version: 66.06
glider: 523
mission: 4
dive: 9
start: 4 26 113 4 28 33
data:
$ID,523
$MISSION,4
$DIVE,9
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,140
$T_MISSION,160
$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,350
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-36094.863
$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,2710
$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,1980
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,26
$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
$GPS1,041144,2112.883,-15755.520,25,1.0,26,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.8
$GPS2,042815,2112.962,-15755.785,29,0.9,31,9.8
$SPEED_LIMITS,0.165,0.256
$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,221.9,13825,-17.5,-9.524
$D_GRID,400
$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,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,108,0.00,0.00,-86.05,0.000,6,0.000,0.000,36,1964,3397,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.3,-5.6,14,126,9.57,2.22,0.00,0.000,4,0.230,0.049,2452,566,3397,0,0,0,0,0,0
$GC,367,-0.76,-146.0,40.4,-11.8,61,372,0.00,2.15,0.00,0.000,6,0.000,0.036,2443,1994,3398,0,0,0,0,0,0
$GC,696,-0.76,-146.0,75.6,-12.0,122,703,0.00,2.28,0.00,0.000,4,0.000,0.056,2444,575,3398,0,0,0,0,0,0
$GC,789,-0.76,-146.0,88.1,-13.7,133,797,0.00,2.15,0.00,0.000,6,0.000,0.036,2435,1978,3398,0,0,0,0,0,0
$GC,1116,-0.76,-146.0,121.6,-6.3,164,1120,0.00,2.22,0.00,0.000,4,0.000,0.054,2435,558,3399,0,0,0,0,0,0
$GC,1254,-0.76,-146.0,135.9,-10.9,176,1259,0.12,2.15,0.00,0.000,6,0.154,0.036,2462,1983,3399,0,0,0,0,0,0
$GC,1582,-0.76,-146.0,165.1,-8.2,206,1586,0.00,2.22,0.00,0.000,4,0.000,0.055,2462,567,3399,0,0,0,0,0,0
$GC,1615,-0.76,-146.0,168.2,-8.5,208,1622,0.00,2.15,0.00,0.000,6,0.000,0.038,2457,1972,3399,0,0,0,0,0,0
$GC,1942,-0.76,-146.0,197.4,-8.6,239,1946,0.00,2.22,0.00,0.000,4,0.000,0.054,2457,557,3399,0,0,0,0,0,0
$GC,1981,-0.76,-146.0,201.3,-9.8,242,1985,0.00,2.15,0.00,0.000,6,0.000,0.038,2450,1982,3399,0,0,0,0,0,0
$GC,2316,-0.76,-146.0,224.4,-5.2,258,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1982,3399,0,0,0,0,0,0
$GC,2624,-0.76,-146.0,246.4,-8.4,273,2628,0.00,2.22,0.00,0.000,4,0.000,0.054,2450,563,3399,0,0,0,0,0,0
$GC,2754,-0.76,-146.0,257.5,-8.0,278,2760,0.00,2.12,0.00,0.000,6,0.000,0.039,2441,1981,3399,0,0,0,0,0,0
$GC,3072,-0.76,-146.0,278.8,-7.6,294,3076,0.00,2.20,0.00,0.000,4,0.000,0.056,2442,566,3399,0,0,0,0,0,0
$GC,3198,-0.76,-146.0,290.0,-8.6,299,3204,0.00,2.15,0.00,0.000,6,0.000,0.041,2433,1979,3399,0,0,0,0,0,0
$GC,3533,-0.76,-146.0,309.5,-5.2,312,3535,0.10,0.00,0.00,0.000,6,0.166,0.000,2461,1980,3397,0,0,0,0,0,0
$GC,3857,-0.76,-146.0,325.5,-4.7,320,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1981,3396,0,0,0,0,0,0
$GC,4182,-0.76,-146.0,339.3,-4.3,328,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1981,3394,0,0,0,0,0,0
