version: 66.06
glider: 523
mission: 4
dive: 10
start: 4 26 113 6 49 48
data:
$ID,523
$MISSION,4
$DIVE,10
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-36113.082
$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,2700
$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,24
$R_STBD_OVSHOOT,35
$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
$GPS1,063704,2112.421,-15756.269,28,1.0,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.3
$GPS2,064930,2112.392,-15756.458,17,1.4,17,9.8
$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,222.4,12258,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,106,0.00,0.00,-86.38,0.000,6,0.000,0.000,43,2008,3396,0,0,0,0,0,0
$GC,109,-0.76,-146.0,3.1,-4.6,14,124,9.60,2.30,0.00,0.000,4,0.232,0.049,2445,570,3397,0,0,0,0,0,0
$GC,365,-0.76,-146.0,43.3,-12.1,61,370,0.00,2.17,0.00,0.000,6,0.000,0.038,2437,1979,3398,0,0,0,0,0,0
$GC,700,-0.76,-146.0,86.7,-12.1,118,704,0.00,2.28,0.00,0.000,4,0.000,0.054,2437,564,3398,0,0,0,0,0,0
$GC,893,-0.76,-146.0,107.5,-10.8,135,897,0.00,2.17,0.00,0.000,6,0.000,0.038,2430,1989,3398,0,0,0,0,0,0
$GC,1220,-0.76,-146.0,142.4,-10.1,165,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1988,3399,0,0,0,0,0,0
$GC,1538,-0.76,-146.0,174.1,-11.9,195,1545,0.00,2.28,0.00,0.000,4,0.000,0.054,2430,561,3399,0,0,0,0,0,0
$GC,1653,-0.76,-146.0,189.4,-13.8,205,1658,0.10,2.17,0.00,0.000,6,0.170,0.040,2451,1988,3399,0,0,0,0,0,0
$GC,1977,-0.76,-146.0,219.2,-6.7,225,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1988,3399,0,0,0,0,0,0
$GC,2286,-0.76,-146.0,234.2,-5.5,240,2290,0.00,2.17,0.00,0.000,4,0.000,0.057,2442,3390,3399,0,0,0,0,0,0
$GC,2319,-0.76,-146.0,236.2,-5.7,241,2324,0.00,2.20,0.00,0.000,6,0.000,0.044,2442,1973,3399,0,0,0,0,0,0
$GC,2639,-0.76,-146.0,256.1,-6.4,257,2643,0.00,2.17,0.00,0.000,4,0.000,0.054,2433,3385,3399,0,0,0,0,0,0
$GC,2717,-0.76,-146.0,261.9,-6.6,260,2722,0.00,2.17,0.00,0.000,6,0.000,0.044,2433,1975,3399,0,0,0,0,0,0
$GC,3035,-0.76,-146.0,287.1,-7.9,276,3039,0.00,2.17,0.00,0.000,4,0.000,0.058,2433,573,3398,0,0,0,0,0,0
$GC,3293,-0.76,-146.0,303.9,-5.2,286,3298,0.00,2.15,0.00,0.000,6,0.000,0.041,2426,1979,3397,0,0,0,0,0,0
$GC,3626,-0.76,-146.0,323.2,-5.6,295,3630,0.00,2.17,0.00,0.000,4,0.000,0.057,2415,3390,3396,0,0,0,0,0,0
$GC,3670,-0.76,-146.0,326.0,-6.1,296,3675,0.12,2.17,0.00,0.000,6,0.143,0.043,2452,1978,3396,0,0,0,0,0,0
$GC,3991,-0.76,-146.0,341.9,-4.6,304,3994,0.00,2.17,0.00,0.000,4,0.000,0.058,2453,564,3394,0,0,0,0,0,0
$GC,4048,-0.76,-146.0,344.8,-5.1,305,4052,0.00,2.17,0.00,0.000,6,0.000,0.043,2446,1984,3393,0,0,0,0,0,0
$GC,4366,-0.76,-146.0,358.8,-4.6,313,4370,0.00,2.20,0.00,0.000,4,0.000,0.059,2446,572,3392,0,0,0,0,0,0
$GC,4433,-0.76,-146.0,361.7,-4.5,314,4437,0.00,2.17,0.00,0.000,6,0.000,0.044,2439,1984,3391,0,0,0,0,0,0
