version: 66.06
glider: 523
mission: 4
dive: 615
start: 7 1 113 20 17 20
data:
$ID,523
$MISSION,4
$DIVE,615
$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,-48410.305
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,25
$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
$GPS1,200426,2057.258,-15751.703,17,0.8,18,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.8
$GPS2,201704,2057.315,-15751.744,41,0.8,41,9.8
$SPEED_LIMITS,0.157,0.252
$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,309.1,27097,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-82.25,0.000,2,0.000,0.000,40,1971,3393,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.2,-4.4,13,119,9.50,2.22,0.00,0.000,4,0.219,0.052,2383,3365,3395,0,0,0,0,0,0
$GC,240,-0.74,-146.0,29.0,-14.4,37,247,0.00,2.28,0.00,0.000,6,0.000,0.048,2382,1964,3397,0,0,0,0,0,0
$GC,412,-0.74,-146.0,54.5,-11.8,68,419,0.00,2.35,0.00,0.000,4,0.000,0.064,2383,538,3397,0,0,0,0,0,0
$GC,666,-0.74,-146.0,85.2,-12.0,111,669,0.00,2.20,0.00,0.000,6,0.000,0.038,2374,1966,3397,0,0,0,0,0,0
$GC,998,-0.74,-146.0,120.7,-11.6,142,1002,0.00,2.30,0.00,0.000,4,0.000,0.059,2373,543,3397,0,0,0,0,0,0
$GC,1248,-0.74,-146.0,148.4,-7.9,164,1255,0.10,2.20,0.00,0.000,6,0.136,0.038,2397,1954,3397,0,0,0,0,0,0
$GC,1575,-0.74,-146.0,172.3,-7.0,195,1579,0.00,2.30,0.00,0.000,4,0.000,0.057,2396,542,3398,0,0,0,0,0,0
$GC,1824,-0.74,-146.0,190.2,-7.5,217,1832,0.00,2.22,0.00,0.000,6,0.000,0.038,2388,1960,3398,0,0,0,0,0,0
$GC,2144,-0.74,-146.0,213.8,-6.7,239,2149,0.00,2.30,0.00,0.000,4,0.000,0.056,2388,534,3398,0,0,0,0,0,0
$GC,2281,-0.74,-146.0,222.2,-5.9,245,2285,0.00,2.22,0.00,0.000,6,0.000,0.039,2378,1968,3398,0,0,0,0,0,0
$GC,2607,-0.74,-146.0,246.0,-8.6,261,2611,0.00,2.33,0.00,0.000,4,0.000,0.057,2378,543,3398,0,0,0,0,0,0
$GC,2727,-0.74,-146.0,255.2,-6.7,266,2732,0.12,2.20,0.00,0.000,6,0.155,0.040,2402,1962,3398,0,0,0,0,0,0
$GC,3051,-0.74,-146.0,271.4,-5.7,282,3055,0.00,2.33,0.00,0.000,4,0.000,0.056,2403,532,3397,0,0,0,0,0,0
$GC,3182,-0.74,-146.0,281.3,-8.5,288,3187,0.00,2.22,0.00,0.000,6,0.000,0.040,2395,1961,3396,0,0,0,0,0,0
$GC,3532,-0.74,-146.0,309.7,-7.7,302,3537,0.00,2.25,0.00,0.000,4,0.000,0.061,2384,3362,3395,0,0,0,0,0,0
$GC,3571,-0.74,-146.0,312.7,-6.9,302,3577,0.00,2.28,0.00,0.000,6,0.000,0.047,2384,1945,3395,0,0,0,0,0,0
$GC,3904,-0.74,-146.0,330.6,-5.6,311,3908,0.00,2.28,0.00,0.000,4,0.000,0.062,2384,544,3393,0,0,0,0,0,0
$GC,4060,-0.74,-146.0,342.2,-7.2,314,4064,0.00,2.20,0.00,0.000,6,0.000,0.039,2375,1962,3391,0,0,0,0,0,0
$GC,4405,-0.74,-146.0,366.7,-7.1,323,4409,0.00,2.33,0.00,0.000,4,0.000,0.058,2375,541,3390,0,0,0,0,0,0
$GC,4526,-0.74,-146.0,376.4,-7.4,325,4531,0.12,2.22,0.00,0.000,6,0.151,0.040,2398,1968,3389,0,0,0,0,0,0
$GC,4858,-0.74,-146.0,398.1,-6.5,333,4862,0.00,2.25,0.00,0.000,4,0.000,0.062,2390,3364,3387,0,0,0,0,0,0
$GC,4892,-0.74,-146.0,400.3,-6.6,333,4897,0.00,2.25,0.00,0.000,6,0.000,0.048,2390,1956,3387,0,0,0,0,0,0
$GC,5223,-0.74,-146.0,424.3,-7.5,342,5227,0.00,2.28,0.00,0.000,4,0.000,0.062,2390,545,3385,0,0,0,0,0,0
$GC,5370,-0.74,-146.0,435.2,-7.2,345,5374,0.00,2.20,0.00,0.000,6,0.000,0.041,2380,1955,3384,0,0,0,0,0,0
$STATE,5430,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5430,begin apogee
$GC,5437,-0.17,0.0,439.3,6.6,347,5561,0.62,0.00,121.25,0.743,6,0.114,0.000,2581,1956,2800,0,0,0,0,0,0
