version: 66.06
glider: 523
mission: 4
dive: 176
start: 5 13 113 14 29 53
data:
$ID,523
$MISSION,4
$DIVE,176
$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,-39358.824
$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,29
$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
$GPS1,142349,2106.982,-15750.072,18,1.3,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.6
$GPS2,142936,2106.971,-15750.146,16,1.3,16,9.8
$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,89.9,12672,-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,-77.38,0.000,6,0.000,0.000,28,1977,3393,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.9,-6.0,13,118,9.38,2.28,0.00,0.000,4,0.226,0.053,2392,551,3394,0,0,0,0,0,0
$GC,239,-0.74,-146.0,36.5,-19.4,37,245,0.00,2.15,0.00,0.000,6,0.000,0.038,2384,1969,3395,0,0,0,0,0,0
$GC,577,-0.74,-146.0,93.9,-14.7,91,581,0.00,2.28,0.00,0.000,4,0.000,0.054,2384,547,3396,0,0,0,0,0,0
$GC,690,-0.74,-146.0,110.7,-13.4,101,694,0.00,2.15,0.00,0.000,6,0.000,0.035,2375,1968,3397,0,0,0,0,0,0
$GC,1023,-0.74,-146.0,154.2,-14.7,132,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1968,3399,0,0,0,0,0,0
$GC,1342,-0.74,-146.0,195.2,-11.0,162,1346,0.00,2.25,0.00,0.000,4,0.000,0.050,2375,543,3399,0,0,0,0,0,0
$GC,1576,-0.74,-146.0,223.9,-10.9,173,1583,0.12,2.12,0.00,0.000,6,0.166,0.034,2398,1966,3399,0,0,0,0,0,0
$GC,1892,-0.74,-146.0,249.5,-8.3,189,1899,0.00,2.30,0.00,0.000,4,0.000,0.053,2399,541,3399,0,0,0,0,0,0
$GC,1962,-0.74,-146.0,256.8,-10.7,192,1966,0.00,2.12,0.00,0.000,6,0.000,0.035,2390,1960,3399,0,0,0,0,0,0
$GC,2289,-0.74,-146.0,289.4,-9.3,208,2293,0.00,2.25,0.00,0.000,4,0.000,0.054,2391,550,3399,0,0,0,0,0,0
$GC,2339,-0.74,-146.0,294.3,-8.9,210,2343,0.00,2.12,0.00,0.000,6,0.000,0.037,2381,1969,3399,0,0,0,0,0,0
$GC,2656,-0.74,-146.0,324.1,-9.9,220,2660,0.00,2.20,0.00,0.000,4,0.000,0.056,2371,3366,3399,0,0,0,0,0,0
$GC,2807,-0.74,-146.0,339.0,-10.0,223,2812,0.12,2.17,0.00,0.000,6,0.150,0.042,2404,1955,3399,0,0,0,0,0,0
$GC,3158,-0.74,-146.0,364.5,-6.9,232,3163,0.00,2.20,0.00,0.000,4,0.000,0.059,2405,553,3397,0,0,0,0,0,0
$GC,3321,-0.74,-146.0,376.2,-6.4,235,3325,0.00,2.12,0.00,0.000,6,0.000,0.039,2397,1957,3396,0,0,0,0,0,0
$GC,3658,-0.74,-146.0,396.2,-6.3,244,3662,0.00,2.20,0.00,0.000,4,0.000,0.058,2387,3364,3394,0,0,0,0,0,0
$GC,3703,-0.74,-146.0,399.5,-8.0,245,3707,0.00,2.17,0.00,0.000,6,0.000,0.041,2387,1960,3393,0,0,0,0,0,0
$GC,4024,-0.74,-146.0,423.2,-7.3,253,4028,0.00,2.25,0.00,0.000,4,0.000,0.061,2387,547,3392,0,0,0,0,0,0
$GC,4169,-0.74,-146.0,435.5,-8.3,256,4173,0.00,2.15,0.00,0.000,6,0.000,0.041,2377,1961,3391,0,0,0,0,0,0
$STATE,4393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4393,begin apogee
$GC,4399,-0.17,0.0,453.0,7.8,262,4520,0.65,0.00,117.82,0.783,6,0.125,0.000,2586,1961,2800,0,0,0,0,0,0
$STATE,4521,end apogee,CONTROL_FINISHED_OK
$STATE,4521,begin climb
