version: 66.06
glider: 523
mission: 4
dive: 595
start: 6 29 113 13 52 49
data:
$ID,523
$MISSION,4
$DIVE,595
$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,-47927.465
$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,21
$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
$GPS1,134318,2107.985,-15745.255,19,1.4,19,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.4
$GPS2,135231,2107.971,-15745.239,20,1.5,20,9.8
$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,125.1,5661,-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,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,99,0.00,0.00,-77.80,0.000,6,0.000,0.000,44,1973,3394,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-5.6,13,118,9.57,2.33,0.00,0.000,4,0.225,0.053,2391,544,3396,0,0,0,0,0,0
$GC,269,-0.74,-146.0,37.4,-15.2,44,277,0.00,2.22,0.00,0.000,6,0.000,0.038,2383,1962,3397,0,0,0,0,0,0
$GC,605,-0.74,-146.0,80.3,-11.0,105,609,0.00,2.30,0.00,0.000,4,0.000,0.055,2382,542,3398,0,0,0,0,0,0
$GC,745,-0.74,-146.0,95.9,-11.1,117,750,0.00,2.17,0.00,0.000,6,0.000,0.036,2373,1964,3398,0,0,0,0,0,0
$GC,1073,-0.74,-146.0,128.5,-8.2,147,1077,0.00,2.33,0.00,0.000,4,0.000,0.056,2374,537,3399,0,0,0,0,0,0
$GC,1235,-0.74,-146.0,142.7,-7.8,161,1243,0.10,2.20,0.00,0.000,6,0.137,0.036,2396,1953,3399,0,0,0,0,0,0
$GC,1563,-0.74,-146.0,166.4,-7.2,192,1567,0.00,2.28,0.00,0.000,4,0.000,0.055,2396,544,3400,0,0,0,0,0,0
$GC,1803,-0.74,-146.0,187.5,-9.3,213,1807,0.00,2.17,0.00,0.000,6,0.000,0.036,2388,1962,3400,0,0,0,0,0,0
$GC,2133,-0.74,-146.0,217.1,-9.0,235,2137,0.00,2.30,0.00,0.000,4,0.000,0.054,2388,541,3400,0,0,0,0,0,0
$GC,2358,-0.74,-146.0,238.1,-8.3,245,2362,0.00,2.17,0.00,0.000,6,0.000,0.037,2378,1968,3400,0,0,0,0,0,0
$GC,2681,-0.74,-146.0,262.0,-7.6,261,2685,0.00,2.33,0.00,0.000,4,0.000,0.057,2379,541,3400,0,0,0,0,0,0
$GC,2851,-0.74,-146.0,275.0,-6.8,268,2857,0.12,2.20,0.00,0.000,6,0.159,0.038,2402,1964,3400,0,0,0,0,0,0
$GC,3170,-0.74,-146.0,295.1,-6.9,284,3174,0.00,2.33,0.00,0.000,4,0.000,0.057,2403,547,3400,0,0,0,0,0,0
$GC,3427,-0.74,-146.0,312.9,-6.2,291,3433,0.00,2.20,0.00,0.000,6,0.000,0.038,2394,1964,3399,0,0,0,0,0,0
$GC,3761,-0.74,-146.0,333.9,-6.8,300,3765,0.00,2.33,0.00,0.000,4,0.000,0.058,2395,547,3398,0,0,0,0,0,0
$GC,3846,-0.74,-146.0,339.0,-5.9,302,3850,0.00,2.20,0.00,0.000,6,0.000,0.039,2384,1963,3397,0,0,0,0,0,0
$GC,4179,-0.74,-146.0,358.8,-6.2,310,4183,0.00,2.33,0.00,0.000,4,0.000,0.060,2385,541,3395,0,0,0,0,0,0
$GC,4298,-0.74,-146.0,367.8,-8.3,312,4302,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1958,3395,0,0,0,0,0,0
$GC,4636,-0.74,-146.0,388.5,-5.6,321,4640,0.00,2.33,0.00,0.000,4,0.000,0.061,2376,544,3393,0,0,0,0,0,0
$GC,4856,-0.74,-146.0,402.0,-6.2,325,4862,0.12,2.20,0.00,0.000,6,0.154,0.041,2399,1960,3391,0,0,0,0,0,0
$GC,5188,-0.74,-146.0,419.4,-5.4,334,5192,0.00,2.33,0.00,0.000,4,0.000,0.060,2400,543,3389,0,0,0,0,0,0
$STATE,5405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5405,begin apogee
$GC,5415,-0.17,0.0,432.3,5.7,339,5540,0.60,0.00,121.97,0.736,6,0.111,0.000,2586,1984,2799,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5543,0.74,146.0,432.4,0.0,342,5682,0.82,2.38,127.28,0.714,4,0.074,0.061,2875,3379,2202,0,0,0,0,0,0
