version: 66.06
glider: 523
mission: 4
dive: 601
start: 6 30 113 7 17 40
data:
$ID,523
$MISSION,4
$DIVE,601
$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,-48041.613
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,070018,2103.395,-15742.349,17,0.9,17,9.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.4
$GPS2,071723,2103.435,-15742.431,15,1.1,15,9.8
$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,221.7,16416,-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,16,-0.74,-146.0,0.0,0.0,0,100,0.00,0.00,-77.25,0.000,6,0.000,0.000,37,1972,3396,0,0,0,0,0,0
$GC,104,-0.74,-146.0,3.8,-5.7,13,118,9.60,2.33,0.00,0.000,4,0.220,0.056,2393,534,3398,0,0,0,0,0,0
$GC,357,-0.74,-146.0,47.0,-15.0,60,364,0.00,2.22,0.00,0.000,6,0.000,0.038,2385,1949,3399,0,0,0,0,0,0
$GC,694,-0.74,-146.0,88.9,-11.5,115,698,0.00,2.25,0.00,0.000,4,0.000,0.057,2385,541,3399,0,0,0,0,0,0
$GC,832,-0.74,-146.0,105.0,-11.3,127,839,0.00,2.20,0.00,0.000,6,0.000,0.037,2376,1966,3399,0,0,0,0,0,0
$GC,1167,-0.74,-146.0,137.8,-8.5,158,1171,0.00,2.33,0.00,0.000,4,0.000,0.056,2376,541,3400,0,0,0,0,0,0
$GC,1419,-0.74,-146.0,165.2,-11.9,180,1427,0.10,2.20,0.00,0.000,6,0.134,0.037,2398,1951,3401,0,0,0,0,0,0
$GC,1747,-0.74,-146.0,192.0,-7.1,211,1751,0.00,2.28,0.00,0.000,4,0.000,0.055,2399,537,3401,0,0,0,0,0,0
$GC,2002,-0.74,-146.0,211.9,-6.9,226,2008,0.00,2.17,0.00,0.000,6,0.000,0.038,2391,1954,3400,0,0,0,0,0,0
$GC,2320,-0.74,-146.0,237.5,-8.2,242,2324,0.00,2.30,0.00,0.000,4,0.000,0.056,2391,538,3400,0,0,0,0,0,0
$GC,2405,-0.74,-146.0,245.5,-9.3,246,2409,0.00,2.20,0.00,0.000,6,0.000,0.038,2381,1960,3400,0,0,0,0,0,0
$GC,2734,-0.74,-146.0,274.1,-6.3,262,2738,0.00,2.22,0.00,0.000,4,0.000,0.057,2371,3367,3400,0,0,0,0,0,0
$GC,2819,-0.74,-146.0,279.0,-5.5,266,2824,0.12,2.25,0.00,0.000,6,0.146,0.045,2404,1950,3400,0,0,0,0,0,0
$GC,3147,-0.74,-146.0,294.7,-4.4,282,3151,0.00,2.25,0.00,0.000,4,0.000,0.059,2404,546,3400,0,0,0,0,0,0
$GC,3405,-0.74,-146.0,311.4,-6.0,290,3409,0.00,2.17,0.00,0.000,6,0.000,0.038,2396,1969,3399,0,0,0,0,0,0
$GC,3737,-0.74,-146.0,330.7,-6.6,298,3741,0.00,2.33,0.00,0.000,4,0.000,0.058,2396,541,3398,0,0,0,0,0,0
$GC,3995,-0.74,-146.0,347.9,-5.8,303,4000,0.00,2.20,0.00,0.000,6,0.000,0.038,2387,1957,3396,0,0,0,0,0,0
$GC,4329,-0.74,-146.0,366.9,-5.8,312,4333,0.00,2.33,0.00,0.000,4,0.000,0.058,2387,539,3394,0,0,0,0,0,0
$GC,4525,-0.74,-146.0,381.0,-6.9,316,4529,0.00,2.22,0.00,0.000,6,0.000,0.040,2377,1965,3392,0,0,0,0,0,0
$GC,4869,-0.74,-146.0,404.1,-6.6,325,4873,0.00,2.33,0.00,0.000,4,0.000,0.059,2377,545,3391,0,0,0,0,0,0
$GC,4964,-0.74,-146.0,411.3,-7.2,327,4968,0.12,2.20,0.00,0.000,6,0.158,0.041,2401,1956,3390,0,0,0,0,0,0
$GC,5283,-0.74,-146.0,431.1,-6.0,335,5287,0.00,2.30,0.00,0.000,4,0.000,0.061,2401,549,3388,0,0,0,0,0,0
$STATE,5403,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5403,begin apogee
