version: 66.06
glider: 523
mission: 4
dive: 17
start: 4 26 113 23 15 18
data:
$ID,523
$MISSION,4
$DIVE,17
$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,157
$T_MISSION,170
$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,-36248.727
$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,2690
$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,28
$R_STBD_OVSHOOT,31
$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
$GPS1,230905,2108.288,-15800.658,21,0.9,21,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.0
$GPS2,231459,2108.267,-15800.683,18,0.9,18,9.8
$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,263.2,2390,-17.8,-9.554
$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,-0.77,-142.6,0.0,0.0,0,94,0.00,0.00,-76.12,0.000,2,0.000,0.000,23,1968,3351,0,0,0,0,0,0
$GC,97,-0.77,-146.0,3.2,-4.5,12,119,9.57,2.30,-0.98,0.000,4,0.232,0.064,2422,3394,3399,0,0,0,0,0,0
$GC,358,-0.77,-146.0,49.5,-13.4,60,366,0.00,2.22,0.00,0.000,6,0.000,0.043,2422,1986,3400,0,0,0,0,0,0
$GC,697,-0.77,-146.0,91.9,-11.3,112,701,0.00,2.20,0.00,0.000,4,0.000,0.055,2422,568,3402,0,0,0,0,0,0
$GC,739,-0.77,-146.0,96.5,-11.0,115,743,0.00,2.17,0.00,0.000,6,0.000,0.038,2413,1994,3402,0,0,0,0,0,0
$GC,1072,-0.77,-146.0,130.0,-10.1,146,1076,0.00,2.17,0.00,0.000,4,0.000,0.058,2403,3389,3402,0,0,0,0,0,0
$GC,1255,-0.77,-146.0,146.5,-8.6,162,1262,0.10,2.20,0.00,0.000,6,0.127,0.040,2438,1968,3404,0,0,0,0,0,0
$GC,1583,-0.77,-146.0,170.0,-7.4,193,1587,0.00,2.15,0.00,0.000,4,0.000,0.056,2438,581,3404,0,0,0,0,0,0
$GC,1734,-0.77,-146.0,183.1,-8.9,206,1738,0.00,2.15,0.00,0.000,6,0.000,0.040,2430,1985,3404,0,0,0,0,0,0
$GC,2055,-0.77,-146.0,213.7,-10.6,230,2059,0.00,2.17,0.00,0.000,4,0.000,0.056,2421,3392,3404,0,0,0,0,0,0
$GC,2104,-0.77,-146.0,219.3,-11.2,232,2108,0.00,2.17,0.00,0.000,6,0.000,0.041,2421,1975,3404,0,0,0,0,0,0
$GC,2420,-0.77,-146.0,249.9,-8.8,247,2424,0.00,2.20,0.00,0.000,4,0.000,0.055,2421,574,3404,0,0,0,0,0,0
$GC,2557,-0.77,-146.0,262.0,-9.0,253,2561,0.00,2.15,0.00,0.000,6,0.000,0.041,2412,1981,3404,0,0,0,0,0,0
$GC,2885,-0.77,-146.0,287.7,-7.5,269,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1981,3404,0,0,0,0,0,0
$GC,3191,-0.77,-146.0,309.0,-6.4,281,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1981,3404,0,0,0,0,0,0
$GC,3517,-0.77,-146.0,335.4,-8.8,289,3521,0.00,2.25,0.00,0.000,4,0.000,0.059,2412,574,3404,0,0,0,0,0,0
$GC,3637,-0.77,-146.0,345.5,-7.2,291,3641,0.12,2.15,0.00,0.000,6,0.159,0.042,2439,1987,3403,0,0,0,0,0,0
$GC,3969,-0.77,-146.0,365.7,-6.2,299,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1987,3402,0,0,0,0,0,0
$GC,4293,-0.77,-146.0,388.2,-7.1,307,4297,0.00,2.25,0.00,0.000,4,0.000,0.063,2439,578,3400,0,0,0,0,0,0
$GC,4371,-0.77,-146.0,394.9,-8.8,308,4377,0.00,2.17,0.00,0.000,6,0.000,0.047,2436,1981,3399,0,0,0,0,0,0
$GC,4704,-0.77,-146.0,420.2,-7.5,317,4708,0.00,2.22,0.00,0.000,4,0.000,0.063,2428,3385,3397,0,0,0,0,0,0
