version: 66.06
glider: 523
mission: 4
dive: 514
start: 6 19 113 18 37 40
data:
$ID,523
$MISSION,4
$DIVE,514
$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,578.89856
$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,-46254.348
$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,23
$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
$GPS1,175833,2100.911,-15747.123,21,1.7,21,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.1
$GPS2,183724,2101.054,-15747.122,18,1.2,18,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,209.4,7494,-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,-146.0,0.0,0.0,0,144,0.00,0.00,-121.75,0.000,6,0.000,0.000,30,1977,3395,0,0,0,0,0,0
$GC,150,-0.74,-146.0,3.6,-5.1,20,165,9.48,2.17,0.00,0.000,4,0.222,0.044,2378,3363,3396,0,0,0,0,0,0
$GC,365,-0.74,-146.0,44.1,-16.2,59,371,0.00,2.20,0.00,0.000,6,0.000,0.041,2378,1946,3396,0,0,0,0,0,0
$GC,695,-0.74,-146.0,90.9,-12.1,112,699,0.00,2.22,0.00,0.000,4,0.000,0.054,2378,542,3396,0,0,0,0,0,0
$GC,831,-0.74,-146.0,109.9,-14.7,124,838,0.12,2.15,0.00,0.000,6,0.169,0.033,2400,1962,3396,0,0,0,0,0,0
$GC,1167,-0.74,-146.0,142.3,-8.2,155,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1963,3396,0,0,0,0,0,0
$GC,1494,-0.74,-146.0,169.7,-6.4,186,1499,0.00,2.28,0.00,0.000,4,0.000,0.050,2400,542,3396,0,0,0,0,0,0
$GC,1686,-0.74,-146.0,180.8,-5.8,203,1693,0.00,2.17,0.00,0.000,6,0.000,0.034,2392,1960,3395,0,0,0,0,0,0
$GC,2009,-0.74,-146.0,206.3,-7.6,230,2013,0.00,2.28,0.00,0.000,4,0.000,0.051,2393,542,3394,0,0,0,0,0,0
$GC,2031,-0.74,-146.0,207.9,-6.8,231,2035,0.00,2.15,0.00,0.000,6,0.000,0.035,2382,1962,3394,0,0,0,0,0,0
$GC,2355,-0.74,-146.0,233.1,-8.5,247,2359,0.00,2.28,0.00,0.000,4,0.000,0.051,2382,538,3393,0,0,0,0,0,0
$GC,2613,-0.74,-146.0,251.3,-6.4,258,2619,0.00,2.17,0.00,0.000,6,0.000,0.035,2373,1967,3392,0,0,0,0,0,0
$GC,2931,-0.74,-146.0,274.0,-8.1,274,2935,0.00,2.20,0.00,0.000,4,0.000,0.054,2363,3366,3391,0,0,0,0,0,0
$GC,3190,-0.74,-146.0,295.4,-8.3,285,3196,0.15,2.22,0.00,0.000,6,0.145,0.044,2404,1954,3389,0,0,0,0,0,0
$GC,3503,-0.74,-146.0,317.0,-6.0,295,3507,0.00,2.22,0.00,0.000,4,0.000,0.052,2395,3368,3387,0,0,0,0,0,0
$GC,3665,-0.74,-146.0,327.2,-6.9,298,3669,0.00,2.20,0.00,0.000,6,0.000,0.044,2395,1956,3386,0,0,0,0,0,0
$GC,4003,-0.74,-146.0,352.1,-7.7,307,4007,0.00,2.25,0.00,0.000,4,0.000,0.058,2395,541,3384,0,0,0,0,0,0
$GC,4205,-0.74,-146.0,367.0,-6.7,311,4209,0.00,2.17,0.00,0.000,6,0.000,0.037,2386,1957,3382,0,0,0,0,0,0
$GC,4543,-0.74,-146.0,382.6,-4.1,320,4547,0.00,2.22,0.00,0.000,4,0.000,0.058,2376,3364,3379,0,0,0,0,0,0
$GC,4707,-0.74,-146.0,390.5,-6.0,323,4711,0.00,2.22,0.00,0.000,6,0.000,0.046,2376,1952,3378,0,0,0,0,0,0
$GC,5041,-0.74,-146.0,416.7,-8.5,331,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1952,3376,0,0,0,0,0,0
$GC,5367,-0.74,-146.0,441.9,-7.3,339,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1952,3374,0,0,0,0,0,0
$STATE,5442,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5442,begin apogee
$GC,5448,-0.17,0.0,447.1,6.6,341,5570,0.65,0.00,118.20,0.752,6,0.123,0.000,2580,1952,2800,0,0,0,0,0,0
$STATE,5570,end apogee,CONTROL_FINISHED_OK