$GC,5412,-0.17,0.0,438.8,6.4,337,5538,0.57,0.00,121.65,0.742,6,0.114,0.000,2583,1988,2799,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5543,0.74,146.0,439.6,0.0,341,5680,0.82,2.33,127.10,0.719,4,0.066,0.061,2878,3385,2203,0,0,0,0,0,0
$GC,5782,0.74,146.0,410.4,14.8,346,5786,0.00,2.30,0.00,0.000,6,0.000,0.047,2888,1982,2198,0,0,0,0,0,0
$GC,6118,0.74,146.0,366.3,12.9,355,6122,0.00,2.30,0.00,0.000,4,0.000,0.068,2898,571,2195,0,0,0,0,0,0
$GC,6185,0.74,146.0,357.9,12.4,356,6189,0.00,2.22,0.00,0.000,6,0.000,0.041,2898,1983,2194,0,0,0,0,0,0
$GC,6527,0.74,146.0,314.0,13.3,365,6531,0.00,2.25,0.00,0.000,4,0.000,0.063,2899,3386,2193,0,0,0,0,0,0
$GC,6606,0.74,146.0,303.1,12.6,366,6610,0.00,2.28,0.00,0.000,6,0.000,0.048,2908,1967,2192,0,0,0,0,0,0
$GC,6921,0.74,146.0,265.3,10.4,380,6925,0.00,2.30,0.00,0.000,4,0.000,0.069,2918,568,2192,0,0,0,0,0,0
$GC,6942,0.74,146.0,262.9,10.1,381,6947,0.15,2.25,0.00,0.000,6,0.133,0.045,2875,1982,2191,0,0,0,0,0,0
$GC,7269,0.74,146.0,231.0,9.8,397,7273,0.00,2.25,0.00,0.000,4,0.000,0.061,2876,3389,2190,0,0,0,0,0,0
$GC,7476,0.75,159.7,210.4,8.5,406,7492,0.00,2.25,11.05,0.568,6,0.000,0.048,2882,1981,2147,0,0,0,0,0,0
$GC,7809,0.75,159.7,183.1,9.5,431,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1981,2144,0,0,0,0,0,0
$GC,8130,0.76,161.8,157.1,8.9,461,8134,0.00,2.30,0.00,0.000,4,0.000,0.059,2882,3389,2143,0,0,0,0,0,0
$GC,8374,0.76,161.8,132.9,10.4,483,8378,0.00,2.25,0.00,0.000,6,0.000,0.047,2891,1980,2143,0,0,0,0,0,0
$GC,8703,0.76,163.9,105.6,8.9,513,8715,0.00,2.35,4.60,0.391,4,0.000,0.060,2891,3390,2130,0,0,0,0,0,0
$GC,8763,0.77,174.3,100.2,8.6,518,8779,0.00,2.28,10.88,0.482,6,0.000,0.050,2896,1977,2089,0,0,0,0,0,0
$GC,9102,0.88,263.0,75.2,5.3,558,9189,0.00,2.38,76.53,0.498,4,0.000,0.059,2896,3381,1725,0,0,0,0,0,0
$GC,9209,0.89,270.6,67.5,8.7,576,9228,0.00,2.33,8.15,0.416,6,0.000,0.051,2903,1982,1694,0,0,0,0,0,0
$GC,9560,0.92,298.6,41.0,7.9,639,9589,0.10,0.00,25.00,0.451,6,0.084,0.000,2990,1983,1581,0,0,0,0,0,0
$STATE,9863,end climb,SURFACE_DEPTH_REACHED
$STATE,9864,begin surface coast
$FINISH,0.6,1.006384
$STATE,9888,end surface coast,CONTROL_FINISHED_OK
$STATE,9888,begin surface
$SM_CCo,9966,0.00,0.000,0,0,1576,300.24
$SM_GC,1.50,7.60,0.00,0.00,0.028,0.000,0.000,26,1978,1576,-8.01,0.65,300.24
$IRIDIUM_FIX,2059.45,-15743.60,240902,070751
$TT8_MAMPS,0.027612
$HUMID,65.71
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,416.2,31.4
$24V_AH,24.4,51.397
$10V_AH,10.2,56.282
$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,19.200,86.175,384.950,0.000,0.000,115.448,140.423,418.606,18.750,0.000,15.607,1280.365,5847.044,398.218,2475.084,982.682,0.000,1295.457,0.000,2421.099,0.000,122.588,0.000
$DEVICE_MAMPS,220.129,69.030,741.689,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,474.124,404.989,1364.431,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38113,700
$CAP_FILE_SIZE,118878,0
$CFSIZE,260165632,225796096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300613,100459,2102.098,-15743.036,36,0.8,36,9.8