version: 66.06
glider: 523
mission: 4
dive: 539
start: 6 22 113 18 56 22
data:
$ID,523
$MISSION,4
$DIVE,539
$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,-46735.262
$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,28
$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
$GPS1,184634,2110.314,-15758.108,38,0.7,38,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.6
$GPS2,185605,2110.280,-15758.207,17,0.9,17,9.8
$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,97.6,27682,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.95,0.000,2,0.000,0.000,52,1944,3374,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.7,12,113,9.65,2.25,-0.45,0.000,4,0.229,0.066,2393,547,3396,0,0,0,0,0,0
$GC,179,-0.74,-146.0,21.5,-18.8,26,186,0.00,2.20,0.00,0.000,6,0.000,0.037,2385,1948,3398,0,0,0,0,0,0
$GC,351,-0.74,-146.0,47.2,-15.0,57,357,0.00,2.28,0.00,0.000,4,0.000,0.054,2385,541,3398,0,0,0,0,0,0
$GC,430,-0.74,-146.0,59.4,-14.9,71,436,0.00,2.17,0.00,0.000,6,0.000,0.036,2376,1964,3398,0,0,0,0,0,0
$GC,765,-0.74,-146.0,104.6,-13.1,115,770,0.00,2.30,0.00,0.000,4,0.000,0.054,2376,545,3398,0,0,0,0,0,0
$GC,1015,-0.74,-146.0,132.6,-10.0,138,1020,0.12,2.15,0.00,0.000,6,0.167,0.035,2398,1966,3399,0,0,0,0,0,0
$GC,1344,-0.74,-146.0,149.8,-6.5,168,1348,0.00,2.28,0.00,0.000,4,0.000,0.053,2398,539,3400,0,0,0,0,0,0
$GC,1598,-0.74,-146.0,170.9,-9.1,191,1602,0.00,2.15,0.00,0.000,6,0.000,0.034,2390,1959,3400,0,0,0,0,0,0
$GC,1932,-0.74,-146.0,198.9,-5.9,222,1936,0.00,2.25,0.00,0.000,4,0.000,0.052,2390,546,3400,0,0,0,0,0,0
$GC,2116,-0.74,-146.0,211.6,-6.5,230,2120,0.00,2.15,0.00,0.000,6,0.000,0.034,2380,1964,3400,0,0,0,0,0,0
$GC,2438,-0.74,-146.0,229.1,-6.7,246,2442,0.00,2.33,0.00,0.000,4,0.000,0.053,2380,544,3400,0,0,0,0,0,0
$GC,2549,-0.74,-146.0,239.3,-9.1,251,2554,0.12,2.15,0.00,0.000,6,0.166,0.035,2403,1965,3400,0,0,0,0,0,0
$GC,2876,-0.74,-146.0,264.2,-5.6,267,2880,0.00,2.30,0.00,0.000,4,0.000,0.054,2403,545,3399,0,0,0,0,0,0
$GC,2909,-0.74,-146.0,266.6,-7.0,268,2913,0.00,2.17,0.00,0.000,6,0.000,0.036,2396,1959,3400,0,0,0,0,0,0
$GC,3232,-0.74,-146.0,283.1,-4.6,284,3236,0.00,2.20,0.00,0.000,4,0.000,0.057,2385,3362,3400,0,0,0,0,0,0
$GC,3273,-0.74,-146.0,285.5,-6.1,286,3277,0.00,2.20,0.00,0.000,6,0.000,0.042,2385,1955,3399,0,0,0,0,0,0
$GC,3603,-0.74,-146.0,305.6,-6.7,300,3607,0.00,2.28,0.00,0.000,4,0.000,0.060,2385,545,3399,0,0,0,0,0,0
$GC,3850,-0.74,-146.0,326.5,-9.1,305,3854,0.00,2.15,0.00,0.000,6,0.000,0.036,2376,1958,3397,0,0,0,0,0,0
$GC,4187,-0.74,-146.0,348.2,-5.3,314,4191,0.00,2.30,0.00,0.000,4,0.000,0.058,2376,538,3396,0,0,0,0,0,0
$GC,4288,-0.74,-146.0,353.8,-5.7,316,4293,0.12,2.20,0.00,0.000,6,0.159,0.038,2398,1963,3395,0,0,0,0,0,0
$GC,4610,-0.74,-146.0,370.6,-5.8,324,4614,0.00,2.33,0.00,0.000,4,0.000,0.060,2398,537,3393,0,0,0,0,0,0
$GC,4863,-0.74,-146.0,386.1,-6.3,329,4867,0.00,2.20,0.00,0.000,6,0.000,0.040,2390,1963,3391,0,0,0,0,0,0
$GC,5195,-0.74,-146.0,400.8,-4.0,337,5199,0.00,2.28,0.00,0.000,4,0.000,0.059,2380,3369,3389,0,0,0,0,0,0
$GC,5222,-0.74,-146.0,401.9,-4.1,337,5226,0.00,2.25,0.00,0.000,6,0.000,0.047,2380,1957,3389,0,0,0,0,0,0
