version: 66.06
glider: 523
mission: 4
dive: 177
start: 5 13 113 16 56 34
data:
$ID,523
$MISSION,4
$DIVE,177
$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,-39374.227
$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,33
$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
$GPS1,165022,2106.894,-15749.907,39,0.9,39,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.1
$GPS2,165617,2106.903,-15750.015,14,1.6,14,9.8
$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,89.5,12426,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.20,0.000,2,0.000,0.000,32,1966,3359,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.2,-4.6,12,115,9.38,2.28,-0.82,0.000,4,0.228,0.067,2391,554,3397,0,0,0,0,0,0
$GC,294,-0.74,-146.0,44.0,-18.8,48,301,0.00,2.17,0.00,0.000,6,0.000,0.036,2382,1961,3399,0,0,0,0,0,0
$GC,630,-0.74,-146.0,102.9,-14.5,97,634,0.00,2.25,0.00,0.000,4,0.000,0.053,2382,553,3400,0,0,0,0,0,0
$GC,661,-0.74,-146.0,107.7,-15.0,99,665,0.00,2.12,0.00,0.000,6,0.000,0.036,2373,1962,3399,0,0,0,0,0,0
$GC,989,-0.74,-146.0,150.5,-13.3,129,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1962,3400,0,0,0,0,0,0
$GC,1317,-0.74,-146.0,190.4,-10.9,160,1321,0.00,2.22,0.00,0.000,4,0.000,0.051,2373,551,3402,0,0,0,0,0,0
$GC,1517,-0.74,-146.0,212.0,-10.1,172,1522,0.15,2.12,0.00,0.000,6,0.159,0.033,2404,1965,3402,0,0,0,0,0,0
$GC,1838,-0.74,-146.0,237.4,-7.3,188,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1966,3403,0,0,0,0,0,0
$GC,2148,-0.74,-146.0,258.8,-7.5,203,2152,0.00,2.17,0.00,0.000,4,0.000,0.057,2396,3360,3403,0,0,0,0,0,0
$GC,2225,-0.74,-146.0,266.3,-10.4,206,2231,0.00,2.17,0.00,0.000,6,0.000,0.044,2396,1962,3402,0,0,0,0,0,0
$GC,2545,-0.74,-146.0,295.5,-9.1,222,2549,0.00,2.25,0.00,0.000,4,0.000,0.055,2396,544,3402,0,0,0,0,0,0
$GC,2555,-0.74,-146.0,296.8,-8.6,222,2561,0.00,2.12,0.00,0.000,6,0.000,0.036,2386,1957,3402,0,0,0,0,0,0
$GC,2888,-0.74,-146.0,320.3,-6.5,232,2892,0.00,2.17,0.00,0.000,4,0.000,0.054,2376,3367,3402,0,0,0,0,0,0
$GC,3006,-0.74,-146.0,329.0,-6.6,234,3010,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1952,3402,0,0,0,0,0,0
$GC,3340,-0.74,-146.0,355.9,-8.7,242,3344,0.00,2.20,0.00,0.000,4,0.000,0.058,2376,550,3400,0,0,0,0,0,0
$GC,3408,-0.74,-146.0,363.1,-10.3,243,3413,0.12,2.15,0.00,0.000,6,0.168,0.038,2399,1965,3399,0,0,0,0,0,0
$GC,3747,-0.74,-146.0,389.6,-7.4,252,3752,0.00,2.28,0.00,0.000,4,0.000,0.059,2399,550,3398,0,0,0,0,0,0
$GC,3825,-0.74,-146.0,396.3,-8.0,253,3829,0.00,2.15,0.00,0.000,6,0.000,0.040,2391,1970,3397,0,0,0,0,0,0
$GC,4158,-0.74,-146.0,417.6,-5.8,261,4162,0.00,2.15,0.00,0.000,4,0.000,0.057,2381,3368,3395,0,0,0,0,0,0
$GC,4202,-0.74,-146.0,420.5,-6.0,262,4206,0.00,2.20,0.00,0.000,6,0.000,0.041,2380,1949,3395,0,0,0,0,0,0
$GC,4522,-0.74,-146.0,442.2,-6.9,270,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1949,3393,0,0,0,0,0,0
$STATE,4640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4640,begin apogee
