,3386,2188,0,0,0,0,0,0
$GC,6561,0.74,146.0,204.1,15.3,343,6565,0.00,2.22,0.00,0.000,6,0.000,0.048,2902,1976,2187,0,0,0,0,0,0
$GC,6888,0.74,146.0,164.3,13.0,372,6892,0.00,2.22,0.00,0.000,4,0.000,0.059,2912,564,2186,0,0,0,0,0,0
$GC,7050,0.74,146.0,142.6,13.7,386,7058,0.10,2.20,0.00,0.000,6,0.125,0.041,2879,1973,2186,0,0,0,0,0,0
$GC,7377,0.74,146.0,108.6,11.4,417,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1974,2186,0,0,0,0,0,0
$GC,7695,0.75,156.2,79.0,8.6,448,7708,0.00,2.17,7.00,0.452,4,0.000,0.050,2879,3389,2162,0,0,0,0,0,0
$GC,7839,0.75,156.2,64.9,9.9,474,7847,0.00,2.22,0.00,0.000,6,0.000,0.041,2885,1973,2161,0,0,0,0,0,0
$GC,8172,0.83,220.3,41.4,6.4,535,8235,0.00,2.30,54.17,0.487,4,0.000,0.053,2896,557,1900,0,0,0,0,0,0
$GC,8287,0.89,267.0,32.5,7.1,555,8335,0.00,2.22,40.03,0.467,6,0.000,0.037,2896,1994,1710,0,0,0,0,0,0
$GC,8493,0.89,267.0,8.4,12.4,593,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1994,1708,0,0,0,0,0,0
$STATE,8537,end climb,SURFACE_DEPTH_REACHED
$STATE,8537,begin surface coast
$FINISH,0.7,1.010707
$STATE,8560,end surface coast,CONTROL_FINISHED_OK
$STATE,8560,begin surface
$SM_CCo,8578,16.88,0.421,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,16.88,0.000,0.000,0.421,36,1948,1575,-8.14,-0.34,300.24
$IRIDIUM_FIX,2101.76,-15753.03,060802,131351
$TT8_MAMPS,0.028379
$HUMID,62.24
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,24.7,13.863
$10V_AH,10.5,15.208
$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,18.400,70.625,345.100,16.875,0.000,26.290,34.895,134.375,19.500,0.000,19.169,1100.776,4972.997,401.929,2018.127,423.604,0.000,1119.113,0.000,1967.081,0.000,117.252,0.000
$DEVICE_MAMPS,227.799,105.079,779.272,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,410.528,330.773,1169.982,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,34855,605
$CAP_FILE_SIZE,93325,0
$CFSIZE,260165632,247246848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120513,180034,2107.140,-15755.401,29,0.8,29,9.8