version: 66.06
glider: 523
mission: 4
dive: 13
start: 4 26 113 13 46 19
data:
$ID,523
$MISSION,4
$DIVE,13
$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,-36171.906
$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,22
$R_STBD_OVSHOOT,34
$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
$GPS1,133259,2110.362,-15758.122,17,0.9,17,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.1
$GPS2,134559,2110.404,-15758.187,18,0.8,18,9.8
$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,230.4,7718,-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,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-77.82,0.000,6,0.000,0.000,39,1989,3396,0,0,0,0,0,0
$GC,105,-0.76,-146.0,4.1,-7.5,13,120,9.62,2.25,0.00,0.000,4,0.234,0.047,2441,560,3397,0,0,0,0,0,0
$GC,361,-0.76,-146.0,52.0,-13.5,60,369,0.00,2.20,0.00,0.000,6,0.000,0.036,2432,1977,3398,0,0,0,0,0,0
$GC,701,-0.76,-146.0,88.6,-10.0,114,705,0.00,2.20,0.00,0.000,4,0.000,0.053,2432,565,3398,0,0,0,0,0,0
$GC,799,-0.76,-146.0,98.7,-9.6,122,806,0.00,2.17,0.00,0.000,6,0.000,0.036,2424,1984,3399,0,0,0,0,0,0
$GC,1126,-0.76,-146.0,131.4,-9.0,153,1130,0.00,2.22,0.00,0.000,4,0.000,0.053,2424,556,3400,0,0,0,0,0,0
$GC,1223,-0.76,-146.0,140.9,-9.5,161,1228,0.12,2.17,0.00,0.000,6,0.160,0.035,2452,1997,3400,0,0,0,0,0,0
$GC,1550,-0.76,-146.0,167.0,-7.8,191,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1997,3400,0,0,0,0,0,0
$GC,1868,-0.76,-146.0,190.7,-7.0,221,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1997,3401,0,0,0,0,0,0
$GC,2181,-0.76,-146.0,213.3,-6.7,242,2185,0.00,2.15,0.00,0.000,4,0.000,0.054,2444,3388,3400,0,0,0,0,0,0
$GC,2295,-0.76,-146.0,221.2,-7.2,247,2299,0.00,2.17,0.00,0.000,6,0.000,0.038,2443,1963,3400,0,0,0,0,0,0
$GC,2618,-0.76,-146.0,244.2,-7.6,263,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1963,3400,0,0,0,0,0,0
$GC,2925,-0.76,-146.0,263.9,-6.3,278,2929,0.00,2.15,0.00,0.000,4,0.000,0.056,2444,576,3400,0,0,0,0,0,0
$GC,2966,-0.76,-146.0,267.0,-8.0,280,2970,0.00,2.15,0.00,0.000,6,0.000,0.041,2436,1979,3399,0,0,0,0,0,0
$GC,3294,-0.76,-146.0,289.4,-6.0,296,3298,0.00,2.15,0.00,0.000,4,0.000,0.054,2428,3390,3398,0,0,0,0,0,0
$GC,3384,-0.76,-146.0,294.7,-5.4,300,3388,0.00,2.17,0.00,0.000,6,0.000,0.041,2428,1975,3398,0,0,0,0,0,0
$GC,3722,-0.76,-146.0,314.4,-5.7,311,3726,0.00,2.17,0.00,0.000,4,0.000,0.058,2427,568,3396,0,0,0,0,0,0
$GC,3749,-0.76,-146.0,316.1,-6.1,311,3754,0.12,2.17,0.00,0.000,6,0.154,0.042,2456,1985,3396,0,0,0,0,0,0
$GC,4081,-0.76,-146.0,327.1,-3.4,319,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1985,3395,0,0,0,0,0,0
$GC,4406,-0.76,-146.0,347.9,-7.6,327,4410,0.00,2.22,0.00,0.000,4,0.000,0.060,2457,564,3393,0,0,0,0,0,0
$GC,4496,-0.76,-146.0,355.6,-7.7,329,4500,0.00,2.20,0.00,0.000,6,0.000,0.045,2451,1988,3392,0,0,0,0,0,0
$STATE,4812,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4812,begin apogee
$GC,4821,-0.17,0.0,376.1,5.9,337,4941,0.57,0.00,116.88,0.742,6,0.107,0.000,2644,1989,2799,0,0,0,0,0,0
$STATE,4941,end apogee,CONTROL_FINISHED_OK
$STATE,4941,begin climb
$GC,4944,0.76,146.0,377.0,0.0,340,5077,0.82,2.35,123.55,0.709,4,0.057,0.060,2950,3390,2203,0,0,0,0,0,0
$GC,5151,0.76,146.0,347.2,18.3,345,5156,0.00,2.30,0.00,0.000,6,0.000,0.048,2961,1988,2198,0,0,0,0,0,0
$GC,5476,0.76,146.0,288.0,18.1,354,5480,0.00,2.28,0.00,0.000,4,0.000,0.067,2970,569,2194,0,0,0,0,0,0
$GC,5543,0.76,146.0,276.2,17.1,357,5547,0.00,2.22,0.00,0.000,6,0.000,0.046,2970,1978,2194,0,0,0,0,0,0
$GC,5869,0.76,146.0,221.8,17.4,373,5873,0.00,2.25,0.00,0.000,4,0.000,0.063,2971,3391,2192,0,0,0,0,0,0
$GC,5930,0.76,146.0,209.6,20.0,375,5937,0.12,2.25,0.00,0.000,6,0.165,0.049,2947,1977,2192,0,0,0,0,0,0
$GC,6256,0.76,146.0,159.6,14.2,403,6260,0.00,2.25,0.00,0.000,4,0.000,0.064,2956,572,2190,0,0,0,0,0,0
$GC,6297,0.76,146.0,153.8,14.8,406,6301,0.00,2.20,0.00,0.000,6,0.000,0.045,2956,1980,2190,0,0,0,0,0,0
$GC,6623,0.76,146.0,112.0,13.7,436,6627,0.00,2.25,0.00,0.000,4,0.000,0.063,2966,563,2190,0,0,0,0,0,0
$GC,6795,0.76,146.0,88.4,12.7,451,6799,0.00,2.20,0.00,0.000,6,0.000,0.044,2966,1981,2190,0,0,0,0,0,0
$GC,7128,0.76,146.0,44.0,13.3,505,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1982,2189,0,0,0,0,0,0
$STATE,7444,end climb,SURFACE_DEPTH_REACHED
$STATE,7444,begin surface coast
$FINISH,0.3,1.218627
$STATE,7466,end surface coast,CONTROL_FINISHED_OK
$STATE,7466,begin surface
$SM_CCo,7484,68.35,0.473,0,0,1576,300.24
$SM_GC,1.21,0.00,0.00,68.35,0.000,0.000,0.473,38,1992,1576,-8.32,0.34,300.24
$IRIDIUM_FIX,2106.38,-15755.17,210702,131330
$TT8_MAMPS,0.028379
$HUMID,65.59
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,24.7,1.585
$10V_AH,10.6,1.740
$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,18.875,57.500,240.425,68.350,0.000,56.224,68.764,395.426,15.250,0.000,18.486,1027.253,4327.733,358.976,1834.204,789.238,0.000,968.799,0.000,1795.179,0.000,94.000,0.000
$DEVICE_MAMPS,233.935,67.496,741.689,473.239,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,388.227,336.595,1159.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,31907,569
$CAP_FILE_SIZE,88811,0
$CFSIZE,260165632,254468096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260413,155334,2109.859,-15759.353,44,1.0,44,9.8