$GC,4647,-0.17,0.0,451.3,7.3,273,4768,0.62,0.00,118.53,0.786,6,0.128,0.000,2581,1949,2800,0,0,0,0,0,0
$STATE,4769,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4772,0.74,146.0,452.7,0.0,276,4909,0.85,2.47,125.30,0.754,4,0.078,0.055,2874,3376,2202,0,0,0,0,0,0
$GC,4943,0.74,146.0,433.6,15.3,280,4947,0.00,2.30,0.00,0.000,6,0.000,0.048,2882,1982,2199,0,0,0,0,0,0
$GC,5261,0.74,146.0,387.2,14.1,288,5265,0.00,2.30,0.00,0.000,4,0.000,0.061,2893,558,2194,0,0,0,0,0,0
$GC,5334,0.74,146.0,377.0,14.1,289,5339,0.00,2.20,0.00,0.000,6,0.000,0.041,2893,1979,2193,0,0,0,0,0,0
$GC,5666,0.74,146.0,328.6,14.7,297,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1979,2191,0,0,0,0,0,0
$GC,5972,0.74,146.0,285.0,14.3,307,5976,0.00,2.20,0.00,0.000,4,0.000,0.054,2893,3389,2190,0,0,0,0,0,0
$GC,6027,0.74,146.0,276.9,14.5,309,6032,0.00,2.25,0.00,0.000,6,0.000,0.049,2901,1970,2189,0,0,0,0,0,0
$GC,6343,0.74,146.0,231.9,14.1,325,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1970,2188,0,0,0,0,0,0
$GC,6657,0.74,146.0,190.2,13.0,343,6661,0.00,2.22,0.00,0.000,4,0.000,0.060,2912,565,2187,0,0,0,0,0,0
$GC,6797,0.74,146.0,171.6,14.1,355,6801,0.12,2.17,0.00,0.000,6,0.148,0.041,2878,1990,2187,0,0,0,0,0,0
$GC,7124,0.76,164.9,141.8,8.2,385,7142,0.00,0.00,14.15,0.567,6,0.000,0.000,2878,1991,2128,0,0,0,0,0,0
$GC,7463,0.76,164.9,110.0,9.3,417,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1991,2126,0,0,0,0,0,0
$GC,7792,0.76,164.9,81.0,9.4,448,7796,0.00,2.17,0.00,0.000,4,0.000,0.053,2878,3380,2126,0,0,0,0,0,0
$GC,7833,0.76,164.9,76.6,10.1,453,7839,0.00,2.20,0.00,0.000,6,0.000,0.040,2885,1961,2126,0,0,0,0,0,0
$GC,8162,0.77,175.5,47.4,8.6,514,8181,0.00,2.22,10.85,0.456,4,0.000,0.056,2895,571,2083,0,0,0,0,0,0
$GC,8327,0.77,175.5,32.3,10.2,544,8335,0.00,2.15,0.00,0.000,6,0.000,0.035,2895,1968,2082,0,0,0,0,0,0
$GC,8648,0.77,175.5,4.7,9.4,605,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1969,2082,0,0,0,0,0,0
$STATE,8666,end climb,SURFACE_DEPTH_REACHED
$STATE,8667,begin surface coast
$FINISH,0.5,1.010480
$STATE,8699,end surface coast,CONTROL_FINISHED_OK
$STATE,8699,begin surface
$SM_CCo,8717,55.38,0.442,0,0,1575,300.24
$SM_GC,1.35,0.00,0.00,55.38,0.000,0.000,0.442,25,1981,1575,-8.17,0.59,300.24
$IRIDIUM_FIX,2059.45,-15743.60,070802,141440
$TT8_MAMPS,0.028379
$HUMID,61.73
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.7,14.682
$10V_AH,10.5,16.094
$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,18.475,66.275,268.825,55.375,0.000,28.747,37.690,166.533,19.250,0.000,14.774,1109.907,5236.165,380.797,1948.574,453.490,0.000,1051.748,0.000,1903.305,0.000,119.272,0.000
$DEVICE_MAMPS,227.799,66.729,786.175,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,417.635,351.053,1215.937,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,34971,614
$CAP_FILE_SIZE,91456,0
$CFSIZE,260165632,246767616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130513,192410,2107.002,-15749.294,24,4.0,43,9.8