$GC,4524,0.74,146.0,454.3,0.0,265,4653,0.85,0.00,125.93,0.753,6,0.078,0.000,2874,1961,2204,0,0,0,0,0,0
$GC,4960,0.74,146.0,397.8,14.1,276,4964,0.00,2.28,0.00,0.000,4,0.000,0.061,2884,571,2196,0,0,0,0,0,0
$GC,4987,0.74,146.0,393.9,13.8,276,4991,0.00,2.20,0.00,0.000,6,0.000,0.040,2884,1973,2195,0,0,0,0,0,0
$GC,5318,0.74,146.0,350.3,12.7,284,5322,0.00,2.20,0.00,0.000,4,0.000,0.054,2884,3385,2193,0,0,0,0,0,0
$GC,5340,0.74,146.0,347.3,12.6,284,5344,0.00,2.28,0.00,0.000,6,0.000,0.051,2893,1970,2192,0,0,0,0,0,0
$GC,5677,0.74,146.0,303.3,13.7,293,5681,0.00,2.22,0.00,0.000,4,0.000,0.061,2902,565,2191,0,0,0,0,0,0
$GC,5698,0.74,146.0,300.3,12.8,293,5702,0.00,2.17,0.00,0.000,6,0.000,0.044,2902,1972,2190,0,0,0,0,0,0
$GC,6019,0.74,146.0,254.1,15.1,309,6023,0.00,2.20,0.00,0.000,4,0.000,0.054,2901,3388,2189,0,0,0,0,0,0
$GC,6082,0.74,146.0,243.7,16.7,312,6087,0.12,2.22,0.00,0.000,6,0.160,0.041,2877,1961,2188,0,0,0,0,0,0
$GC,6408,0.74,146.0,199.1,13.9,328,6412,0.00,2.22,0.00,0.000,4,0.000,0.060,2886,560,2188,0,0,0,0,0,0
$GC,6549,0.74,146.0,182.7,12.1,340,6554,0.00,2.17,0.00,0.000,6,0.000,0.038,2886,1984,2187,0,0,0,0,0,0
$GC,6876,0.74,146.0,148.0,10.5,370,6880,0.00,2.22,0.00,0.000,4,0.000,0.055,2896,565,2187,0,0,0,0,0,0
$GC,6917,0.74,146.0,143.2,12.5,373,6921,0.00,2.15,0.00,0.000,6,0.000,0.038,2896,1977,2187,0,0,0,0,0,0
$GC,7244,0.76,161.4,109.2,8.4,403,7260,0.00,2.17,11.32,0.525,4,0.000,0.051,2896,3384,2141,0,0,0,0,0,0
$GC,7429,0.76,161.4,89.3,11.2,419,7437,0.00,2.25,0.00,0.000,6,0.000,0.045,2905,1973,2140,0,0,0,0,0,0
$GC,7757,0.76,168.3,57.3,8.7,472,7769,0.00,2.22,7.47,0.445,4,0.000,0.054,2912,561,2113,0,0,0,0,0,0
$GC,7833,0.76,168.4,50.4,9.0,485,7838,0.00,2.17,0.00,0.000,6,0.000,0.038,2913,1980,2113,0,0,0,0,0,0
$GC,8162,0.76,168.4,13.8,12.3,546,8169,0.00,2.20,0.00,0.000,4,0.000,0.051,2912,3371,2113,0,0,0,0,0,0
$GC,8238,0.76,168.4,3.7,13.3,559,8246,0.10,2.20,0.00,0.000,6,0.125,0.039,2886,1969,2113,0,0,0,0,0,0
$STATE,8252,end climb,SURFACE_DEPTH_REACHED
$STATE,8252,begin surface coast
$FINISH,0.8,1.023439
$STATE,8275,end surface coast,CONTROL_FINISHED_OK
$STATE,8275,begin surface
$SM_CCo,8293,58.15,0.448,0,0,1575,300.24
$SM_GC,1.53,0.00,0.00,58.15,0.000,0.000,0.448,32,1965,1575,-8.15,0.14,300.24
$IRIDIUM_FIX,2101.76,-15750.89,070802,121213
$TT8_MAMPS,0.028379
$HUMID,62.08
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,24.7,14.603
$10V_AH,10.5,16.005
$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,18.475,79.275,262.550,58.150,0.000,31.234,38.315,150.603,19.000,0.000,16.524,1053.896,4926.614,409.615,1863.286,445.034,0.000,1055.273,0.000,1819.550,0.000,119.123,0.000
$DEVICE_MAMPS,226.265,61.360,783.107,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,384.851,316.566,1087.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31886,565
$CAP_FILE_SIZE,91003,0
$CFSIZE,260165632,246816768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130513,165022,2106.894,-15749.907,39,0.9,39,9.8