version: 66.06
glider: 523
mission: 4
dive: 535
start: 6 22 113 7 21 39
data:
$ID,523
$MISSION,4
$DIVE,535
$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,-46662.883
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,071500,2109.495,-15759.858,15,1.5,15,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.9
$GPS2,072123,2109.515,-15759.927,20,0.9,20,9.8
$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,93.3,30178,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,96,0.00,0.00,-76.28,0.000,2,0.000,0.000,50,1948,3377,0,0,0,0,0,0
$GC,99,-0.74,-146.0,3.3,-5.0,12,115,9.60,2.28,-0.40,0.000,4,0.228,0.061,2386,3375,3396,0,0,0,0,0,0
$GC,141,-0.74,-146.0,15.4,-29.7,18,148,0.00,2.30,0.00,0.000,6,0.000,0.044,2386,1958,3398,0,0,0,0,0,0
$GC,309,-0.74,-146.0,40.9,-12.8,49,315,0.00,2.30,0.00,0.000,4,0.000,0.062,2386,545,3398,0,0,0,0,0,0
$GC,434,-0.74,-146.0,57.6,-13.6,72,441,0.00,2.22,0.00,0.000,6,0.000,0.036,2377,1965,3398,0,0,0,0,0,0
$GC,772,-0.74,-146.0,95.5,-11.1,121,776,0.00,2.30,0.00,0.000,4,0.000,0.056,2377,534,3399,0,0,0,0,0,0
$GC,1024,-0.74,-146.0,125.7,-12.7,143,1031,0.10,2.20,0.00,0.000,6,0.145,0.035,2398,1954,3400,0,0,0,0,0,0
$GC,1351,-0.74,-146.0,158.7,-9.2,174,1355,0.00,2.28,0.00,0.000,4,0.000,0.054,2398,543,3401,0,0,0,0,0,0
$GC,1568,-0.74,-146.0,182.0,-11.5,193,1572,0.00,2.17,0.00,0.000,6,0.000,0.035,2390,1964,3402,0,0,0,0,0,0
$GC,1890,-0.74,-146.0,210.0,-7.8,217,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1965,3402,0,0,0,0,0,0
$GC,2199,-0.74,-146.0,231.8,-7.4,232,2203,0.00,2.25,0.00,0.000,4,0.000,0.055,2380,3363,3402,0,0,0,0,0,0
$GC,2336,-0.74,-146.0,241.2,-7.3,238,2340,0.00,2.25,0.00,0.000,6,0.000,0.045,2379,1954,3402,0,0,0,0,0,0
$GC,2659,-0.74,-146.0,259.3,-4.1,254,2663,0.00,2.22,0.00,0.000,4,0.000,0.055,2380,545,3402,0,0,0,0,0,0
$GC,2916,-0.74,-146.0,272.7,-7.8,265,2923,0.12,2.15,0.00,0.000,6,0.164,0.035,2404,1969,3402,0,0,0,0,0,0
$GC,3235,-0.74,-146.0,293.6,-7.2,281,3239,0.00,2.30,0.00,0.000,4,0.000,0.054,2404,545,3401,0,0,0,0,0,0
$GC,3354,-0.74,-146.0,303.9,-8.9,285,3358,0.00,2.15,0.00,0.000,6,0.000,0.036,2396,1962,3401,0,0,0,0,0,0
$GC,3694,-0.74,-146.0,335.0,-8.7,294,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1962,3401,0,0,0,0,0,0
$GC,4016,-0.74,-146.0,352.1,-4.7,302,4019,0.00,2.33,0.00,0.000,4,0.000,0.057,2396,540,3400,0,0,0,0,0,0
$GC,4274,-0.74,-146.0,367.2,-6.4,307,4278,0.00,2.20,0.00,0.000,6,0.000,0.038,2386,1959,3397,0,0,0,0,0,0
$GC,4611,-0.74,-146.0,390.9,-7.9,316,4615,0.00,2.30,0.00,0.000,4,0.000,0.058,2386,541,3395,0,0,0,0,0,0
$GC,4748,-0.74,-146.0,402.9,-9.6,319,4752,0.00,2.20,0.00,0.000,6,0.000,0.039,2377,1956,3395,0,0,0,0,0,0
$GC,5069,-0.74,-146.0,428.6,-7.6,327,5073,0.00,2.22,0.00,0.000,4,0.000,0.057,2366,3364,3393,0,0,0,0,0,0
$GC,5096,-0.74,-146.0,430.9,-8.3,327,5101,0.12,2.25,0.00,0.000,6,0.147,0.044,2398,1955,3393,0,0,0,0,0,0
$STATE,5426,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5426,begin apogee