$GC,4772,-0.77,-146.0,425.6,-7.8,318,4776,0.00,2.15,0.00,0.000,6,0.000,0.045,2428,1984,3397,0,0,0,0,0,0
$STATE,5107,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5107,begin apogee
$GC,5114,-0.17,0.0,449.5,6.8,327,5235,0.62,0.00,118.57,0.798,6,0.111,0.000,2636,1983,2800,0,0,0,0,0,0
$STATE,5236,end apogee,CONTROL_FINISHED_OK
$STATE,5236,begin climb
$GC,5239,0.77,146.0,451.6,0.0,330,5374,0.82,2.40,125.00,0.762,4,0.077,0.058,2939,3390,2202,0,0,0,0,0,0
$GC,5390,0.77,146.0,433.9,16.4,333,5395,0.00,2.33,0.00,0.000,6,0.000,0.050,2949,1988,2200,0,0,0,0,0,0
$GC,5722,0.77,146.0,378.8,16.2,341,5726,0.00,2.33,0.00,0.000,4,0.000,0.068,2958,568,2194,0,0,0,0,0,0
$GC,5766,0.77,146.0,371.4,16.8,342,5770,0.00,2.25,0.00,0.000,6,0.000,0.046,2959,1979,2194,0,0,0,0,0,0
$GC,6084,0.77,146.0,315.4,18.2,350,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1979,2191,0,0,0,0,0,0
$GC,6391,0.77,146.0,265.9,14.8,362,6395,0.00,2.25,0.00,0.000,4,0.000,0.064,2959,3394,2191,0,0,0,0,0,0
$GC,6425,0.77,146.0,260.6,16.7,363,6430,0.00,2.28,0.00,0.000,6,0.000,0.053,2968,1969,2190,0,0,0,0,0,0
$GC,6740,0.77,146.0,213.9,15.0,379,6744,0.00,2.25,0.00,0.000,4,0.000,0.068,2979,565,2189,0,0,0,0,0,0
$GC,6840,0.77,146.0,198.2,15.4,383,6846,0.15,2.22,0.00,0.000,6,0.159,0.048,2939,1983,2188,0,0,0,0,0,0
$GC,7167,0.77,146.0,152.1,15.1,414,7171,0.00,2.28,0.00,0.000,4,0.000,0.065,2947,565,2188,0,0,0,0,0,0
$GC,7240,0.77,146.0,141.0,15.1,420,7244,0.00,2.22,0.00,0.000,6,0.000,0.047,2947,1989,2188,0,0,0,0,0,0
$GC,7566,0.77,146.0,91.5,13.7,450,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1989,2188,0,0,0,0,0,0
$GC,7887,0.77,146.0,49.8,11.6,502,7895,0.00,2.22,0.00,0.000,4,0.000,0.060,2947,3389,2188,0,0,0,0,0,0
$GC,7920,0.77,146.0,46.2,12.6,507,7925,0.00,2.20,0.00,0.000,6,0.000,0.046,2957,1969,2188,0,0,0,0,0,0
$GC,8244,0.77,146.0,8.5,9.8,568,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1969,2188,0,0,0,0,0,0
$STATE,8288,end climb,SURFACE_DEPTH_REACHED
$STATE,8288,begin surface coast
$FINISH,0.2,1.023588
$STATE,8310,end surface coast,CONTROL_FINISHED_OK
$STATE,8310,begin surface
$SM_CCo,8327,66.95,0.477,0,0,1576,300.24
$SM_GC,1.27,0.00,0.00,66.95,0.000,0.000,0.477,40,1965,1576,-8.28,-0.42,300.24
$IRIDIUM_FIX,2057.14,-15756.91,210702,202031
$TT8_MAMPS,0.028379
$HUMID,65.55
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,21.90
$XPDR_PINGS,2
$24V_AH,24.6,1.943
$10V_AH,10.6,2.083
$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,18.775,66.700,243.575,66.950,0.000,22.881,41.438,166.235,19.000,0.000,18.832,1060.087,5007.562,373.116,1873.410,438.286,0.000,1010.168,0.000,1826.910,0.000,117.701,0.000
$DEVICE_MAMPS,231.634,68.263,797.680,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,395.571,328.870,1152.333,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,31822,580
$CAP_FILE_SIZE,88392,0
$CFSIZE,260165632,254291968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270413,013640,2108.152,-15801.678,49,0.7,49,9.8