version: 66.06
glider: 523
mission: 4
dive: 390
start: 6 5 113 8 5 7
data:
$ID,523
$MISSION,4
$DIVE,390
$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,260
$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,-43650.18
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,29
$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
$GPS1,075828,2108.678,-15754.865,38,1.1,38,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.8
$GPS2,080449,2108.677,-15754.832,22,1.1,22,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,94.6,21258,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-69.72,0.000,6,0.000,0.000,27,1966,3396,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.4,-5.0,11,105,9.88,0.00,0.00,0.000,6,0.232,0.000,2444,1965,3397,0,0,0,0,0,0
$GC,269,-0.74,-146.0,39.9,-14.7,43,274,0.00,2.25,0.00,0.000,4,0.000,0.058,2444,548,3400,0,0,0,0,0,0
$GC,307,-0.74,-146.0,46.2,-15.6,50,314,0.00,2.20,0.00,0.000,6,0.000,0.040,2436,1948,3399,0,0,0,0,0,0
$GC,648,-0.74,-146.0,86.3,-8.9,106,652,0.00,2.25,0.00,0.000,4,0.000,0.059,2425,3370,3400,0,0,0,0,0,0
$GC,788,-0.74,-146.0,100.7,-11.3,118,793,0.00,2.17,0.00,0.000,6,0.000,0.044,2425,1959,3401,0,0,0,0,0,0
$GC,1116,-0.74,-146.0,137.3,-10.7,148,1120,0.00,2.20,0.00,0.000,4,0.000,0.054,2424,538,3403,0,0,0,0,0,0
$GC,1236,-0.74,-146.0,148.4,-8.4,158,1241,0.12,2.15,0.00,0.000,6,0.163,0.034,2449,1971,3403,0,0,0,0,0,0
$GC,1563,-0.74,-146.0,172.8,-7.9,188,1567,0.00,2.25,0.00,0.000,4,0.000,0.051,2449,539,3404,0,0,0,0,0,0
$GC,1628,-0.74,-146.0,178.4,-7.9,193,1635,0.00,2.17,0.00,0.000,6,0.000,0.034,2441,1956,3403,0,0,0,0,0,0
$GC,1965,-0.74,-146.0,201.5,-5.1,224,1969,0.00,2.25,0.00,0.000,4,0.000,0.052,2441,538,3404,0,0,0,0,0,0
$GC,2015,-0.74,-146.0,204.9,-6.4,226,2019,0.00,2.15,0.00,0.000,6,0.000,0.034,2432,1956,3404,0,0,0,0,0,0
$GC,2339,-0.74,-146.0,229.3,-8.0,242,2344,0.00,2.28,0.00,0.000,4,0.000,0.053,2432,538,3404,0,0,0,0,0,0
$GC,2497,-0.74,-146.0,243.1,-8.3,249,2501,0.00,2.12,0.00,0.000,6,0.000,0.035,2424,1957,3404,0,0,0,0,0,0
$GC,2826,-0.74,-146.0,267.0,-7.1,265,2830,0.00,2.22,0.00,0.000,4,0.000,0.052,2424,544,3404,0,0,0,0,0,0
$GC,3005,-0.74,-146.0,280.2,-7.2,273,3010,0.12,2.15,0.00,0.000,6,0.156,0.035,2449,1959,3404,0,0,0,0,0,0
$GC,3329,-0.74,-146.0,300.4,-5.1,289,3333,0.00,2.30,0.00,0.000,4,0.000,0.055,2449,538,3403,0,0,0,0,0,0
$GC,3564,-0.74,-146.0,315.0,-6.2,294,3571,0.00,2.15,0.00,0.000,6,0.000,0.037,2441,1961,3403,0,0,0,0,0,0
$GC,3881,-0.74,-146.0,332.0,-5.5,302,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1961,3401,0,0,0,0,0,0
$GC,4205,-0.74,-146.0,350.3,-5.6,310,4209,0.00,2.33,0.00,0.000,4,0.000,0.058,2441,542,3400,0,0,0,0,0,0
$GC,4261,-0.74,-146.0,354.0,-6.8,311,4265,0.00,2.17,0.00,0.000,6,0.000,0.038,2433,1958,3399,0,0,0,0,0,0
$GC,4613,-0.74,-146.0,376.5,-5.9,320,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1958,3397,0,0,0,0,0,0
$GC,4935,-0.74,-146.0,393.3,-5.4,328,4939,0.00,2.30,0.00,0.000,4,0.000,0.059,2433,541,3395,0,0,0,0,0,0
$GC,5088,-0.74,-146.0,403.1,-6.1,331,5092,0.00,2.17,0.00,0.000,6,0.000,0.040,2424,1963,3395,0,0,0,0,0,0
$GC,5403,-0.74,-146.0,421.1,-5.9,339,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1963,3393,0,0,0,0,0,0