$GC,5693,0.74,146.0,416.1,12.5,345,5697,0.00,2.30,0.00,0.000,6,0.000,0.048,2884,1981,2201,0,0,0,0,0,0
$GC,6029,0.74,146.0,375.0,11.3,354,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1981,2196,0,0,0,0,0,0
$GC,6354,0.74,146.0,337.9,11.8,362,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1981,2195,0,0,0,0,0,0
$GC,6680,0.74,146.0,299.2,11.9,370,6684,0.00,2.33,0.00,0.000,4,0.000,0.059,2884,3397,2193,0,0,0,0,0,0
$GC,6697,0.74,146.0,297.1,11.5,371,6701,0.00,2.30,0.00,0.000,6,0.000,0.051,2893,1972,2192,0,0,0,0,0,0
$GC,7029,0.74,146.0,258.8,11.0,387,7033,0.00,2.30,0.00,0.000,4,0.000,0.060,2894,3390,2191,0,0,0,0,0,0
$GC,7081,0.74,146.0,253.2,11.1,389,7085,0.00,2.28,0.00,0.000,6,0.000,0.051,2901,1970,2190,0,0,0,0,0,0
$GC,7402,0.74,146.0,224.5,9.6,405,7406,0.00,2.33,0.00,0.000,4,0.000,0.061,2901,3393,2190,0,0,0,0,0,0
$GC,7557,0.74,146.0,207.2,11.0,412,7562,0.12,2.28,0.00,0.000,6,0.144,0.052,2875,1972,2189,0,0,0,0,0,0
$GC,7883,0.75,159.5,177.6,8.5,439,7898,0.00,2.33,10.60,0.542,4,0.000,0.061,2875,3393,2148,0,0,0,0,0,0
$GC,7941,0.75,159.5,172.2,10.6,444,7945,0.00,2.22,0.00,0.000,6,0.000,0.047,2882,1978,2147,0,0,0,0,0,0
$GC,8268,0.77,171.2,146.3,8.5,474,8285,0.00,2.22,11.82,0.524,4,0.000,0.049,2882,3395,2100,0,0,0,0,0,0
$GC,8354,0.79,188.1,139.0,8.3,481,8378,0.00,2.22,14.98,0.524,6,0.000,0.041,2892,1979,2035,0,0,0,0,0,0
$GC,8698,0.79,188.1,110.5,9.2,513,8702,0.00,2.22,0.00,0.000,4,0.000,0.050,2892,3393,2034,0,0,0,0,0,0
$GC,8763,0.79,188.1,104.0,9.1,518,8770,0.00,2.25,0.00,0.000,6,0.000,0.040,2901,1977,2033,0,0,0,0,0,0
$GC,9091,0.79,188.1,73.1,9.6,555,9096,0.00,2.22,0.00,0.000,4,0.000,0.050,2901,3396,2033,0,0,0,0,0,0
$GC,9141,0.79,188.1,68.0,10.1,564,9148,0.00,2.25,0.00,0.000,6,0.000,0.041,2910,1978,2033,0,0,0,0,0,0
$GC,9474,0.82,211.7,43.6,8.1,625,9503,0.00,2.22,22.42,0.458,4,0.000,0.059,2920,570,1935,0,0,0,0,0,0
$GC,9545,0.82,211.7,36.8,10.4,637,9551,0.00,2.20,0.00,0.000,6,0.000,0.039,2920,1998,1935,0,0,0,0,0,0
$GC,9874,0.82,211.7,9.2,9.9,698,9881,0.00,2.22,0.00,0.000,4,0.000,0.051,2920,3391,1934,0,0,0,0,0,0
$STATE,9938,end climb,SURFACE_DEPTH_REACHED
$STATE,9939,begin surface coast
$FINISH,0.6,1.004290
$STATE,9966,end surface coast,CONTROL_FINISHED_OK
$STATE,9966,begin surface
$SM_CCo,9987,40.50,0.422,0,0,1575,300.24
$SM_GC,1.52,0.00,0.00,40.50,0.000,0.000,0.422,28,1949,1575,-8.17,-0.23,300.24
$IRIDIUM_FIX,2057.14,-15746.61,230902,131310
$TT8_MAMPS,0.028379
$HUMID,65.43
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.4,50.858
$10V_AH,10.2,55.657
$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,18.875,95.125,309.075,40.500,0.000,55.596,65.895,214.298,18.250,0.000,20.625,1320.120,5742.379,403.894,2474.932,636.803,0.000,1264.945,0.000,2424.932,0.000,113.030,0.000
$DEVICE_MAMPS,224.731,61.360,736.320,421.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,485.718,416.661,1430.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38045,715
$CAP_FILE_SIZE,112099,0
$CFSIZE,260165632,226123776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290613,164105,2107.236,-15744.289,29,0.9,29,9.8