$STATE,5562,end apogee,CONTROL_FINISHED_OK
$STATE,5562,begin climb
$GC,5565,0.74,146.0,439.8,0.0,350,5703,0.85,2.40,127.70,0.718,4,0.080,0.059,2873,3389,2202,0,0,0,0,0,0
$GC,5766,0.74,146.0,418.3,12.7,354,5770,0.00,2.33,0.00,0.000,6,0.000,0.046,2883,1969,2199,0,0,0,0,0,0
$GC,6102,0.74,146.0,378.8,11.7,363,6106,0.00,2.30,0.00,0.000,4,0.000,0.058,2883,3388,2196,0,0,0,0,0,0
$GC,6221,0.74,146.0,363.5,13.3,365,6224,0.00,2.25,0.00,0.000,6,0.000,0.044,2892,1971,2195,0,0,0,0,0,0
$GC,6563,0.74,146.0,322.6,11.8,374,6567,0.00,2.30,0.00,0.000,4,0.000,0.058,2892,3389,2194,0,0,0,0,0,0
$GC,6674,0.74,146.0,308.3,12.1,376,6678,0.00,2.25,0.00,0.000,6,0.000,0.045,2902,1969,2193,0,0,0,0,0,0
$GC,7006,0.74,146.0,270.3,11.6,390,7010,0.00,2.30,0.00,0.000,4,0.000,0.058,2902,3391,2192,0,0,0,0,0,0
$GC,7091,0.74,146.0,259.1,13.3,394,7096,0.12,2.25,0.00,0.000,6,0.149,0.048,2877,1981,2192,0,0,0,0,0,0
$GC,7418,0.74,146.0,226.1,10.3,410,7422,0.00,2.28,0.00,0.000,4,0.000,0.059,2877,3387,2190,0,0,0,0,0,0
$GC,7572,0.74,146.0,209.9,9.8,417,7576,0.00,2.22,0.00,0.000,6,0.000,0.047,2884,1978,2190,0,0,0,0,0,0
$GC,7898,0.77,172.8,187.3,7.9,441,7926,0.00,2.33,22.12,0.586,4,0.000,0.059,2884,3385,2094,0,0,0,0,0,0
$GC,8032,0.77,172.8,173.0,11.0,453,8036,0.00,2.25,0.00,0.000,6,0.000,0.049,2892,1971,2092,0,0,0,0,0,0
$GC,8359,0.77,172.8,143.3,9.3,483,8363,0.00,2.33,0.00,0.000,4,0.000,0.059,2892,3388,2090,0,0,0,0,0,0
$GC,8500,0.77,172.8,127.8,10.6,495,8508,0.00,2.25,0.00,0.000,6,0.000,0.048,2900,1992,2090,0,0,0,0,0,0
$GC,8827,0.82,212.1,103.3,7.4,526,8867,0.00,2.28,34.25,0.523,4,0.000,0.058,2900,3396,1934,0,0,0,0,0,0
$GC,8937,0.82,212.1,93.9,9.8,535,8941,0.00,2.30,0.00,0.000,6,0.000,0.049,2905,1969,1932,0,0,0,0,0,0
$GC,9266,0.85,236.0,64.9,8.0,581,9294,0.00,2.33,21.62,0.478,4,0.000,0.059,2905,3392,1836,0,0,0,0,0,0
$GC,9361,0.89,269.2,57.0,7.7,598,9397,0.00,2.30,30.12,0.473,6,0.000,0.049,2905,1979,1701,0,0,0,0,0,0
$GC,9725,0.96,326.0,33.1,6.7,664,9781,0.12,2.33,48.33,0.456,4,0.075,0.062,3013,564,1470,0,0,0,0,0,0
$GC,9812,0.96,326.0,23.7,12.6,678,9820,0.17,2.28,0.00,0.000,6,0.102,0.038,2953,1986,1469,0,0,0,0,0,0
$GC,9980,0.96,326.0,6.1,10.6,709,9988,0.00,2.30,0.00,0.000,4,0.000,0.063,2952,3383,1469,0,0,0,0,0,0
$STATE,10012,end climb,SURFACE_DEPTH_REACHED
$STATE,10012,begin surface coast
$FINISH,0.7,1.022952
$STATE,10040,end surface coast,CONTROL_FINISHED_OK
$STATE,10040,begin surface
$SM_CCo,10121,0.00,0.000,0,0,1465,327.22
$SM_GC,1.47,7.43,0.00,0.00,0.024,0.000,0.000,34,1943,1465,-7.98,-0.40,327.22
$IRIDIUM_FIX,2045.60,-15748.36,250902,202020
$TT8_MAMPS,0.027612
$HUMID,65.63
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,24.4,52.624
$10V_AH,10.1,57.709
$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,19.175,104.675,405.400,0.000,0.000,54.034,69.026,398.485,18.750,0.000,41.600,1318.294,5807.313,414.519,2498.017,831.921,0.000,1328.143,0.000,2421.692,0.000,114.607,0.000
$DEVICE_MAMPS,218.595,63.661,743.223,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,487.416,416.864,1415.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,41245,719
$CAP_FILE_SIZE,119487,0
$CFSIZE,260165632,225087488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010713,230705,2057.478,-15752.844,28,1.0,28,9.8