$STATE,5441,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5441,begin apogee
$GC,5448,-0.17,0.0,423.2,5.8,340,5571,0.65,0.00,119.88,0.750,6,0.111,0.000,2635,1963,2800,0,0,0,0,0,0
$STATE,5571,end apogee,CONTROL_FINISHED_OK
$STATE,5572,begin climb
$GC,5574,0.74,146.0,423.6,0.0,343,5708,0.82,2.35,127.00,0.723,4,0.061,0.052,2929,3385,2202,0,0,0,0,0,0
$GC,5749,0.74,146.0,399.2,17.5,347,5753,0.00,2.30,0.00,0.000,6,0.000,0.044,2938,1981,2199,0,0,0,0,0,0
$GC,6086,0.74,146.0,339.2,17.7,356,6090,0.00,2.28,0.00,0.000,4,0.000,0.060,2948,570,2195,0,0,0,0,0,0
$GC,6170,0.74,146.0,324.0,16.9,358,6175,0.00,2.20,0.00,0.000,6,0.000,0.041,2949,1980,2194,0,0,0,0,0,0
$GC,6498,0.74,146.0,267.6,16.9,370,6501,0.00,2.20,0.00,0.000,4,0.000,0.053,2949,3393,2192,0,0,0,0,0,0
$GC,6553,0.74,146.0,257.5,17.7,372,6558,0.12,2.25,0.00,0.000,6,0.157,0.049,2925,1979,2191,0,0,0,0,0,0
$GC,6869,0.74,146.0,214.4,12.8,387,6873,0.00,2.28,0.00,0.000,4,0.000,0.057,2925,3397,2190,0,0,0,0,0,0
$GC,6914,0.74,146.0,208.4,13.8,389,6918,0.00,2.25,0.00,0.000,6,0.000,0.049,2933,1981,2189,0,0,0,0,0,0
$GC,7248,0.74,146.0,165.9,13.0,416,7252,0.00,2.25,0.00,0.000,4,0.000,0.059,2944,566,2189,0,0,0,0,0,0
$GC,7310,0.74,146.0,157.0,14.2,421,7314,0.00,2.20,0.00,0.000,6,0.000,0.041,2944,1993,2188,0,0,0,0,0,0
$GC,7637,0.74,146.0,114.1,12.2,451,7641,0.00,2.17,0.00,0.000,4,0.000,0.051,2944,3390,2188,0,0,0,0,0,0
$GC,7710,0.74,146.0,104.4,13.1,457,7714,0.00,2.22,0.00,0.000,6,0.000,0.048,2954,1973,2188,0,0,0,0,0,0
$GC,8042,0.74,146.0,64.6,10.4,499,8047,0.00,2.25,0.00,0.000,4,0.000,0.055,2954,3389,2188,0,0,0,0,0,0
$GC,8121,0.74,146.0,56.0,10.4,513,8127,0.12,2.22,0.00,0.000,6,0.147,0.045,2929,1968,2188,0,0,0,0,0,0
$GC,8452,0.74,146.0,27.9,10.6,574,8459,0.00,2.22,0.00,0.000,4,0.000,0.057,2938,570,2188,0,0,0,0,0,0
$GC,8484,0.74,146.0,24.8,9.6,579,8491,0.00,2.20,0.00,0.000,6,0.000,0.038,2937,1980,2187,0,0,0,0,0,0
$GC,8654,0.74,146.0,7.3,10.6,610,8662,0.00,2.22,0.00,0.000,4,0.000,0.053,2937,3390,2188,0,0,0,0,0,0
$GC,8691,0.74,146.0,3.5,11.2,616,8699,0.00,2.22,0.00,0.000,6,0.000,0.042,2948,1978,2188,0,0,0,0,0,0
$STATE,8704,end climb,SURFACE_DEPTH_REACHED
$STATE,8705,begin surface coast
$FINISH,0.5,1.012743
$STATE,8732,end surface coast,CONTROL_FINISHED_OK
$STATE,8732,begin surface
$SM_CCo,8750,51.90,0.443,0,0,1739,260.01
$SM_GC,1.57,0.00,0.00,51.90,0.000,0.000,0.443,28,1973,1739,-8.32,0.45,260.01
$IRIDIUM_FIX,2104.07,-15755.17,300802,050556
$TT8_MAMPS,0.027612
$HUMID,65.16
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,31.987
$10V_AH,10.5,35.151
$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,19.175,84.550,246.875,51.900,0.000,32.144,33.722,179.633,17.750,0.000,22.840,1167.163,5069.400,393.105,2051.284,502.416,0.000,1087.105,0.000,2004.253,0.000,110.250,0.000
$DEVICE_MAMPS,231.634,59.826,750.126,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,424.026,365.988,1222.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,34969,623
$CAP_FILE_SIZE,97918,0
$CFSIZE,260165632,236593152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,050613,103257,2108.345,-15754.016,29,0.8,29,9.8