$GC,4770,-0.76,-146.0,380.6,-6.2,323,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1984,3389,0,0,0,0,0,0
$STATE,4807,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4807,begin apogee
$GC,4813,-0.17,0.0,383.2,6.3,324,4933,0.62,0.00,116.28,0.741,6,0.112,0.000,2647,1985,2800,0,0,0,0,0,0
$STATE,4933,end apogee,CONTROL_FINISHED_OK
$STATE,4934,begin climb
$GC,4936,0.76,146.0,384.8,0.0,327,5068,0.80,2.33,123.53,0.709,4,0.055,0.056,2945,3386,2203,0,0,0,0,0,0
$GC,5085,0.76,146.0,369.4,14.6,330,5089,0.00,2.30,0.00,0.000,6,0.000,0.050,2955,1986,2201,0,0,0,0,0,0
$GC,5422,0.76,146.0,315.8,15.2,339,5426,0.00,2.28,0.00,0.000,4,0.000,0.067,2965,569,2196,0,0,0,0,0,0
$GC,5466,0.76,146.0,308.8,15.6,340,5470,0.00,2.22,0.00,0.000,6,0.000,0.044,2965,1980,2195,0,0,0,0,0,0
$GC,5788,0.76,146.0,253.0,16.3,354,5792,0.00,2.28,0.00,0.000,4,0.000,0.064,2975,570,2193,0,0,0,0,0,0
$GC,5820,0.76,146.0,246.8,18.7,355,5826,0.00,2.22,0.00,0.000,6,0.000,0.045,2975,1989,2193,0,0,0,0,0,0
$GC,6139,0.76,146.0,196.5,13.7,372,6143,0.00,2.22,0.00,0.000,4,0.000,0.064,2975,3395,2192,0,0,0,0,0,0
$GC,6289,0.76,146.0,172.9,16.9,385,6294,0.15,2.22,0.00,0.000,6,0.159,0.048,2943,1977,2191,0,0,0,0,0,0
$GC,6617,0.76,146.0,127.6,13.2,415,6621,0.00,2.22,0.00,0.000,4,0.000,0.064,2952,571,2190,0,0,0,0,0,0
$GC,6743,0.76,146.0,109.9,13.3,426,6748,0.00,2.17,0.00,0.000,6,0.000,0.043,2952,1982,2190,0,0,0,0,0,0
$GC,7075,0.76,146.0,62.3,13.8,467,7080,0.00,2.17,0.00,0.000,4,0.000,0.059,2953,3387,2189,0,0,0,0,0,0
$GC,7121,0.76,146.0,55.3,15.9,475,7126,0.00,2.20,0.00,0.000,6,0.000,0.046,2962,1969,2189,0,0,0,0,0,0
$GC,7449,0.76,146.0,11.3,12.2,536,7457,0.00,2.22,0.00,0.000,4,0.000,0.064,2968,569,2189,0,0,0,0,0,0
$STATE,7510,end climb,SURFACE_DEPTH_REACHED
$STATE,7510,begin surface coast
$FINISH,0.4,1.023624
$STATE,7532,end surface coast,CONTROL_FINISHED_OK
$STATE,7532,begin surface
$SM_CCo,7552,66.32,0.467,0,0,1575,300.24
$SM_GC,1.31,0.00,0.00,66.32,0.000,0.000,0.467,50,2000,1575,-8.28,0.57,300.24
$IRIDIUM_FIX,2106.38,-15757.32,210702,060634
$TT8_MAMPS,0.027612
$HUMID,66.26
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,24.8,1.324
$10V_AH,10.6,1.477
$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,18.800,70.800,239.800,66.325,0.000,48.004,71.848,385.055,15.500,0.000,17.590,1011.508,4428.093,383.559,1787.477,756.334,0.000,996.223,0.000,1746.156,0.000,95.572,0.000
$DEVICE_MAMPS,232.401,67.496,740.922,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,374.602,320.991,1081.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,28582,551
$CAP_FILE_SIZE,91950,0
$CFSIZE,260165632,254603264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260413,085742,2111.844,-15756.485,17,1.2,17,9.8