version: 66.06
glider: 523
mission: 4
dive: 560
start: 6 25 113 8 12 26
data:
$ID,523
$MISSION,4
$DIVE,560
$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,-47194.199
$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,20
$R_STBD_OVSHOOT,30
$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
$GPS1,080230,2104.212,-15742.935,17,1.2,17,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.8
$GPS2,081206,2104.240,-15742.889,14,1.6,14,9.8
$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,216.0,16806,-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,-80.90,0.000,6,0.000,0.000,44,1975,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.2,-4.5,13,118,9.62,2.30,0.00,0.000,4,0.225,0.051,2391,533,3398,0,0,0,0,0,0
$GC,358,-0.74,-146.0,48.1,-15.0,60,365,0.00,2.22,0.00,0.000,6,0.000,0.038,2383,1957,3399,0,0,0,0,0,0
$GC,701,-0.74,-146.0,85.0,-8.9,117,705,0.00,2.30,0.00,0.000,4,0.000,0.056,2383,533,3401,0,0,0,0,0,0
$GC,949,-0.74,-146.0,113.5,-9.3,139,956,0.00,2.20,0.00,0.000,6,0.000,0.035,2374,1958,3401,0,0,0,0,0,0
$GC,1276,-0.74,-146.0,145.3,-10.5,170,1280,0.00,2.25,0.00,0.000,4,0.000,0.055,2363,3364,3403,0,0,0,0,0,0
$GC,1297,-0.74,-146.0,147.2,-9.4,171,1302,0.15,2.25,0.00,0.000,6,0.143,0.044,2404,1951,3403,0,0,0,0,0,0
$GC,1624,-0.74,-146.0,173.2,-9.4,201,1628,0.00,2.22,0.00,0.000,4,0.000,0.056,2404,541,3403,0,0,0,0,0,0
$GC,1828,-0.74,-146.0,191.1,-7.9,219,1832,0.00,2.17,0.00,0.000,6,0.000,0.034,2396,1965,3403,0,0,0,0,0,0
$GC,2158,-0.74,-146.0,215.4,-6.2,240,2162,0.00,2.30,0.00,0.000,4,0.000,0.054,2396,534,3403,0,0,0,0,0,0
$GC,2277,-0.74,-146.0,223.5,-6.8,245,2281,0.00,2.17,0.00,0.000,6,0.000,0.035,2386,1966,3403,0,0,0,0,0,0
$GC,2601,-0.74,-146.0,244.9,-7.0,261,2606,0.00,2.30,0.00,0.000,4,0.000,0.053,2386,542,3403,0,0,0,0,0,0
$GC,2860,-0.74,-146.0,263.7,-8.2,272,2864,0.00,2.15,0.00,0.000,6,0.000,0.035,2377,1962,3403,0,0,0,0,0,0
$GC,3178,-0.74,-146.0,290.5,-9.5,287,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1963,3403,0,0,0,0,0,0
$GC,3503,-0.74,-146.0,313.9,-6.2,298,3507,0.00,2.30,0.00,0.000,4,0.000,0.054,2377,536,3402,0,0,0,0,0,0
$GC,3693,-0.74,-146.0,326.9,-7.6,302,3698,0.12,2.20,0.00,0.000,6,0.157,0.037,2400,1965,3401,0,0,0,0,0,0
$GC,4046,-0.74,-146.0,353.0,-8.4,311,4050,0.00,2.25,0.00,0.000,4,0.000,0.058,2392,3363,3399,0,0,0,0,0,0
$GC,4172,-0.74,-146.0,364.4,-8.4,313,4177,0.00,2.25,0.00,0.000,6,0.000,0.046,2392,1953,3399,0,0,0,0,0,0
$GC,4503,-0.74,-146.0,382.5,-4.6,322,4507,0.00,2.28,0.00,0.000,4,0.000,0.061,2392,545,3396,0,0,0,0,0,0
$GC,4581,-0.74,-146.0,386.5,-5.5,323,4587,0.00,2.20,0.00,0.000,6,0.000,0.038,2382,1961,3395,0,0,0,0,0,0
$GC,4913,-0.74,-146.0,404.0,-5.4,332,4917,0.00,2.30,0.00,0.000,4,0.000,0.057,2382,542,3394,0,0,0,0,0,0
$GC,4986,-0.74,-146.0,408.8,-6.4,333,4990,0.00,2.20,0.00,0.000,6,0.000,0.038,2373,1958,3393,0,0,0,0,0,0
$GC,5318,-0.74,-146.0,429.0,-6.6,341,5323,0.10,2.30,0.00,0.000,4,0.166,0.058,2398,547,3391,0,0,0,0,0,0
$GC,5390,-0.74,-146.0,433.4,-5.5,342,5394,0.00,2.20,0.00,0.000,6,0.000,0.040,2390,1955,3390,0,0,0,0,0,0
$STATE,5435,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5435,begin apogee
$GC,5442,-0.17,0.0,436.1,5.8,343,5568,0.60,0.00,122.60,0.753,6,0.114,0.000,2583,1956,2800,0,0,0,0,0,0