$GC,4506,-0.76,-146.0,358.7,-6.7,336,4510,0.00,2.25,0.00,0.000,4,0.000,0.060,2461,563,3393,0,0,0,0,0,0
$GC,4568,-0.76,-146.0,364.1,-9.0,337,4572,0.00,2.17,0.00,0.000,6,0.000,0.043,2455,1979,3392,0,0,0,0,0,0
$STATE,4827,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4827,begin apogee
$GC,4834,-0.17,0.0,384.5,7.8,344,4953,0.60,0.00,116.50,0.734,6,0.106,0.000,2657,1979,2800,0,0,0,0,0,0
$STATE,4954,end apogee,CONTROL_FINISHED_OK
$STATE,4954,begin climb
$GC,4957,0.76,146.0,387.5,0.0,347,5089,0.80,2.42,123.18,0.704,4,0.053,0.062,2970,568,2203,0,0,0,0,0,0
$GC,5100,0.76,146.0,373.0,13.8,350,5105,0.00,2.30,0.00,0.000,6,0.000,0.044,2970,1974,2201,0,0,0,0,0,0
$GC,5443,0.76,146.0,314.2,18.1,359,5447,0.00,2.28,0.00,0.000,4,0.000,0.062,2979,565,2195,0,0,0,0,0,0
$GC,5560,0.76,146.0,294.3,16.3,362,5564,0.00,2.25,0.00,0.000,6,0.000,0.046,2980,1990,2194,0,0,0,0,0,0
$GC,5875,0.76,146.0,235.9,18.8,377,5879,0.00,2.28,0.00,0.000,4,0.000,0.065,2989,568,2193,0,0,0,0,0,0
$GC,5942,0.76,146.0,224.0,16.3,380,5947,0.12,2.22,0.00,0.000,6,0.168,0.047,2958,1987,2192,0,0,0,0,0,0
$GC,6270,0.76,146.0,175.2,13.1,404,6274,0.00,2.17,0.00,0.000,4,0.000,0.057,2958,3397,2191,0,0,0,0,0,0
$GC,6365,0.76,146.0,162.0,13.6,412,6369,0.00,2.20,0.00,0.000,6,0.000,0.050,2965,1979,2191,0,0,0,0,0,0
$GC,6692,0.76,146.0,119.7,13.8,442,6696,0.00,2.20,0.00,0.000,4,0.000,0.060,2976,559,2191,0,0,0,0,0,0
$GC,6798,0.76,146.0,103.5,15.6,451,6802,0.00,2.20,0.00,0.000,6,0.000,0.044,2976,1980,2190,0,0,0,0,0,0
$GC,7126,0.76,146.0,50.7,14.7,498,7134,0.00,2.20,0.00,0.000,4,0.000,0.054,2975,3395,2190,0,0,0,0,0,0
$GC,7169,0.76,146.0,44.1,16.4,505,7175,0.00,2.20,0.00,0.000,6,0.000,0.047,2986,1976,2190,0,0,0,0,0,0
$GC,7494,0.76,146.0,4.6,10.0,566,7502,0.00,2.22,0.00,0.000,4,0.000,0.059,2996,565,2190,0,0,0,0,0,0
$STATE,7508,end climb,SURFACE_DEPTH_REACHED
$STATE,7508,begin surface coast
$FINISH,0.3,1.010369
$STATE,7535,end surface coast,CONTROL_FINISHED_OK
$STATE,7535,begin surface
$SM_CCo,7555,89.03,0.461,0,0,1372,350.04
$SM_GC,1.06,0.00,0.00,89.03,0.000,0.000,0.461,43,2008,1372,-8.34,0.79,350.04
$IRIDIUM_FIX,2101.76,-15750.89,210702,040401
$TT8_MAMPS,0.028379
$HUMID,65.43
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,24.8,1.236
$10V_AH,10.6,1.392
$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,18.800,66.425,239.675,89.025,0.000,80.574,121.932,465.210,15.500,0.000,31.368,1033.255,4430.752,392.862,1848.898,932.361,0.000,1013.609,0.000,1792.359,0.000,95.564,0.000
$DEVICE_MAMPS,230.100,65.195,734.019,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,389.622,333.474,1170.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,31754,573
$CAP_FILE_SIZE,93924,0
$CFSIZE,260165632,254644224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260413,063704,2112.421,-15756.269,28,1.0,28,9.8