$STATE,5570,begin climb
$GC,5574,0.74,146.0,448.8,0.0,344,5704,0.82,0.00,126.80,0.729,6,0.077,0.000,2869,1952,2204,0,0,0,0,0,0
$GC,6022,0.74,146.0,400.1,12.7,355,6026,0.00,2.33,0.00,0.000,4,0.000,0.055,2869,3392,2195,0,0,0,0,0,0
$GC,6112,0.74,146.0,386.6,15.5,357,6116,0.00,2.25,0.00,0.000,6,0.000,0.047,2878,1973,2195,0,0,0,0,0,0
$GC,6430,0.74,146.0,341.9,13.9,365,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1974,2193,0,0,0,0,0,0
$GC,6755,0.74,146.0,305.9,10.5,373,6759,0.00,2.30,0.00,0.000,4,0.000,0.067,2888,560,2191,0,0,0,0,0,0
$GC,6810,0.74,146.0,299.6,11.4,374,6815,0.00,2.22,0.00,0.000,6,0.000,0.041,2888,1981,2190,0,0,0,0,0,0
$GC,7143,0.74,146.0,261.3,11.9,390,7147,0.00,2.22,0.00,0.000,4,0.000,0.054,2888,3394,2190,0,0,0,0,0,0
$GC,7170,0.74,146.0,257.9,12.6,391,7174,0.00,2.25,0.00,0.000,6,0.000,0.043,2897,1968,2189,0,0,0,0,0,0
$GC,7486,0.74,146.0,219.5,11.1,406,7490,0.00,2.22,0.00,0.000,4,0.000,0.060,2907,566,2189,0,0,0,0,0,0
$GC,7519,0.74,146.0,215.6,11.5,407,7523,0.00,2.20,0.00,0.000,6,0.000,0.039,2907,1984,2188,0,0,0,0,0,0
$GC,7844,0.74,146.0,182.6,9.3,430,7848,0.00,2.20,0.00,0.000,4,0.000,0.052,2906,3389,2187,0,0,0,0,0,0
$GC,7896,0.74,146.0,177.2,10.4,434,7901,0.12,2.25,0.00,0.000,6,0.146,0.048,2879,1976,2187,0,0,0,0,0,0
$GC,8225,0.80,195.4,151.0,7.0,464,8272,0.00,2.30,39.40,0.573,4,0.000,0.057,2887,562,2003,0,0,0,0,0,0
$GC,8331,0.80,198.0,142.8,8.9,473,8335,0.00,2.20,0.00,0.000,6,0.000,0.037,2887,1981,2000,0,0,0,0,0,0
$GC,8658,0.80,198.0,112.8,9.9,503,8662,0.00,2.22,0.00,0.000,4,0.000,0.051,2887,3396,1999,0,0,0,0,0,0
$GC,8745,0.80,198.0,103.7,10.6,510,8752,0.00,2.28,0.00,0.000,6,0.000,0.045,2895,1980,1999,0,0,0,0,0,0
$GC,9072,0.85,237.3,78.3,7.4,543,9111,0.00,0.00,35.88,0.499,6,0.000,0.000,2895,1980,1832,0,0,0,0,0,0
$GC,9443,0.89,267.0,48.0,7.8,610,9475,0.00,2.35,26.40,0.465,4,0.000,0.055,2903,558,1710,0,0,0,0,0,0
$GC,9544,0.91,287.8,39.4,8.2,627,9568,0.00,2.22,19.38,0.445,6,0.000,0.036,2903,1983,1624,0,0,0,0,0,0
$GC,9889,1.00,358.5,13.8,6.1,691,9955,0.15,2.22,58.47,0.437,4,0.064,0.048,3010,3387,1336,0,0,0,0,0,0
$STATE,9962,end climb,SURFACE_DEPTH_REACHED
$STATE,9965,begin surface coast
$FINISH,1.6,1.023048
$STATE,9972,end surface coast,CONTROL_FINISHED_OK
$STATE,9972,begin surface
$SM_CCo,9993,149.57,0.421,0,0,439,578.90
$SM_GC,1.33,0.00,0.00,149.57,0.000,0.000,0.421,49,1944,439,-8.10,-0.37,578.90
$IRIDIUM_FIX,2050.21,-15740.20,130902,181811
$TT8_MAMPS,0.028379
$HUMID,63.70
$INTERNAL_PRESSURE,9.31402
$TCM_TEMP,24.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,441.9,52.9
$24V_AH,24.6,43.550
$10V_AH,10.3,47.377
$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,19.175,80.375,424.525,149.575,0.000,141.280,196.110,1536.965,19.750,0.000,18.968,1242.026,6062.326,600.723,2342.254,2221.094,0.000,1455.275,0.000,2289.652,0.000,117.234,0.000
$DEVICE_MAMPS,221.663,66.729,752.427,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,475.193,406.077,1413.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,38071,703
$CAP_FILE_SIZE,114643,0
$CFSIZE,260165632,230277120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190613,212759,2100.483,-15747.404,37,0.8,37,9.8