$STATE,5430,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5430,begin apogee
$GC,5437,-0.17,0.0,410.2,4.0,342,5561,0.65,0.00,120.65,0.734,6,0.123,0.000,2584,1957,2800,0,0,0,0,0,0
$STATE,5561,end apogee,CONTROL_FINISHED_OK
$STATE,5561,begin climb
$GC,5564,0.74,146.0,410.5,0.0,345,5703,0.85,2.42,126.32,0.710,4,0.078,0.051,2877,3386,2202,0,0,0,0,0,0
$GC,5787,0.74,146.0,385.9,13.6,350,5791,0.00,2.30,0.00,0.000,6,0.000,0.045,2886,1979,2198,0,0,0,0,0,0
$GC,6099,0.74,146.0,347.4,12.1,358,6103,0.00,2.30,0.00,0.000,4,0.000,0.063,2897,570,2195,0,0,0,0,0,0
$GC,6133,0.74,146.0,343.0,13.3,358,6138,0.00,2.20,0.00,0.000,6,0.000,0.039,2897,1983,2194,0,0,0,0,0,0
$GC,6464,0.74,146.0,294.3,15.3,367,6468,0.00,2.25,0.00,0.000,4,0.000,0.060,2896,3393,2192,0,0,0,0,0,0
$GC,6514,0.74,146.0,286.9,14.6,369,6518,0.00,2.25,0.00,0.000,6,0.000,0.048,2906,1976,2192,0,0,0,0,0,0
$GC,6830,0.74,146.0,254.7,9.6,384,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1976,2191,0,0,0,0,0,0
$GC,7139,0.74,146.0,217.1,14.5,399,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1976,2189,0,0,0,0,0,0
$GC,7458,0.74,146.0,176.1,11.4,423,7462,0.00,2.28,0.00,0.000,4,0.000,0.065,2909,570,2189,0,0,0,0,0,0
$GC,7520,0.74,146.0,168.5,12.1,428,7525,0.12,2.20,0.00,0.000,6,0.133,0.038,2874,1983,2188,0,0,0,0,0,0
$GC,7848,0.75,156.2,138.1,8.6,458,7860,0.00,2.22,7.35,0.489,4,0.000,0.058,2874,3390,2162,0,0,0,0,0,0
$GC,7984,0.75,158.5,126.4,8.9,470,7988,0.00,2.25,0.00,0.000,6,0.000,0.046,2881,1969,2161,0,0,0,0,0,0
$GC,8313,0.75,158.5,97.5,11.3,500,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1969,2160,0,0,0,0,0,0
$GC,8640,0.90,275.9,75.9,4.2,538,8754,0.12,2.35,101.93,0.506,4,0.074,0.056,2969,3378,1674,0,0,0,0,0,0
$GC,8834,0.90,275.9,58.3,11.3,571,8840,0.17,2.22,0.00,0.000,6,0.126,0.045,2927,1983,1672,0,0,0,0,0,0
$GC,9166,0.91,290.3,29.6,8.4,632,9186,0.00,2.33,13.43,0.432,4,0.000,0.064,2936,566,1616,0,0,0,0,0,0
$GC,9222,0.91,290.3,24.7,10.0,641,9229,0.00,2.22,0.00,0.000,6,0.000,0.037,2936,1973,1615,0,0,0,0,0,0
$GC,9390,0.91,290.3,7.1,11.0,672,9397,0.00,2.30,0.00,0.000,4,0.000,0.061,2936,3387,1615,0,0,0,0,0,0
$STATE,9433,end climb,SURFACE_DEPTH_REACHED
$STATE,9434,begin surface coast
$FINISH,1.2,1.023176
$STATE,9452,end surface coast,CONTROL_FINISHED_OK
$STATE,9452,begin surface
$SM_CCo,9473,7.00,0.370,0,0,1575,300.24
$SM_GC,1.67,0.00,0.00,7.00,0.000,0.000,0.370,42,1945,1575,-8.12,-0.34,300.24
$IRIDIUM_FIX,2059.45,-15753.90,160902,181826
$TT8_MAMPS,0.027612
$HUMID,66.89
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.5,45.804
$10V_AH,10.3,49.908
$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,19.425,89.925,369.675,7.000,0.000,58.433,68.681,236.189,17.250,0.000,17.667,1240.151,5462.279,393.889,2305.807,644.746,0.000,1225.033,0.000,2263.395,0.000,107.393,0.000
$DEVICE_MAMPS,228.566,65.962,734.019,370.461,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,462.672,409.478,1373.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38047,683
$CAP_FILE_SIZE,108050,0
$CFSIZE,260165632,229081088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220613,213538,2110.559,-15756.859,35,0.7,36,9.8