$GC,5432,-0.17,0.0,447.0,4.6,335,5557,0.57,0.00,121.95,0.755,6,0.114,0.000,2586,1955,2800,0,0,0,0,0,0
$STATE,5558,end apogee,CONTROL_FINISHED_OK
$STATE,5558,begin climb
$GC,5561,0.74,146.0,449.8,0.0,338,5699,0.82,2.45,126.97,0.732,4,0.075,0.052,2872,3388,2202,0,0,0,0,0,0
$GC,5795,0.74,146.0,422.3,15.4,343,5799,0.00,2.28,0.00,0.000,6,0.000,0.044,2882,1979,2198,0,0,0,0,0,0
$GC,6137,0.74,146.0,377.3,12.9,352,6141,0.00,2.28,0.00,0.000,4,0.000,0.055,2882,3385,2196,0,0,0,0,0,0
$GC,6226,0.74,146.0,366.4,13.1,354,6230,0.00,2.25,0.00,0.000,6,0.000,0.047,2892,1976,2195,0,0,0,0,0,0
$GC,6545,0.74,146.0,328.9,11.5,362,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1976,2193,0,0,0,0,0,0
$GC,6850,0.74,146.0,290.0,12.7,371,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1976,2192,0,0,0,0,0,0
$GC,7159,0.74,146.0,250.7,12.8,386,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1976,2191,0,0,0,0,0,0
$GC,7469,0.74,146.0,210.9,13.0,401,7473,0.00,2.28,0.00,0.000,4,0.000,0.056,2891,3385,2190,0,0,0,0,0,0
$GC,7547,0.74,146.0,200.7,13.2,404,7552,0.00,2.22,0.00,0.000,6,0.000,0.048,2901,1979,2190,0,0,0,0,0,0
$GC,7876,0.74,146.0,166.3,9.3,434,7880,0.00,2.25,0.00,0.000,4,0.000,0.058,2901,3383,2189,0,0,0,0,0,0
$GC,7960,0.74,146.0,158.0,9.5,441,7965,0.12,2.22,0.00,0.000,6,0.148,0.049,2875,1981,2189,0,0,0,0,0,0
$GC,8287,0.80,193.7,132.8,7.1,471,8334,0.00,2.30,39.33,0.562,4,0.000,0.057,2884,568,2008,0,0,0,0,0,0
$GC,8381,0.81,203.3,125.9,8.6,479,8397,0.00,2.22,9.35,0.492,6,0.000,0.038,2884,1978,1970,0,0,0,0,0,0
$GC,8724,0.81,203.3,94.5,9.1,511,8728,0.00,2.22,0.00,0.000,4,0.000,0.051,2884,3389,1967,0,0,0,0,0,0
$GC,8852,0.81,203.3,82.5,9.5,522,8860,0.00,2.25,0.00,0.000,6,0.000,0.041,2892,1978,1967,0,0,0,0,0,0
$GC,9183,0.86,246.3,56.5,7.2,580,9224,0.00,0.00,37.62,0.489,6,0.000,0.000,2893,1978,1795,0,0,0,0,0,0
$GC,9552,0.94,310.8,29.4,6.4,647,9618,0.15,2.33,55.65,0.461,4,0.063,0.058,3004,572,1531,0,0,0,0,0,0
$GC,9647,0.94,310.8,16.7,14.7,661,9655,0.17,2.28,0.00,0.000,6,0.106,0.041,2945,1983,1530,0,0,0,0,0,0
$STATE,9790,end climb,SURFACE_DEPTH_REACHED
$STATE,9790,begin surface coast
$FINISH,0.6,1.023417
$STATE,9833,end surface coast,CONTROL_FINISHED_OK
$STATE,9833,begin surface
$SM_CCo,9911,0.00,0.000,0,0,1527,312.26
$SM_GC,1.31,7.45,0.00,0.00,0.025,0.000,0.000,42,1988,1527,-8.00,0.88,312.26
$IRIDIUM_FIX,2101.76,-15723.87,160902,040420
$TT8_MAMPS,0.028379
$HUMID,65.75
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.4,45.453
$10V_AH,10.3,49.508
$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,19.250,76.700,390.875,0.000,0.000,29.034,40.264,168.925,19.000,0.000,20.810,1249.025,5816.003,387.169,2319.029,514.668,0.000,1236.428,0.000,2270.898,0.000,115.703,0.000
$DEVICE_MAMPS,227.799,62.127,755.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,471.956,400.984,1333.571,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,38162,696
$CAP_FILE_SIZE,104022,0
$CFSIZE,260165632,229281792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220613,100804,2109.793,-15759.286,38,0.9,38,9.8