$STATE,5569,end apogee,CONTROL_FINISHED_OK
$STATE,5569,begin climb
$GC,5571,0.74,146.0,437.3,0.0,346,5703,0.82,0.00,127.82,0.727,6,0.076,0.000,2869,1956,2204,0,0,0,0,0,0
$GC,6019,0.74,146.0,385.8,13.1,357,6023,0.00,2.35,0.00,0.000,4,0.000,0.058,2869,3397,2197,0,0,0,0,0,0
$GC,6177,0.74,146.0,365.3,12.5,360,6181,0.00,2.25,0.00,0.000,6,0.000,0.045,2879,1979,2195,0,0,0,0,0,0
$GC,6514,0.74,146.0,328.7,10.9,369,6518,0.00,2.25,0.00,0.000,4,0.000,0.056,2878,3387,2193,0,0,0,0,0,0
$GC,6605,0.74,146.0,318.0,11.7,371,6609,0.00,2.25,0.00,0.000,6,0.000,0.044,2888,1973,2192,0,0,0,0,0,0
$GC,6925,0.74,146.0,283.4,10.7,382,6929,0.00,2.28,0.00,0.000,4,0.000,0.058,2888,3389,2191,0,0,0,0,0,0
$GC,6952,0.74,146.0,280.1,12.1,383,6956,0.00,2.25,0.00,0.000,6,0.000,0.048,2897,1980,2192,0,0,0,0,0,0
$GC,7268,0.74,146.0,246.1,10.7,398,7272,0.00,2.25,0.00,0.000,4,0.000,0.060,2907,566,2191,0,0,0,0,0,0
$GC,7307,0.74,146.0,241.6,11.4,400,7311,0.00,2.22,0.00,0.000,6,0.000,0.041,2907,1988,2191,0,0,0,0,0,0
$GC,7635,0.74,149.2,211.0,8.9,416,7639,0.00,2.22,0.00,0.000,4,0.000,0.053,2907,3388,2190,0,0,0,0,0,0
$GC,7823,0.74,149.2,194.5,9.8,427,7827,0.12,2.25,0.00,0.000,6,0.150,0.048,2880,1977,2189,0,0,0,0,0,0
$GC,8150,0.75,160.1,166.7,8.6,457,8165,0.00,2.28,11.05,0.545,4,0.000,0.058,2880,3388,2146,0,0,0,0,0,0
$GC,8212,0.75,160.1,160.6,10.3,462,8216,0.00,2.25,0.00,0.000,6,0.000,0.045,2887,1968,2145,0,0,0,0,0,0
$GC,8539,0.75,160.1,131.4,9.1,492,8543,0.00,2.28,0.00,0.000,4,0.000,0.057,2887,3390,2144,0,0,0,0,0,0
$GC,8582,0.75,160.1,126.6,10.8,495,8590,0.00,2.28,0.00,0.000,6,0.000,0.047,2896,1978,2144,0,0,0,0,0,0
$GC,8909,0.76,165.6,96.3,8.8,526,8922,0.00,2.28,6.15,0.437,4,0.000,0.057,2906,566,2124,0,0,0,0,0,0
$GC,8937,0.77,173.6,93.9,8.7,528,8951,0.00,2.20,8.98,0.473,6,0.000,0.040,2906,1977,2092,0,0,0,0,0,0
$GC,9273,0.82,211.7,66.9,7.5,574,9315,0.00,2.28,33.40,0.496,4,0.000,0.051,2906,3389,1936,0,0,0,0,0,0
$GC,9386,0.82,211.7,57.7,9.5,593,9392,0.00,2.25,0.00,0.000,6,0.000,0.042,2907,1977,1934,0,0,0,0,0,0
$GC,9719,0.89,270.3,29.5,6.6,654,9772,0.00,0.00,51.17,0.462,6,0.000,0.000,2907,1977,1696,0,0,0,0,0,0
$GC,9930,0.89,270.3,15.1,9.2,692,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1977,1695,0,0,0,0,0,0
$STATE,10095,end climb,SURFACE_DEPTH_REACHED
$STATE,10095,begin surface coast
$FINISH,0.7,1.010918
$STATE,10133,end surface coast,CONTROL_FINISHED_OK
$STATE,10133,begin surface
$SM_CCo,10151,18.05,0.415,0,0,1575,300.24
$SM_GC,1.17,0.00,0.00,18.05,0.000,0.000,0.415,40,1970,1575,-8.13,0.37,300.24
$IRIDIUM_FIX,2059.45,-15803.33,190902,080825
$TT8_MAMPS,0.028379
$HUMID,65.94
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,47.707
$10V_AH,10.2,52.056
$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,19.000,89.975,361.175,18.050,0.000,57.760,73.004,236.333,18.250,0.000,14.891,1326.105,5876.995,411.146,2462.848,667.882,0.000,1272.291,0.000,2416.295,0.000,116.540,0.000
$DEVICE_MAMPS,224.731,60.593,753.194,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,495.649,426.861,1473.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41241,730
$CAP_FILE_SIZE,113832,0
$CFSIZE,260165632,227966976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250613,110305,2103.784,-15742.776,30,0.8,30,9.8