version: 66.06
glider: 523
mission: 4
dive: 611
start: 7 1 113 8 31 14
data:
$ID,523
$MISSION,4
$DIVE,611
$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,-48285.379
$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,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
$GPS1,082402,2056.506,-15747.619,17,0.9,17,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.9
$GPS2,083058,2056.496,-15747.681,69,0.9,69,9.8
$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,295.1,4599,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-79.25,0.000,6,0.000,0.000,24,1973,3395,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.8,-5.5,13,120,9.65,2.22,0.00,0.000,4,0.222,0.049,2383,3372,3396,0,0,0,0,0,0
$GC,200,-0.74,-146.0,24.7,-14.1,30,208,0.00,2.30,0.00,0.000,6,0.000,0.046,2383,1956,3398,0,0,0,0,0,0
$GC,373,-0.74,-146.0,49.6,-14.9,61,378,0.00,2.30,0.00,0.000,4,0.000,0.061,2383,534,3398,0,0,0,0,0,0
$GC,627,-0.74,-146.0,85.5,-12.2,103,631,0.00,2.20,0.00,0.000,6,0.000,0.038,2374,1962,3399,0,0,0,0,0,0
$GC,954,-0.74,-146.0,121.2,-9.8,133,958,0.00,2.33,0.00,0.000,4,0.000,0.057,2374,543,3399,0,0,0,0,0,0
$GC,1203,-0.74,-146.0,148.3,-10.0,155,1210,0.10,2.20,0.00,0.000,6,0.140,0.038,2395,1957,3400,0,0,0,0,0,0
$GC,1531,-0.74,-146.0,178.3,-8.6,186,1535,0.00,2.33,0.00,0.000,4,0.000,0.055,2396,539,3401,0,0,0,0,0,0
$GC,1780,-0.74,-146.0,199.3,-8.3,208,1787,0.00,2.22,0.00,0.000,6,0.000,0.038,2388,1964,3401,0,0,0,0,0,0
$GC,2109,-0.74,-146.0,225.8,-7.9,225,2113,0.00,2.30,0.00,0.000,4,0.000,0.056,2387,531,3402,0,0,0,0,0,0
$GC,2283,-0.74,-146.0,240.4,-8.0,233,2287,0.00,2.20,0.00,0.000,6,0.000,0.038,2378,1958,3402,0,0,0,0,0,0
$GC,2613,-0.74,-146.0,263.1,-7.1,249,2617,0.00,2.28,0.00,0.000,4,0.000,0.055,2378,544,3401,0,0,0,0,0,0
$GC,2698,-0.74,-146.0,269.5,-7.6,253,2704,0.12,2.20,0.00,0.000,6,0.156,0.038,2402,1965,3401,0,0,0,0,0,0
$GC,3033,-0.74,-146.0,290.0,-6.6,269,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1965,3401,0,0,0,0,0,0
$GC,3359,-0.74,-146.0,309.7,-5.8,281,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1965,3401,0,0,0,0,0,0
$GC,3686,-0.74,-146.0,326.9,-5.3,289,3690,0.00,2.25,0.00,0.000,4,0.000,0.063,2393,3363,3399,0,0,0,0,0,0
$GC,3804,-0.74,-146.0,334.0,-6.8,291,3808,0.00,2.25,0.00,0.000,6,0.000,0.044,2393,1944,3399,0,0,0,0,0,0
$GC,4136,-0.74,-146.0,351.0,-5.0,299,4140,0.00,2.28,0.00,0.000,4,0.000,0.061,2393,545,3397,0,0,0,0,0,0
$GC,4169,-0.74,-146.0,353.3,-7.1,299,4174,0.00,2.20,0.00,0.000,6,0.000,0.039,2383,1962,3396,0,0,0,0,0,0
$GC,4501,-0.74,-146.0,374.3,-6.3,308,4505,0.00,2.33,0.00,0.000,4,0.000,0.058,2383,538,3394,0,0,0,0,0,0
$GC,4534,-0.74,-146.0,376.7,-7.1,308,4538,0.00,2.20,0.00,0.000,6,0.000,0.040,2374,1955,3394,0,0,0,0,0,0
$GC,4868,-0.74,-146.0,397.0,-6.0,316,4872,0.00,2.28,0.00,0.000,4,0.000,0.064,2365,3362,3392,0,0,0,0,0,0
$GC,4902,-0.74,-146.0,399.4,-6.6,316,4908,0.12,2.28,0.00,0.000,6,0.143,0.047,2397,1950,3392,0,0,0,0,0,0
$GC,5234,-0.74,-146.0,416.9,-5.4,325,5238,0.00,2.30,0.00,0.000,4,0.000,0.062,2398,545,3390,0,0,0,0,0,0
$GC,5341,-0.74,-146.0,424.2,-7.1,327,5345,0.00,2.22,0.00,0.000,6,0.000,0.041,2390,1968,3389,0,0,0,0,0,0
$STATE,5441,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5441,begin apogee
$GC,5447,-0.17,0.0,430.8,6.9,330,5572,0.60,0.00,121.88,0.741,6,0.114,0.000,2583,1968,2800,0,0,0,0,0,0
$STATE,5573,end apogee,CONTROL_FINISHED_OK
$STATE,5573,begin climb
$GC,5577,0.74,146.0,432.7,0.0,333,5714,0.82,2.38,127.40,0.716,4,0.074,0.061,2870,3382,2202,0,0,0,0,0,0
$GC,5776,0.74,146.0,413.2,12.3,337,5780,0.00,2.30,0.00,0.000,6,0.000,0.045,2880,1978,2199,0,0,0,0,0,0
$GC,6112,0.74,146.0,372.7,12.4,346,6116,0.00,2.30,0.00,0.000,4,0.000,0.058,2879,3392,2196,0,0,0,0,0,0
$GC,6196,0.74,146.0,360.5,14.8,347,6202,0.00,2.28,0.00,0.000,6,0.000,0.047,2889,1977,2194,0,0,0,0,0,0
$GC,6528,0.74,146.0,318.4,11.9,356,6532,0.00,2.30,0.00,0.000,4,0.000,0.059,2889,3391,2194,0,0,0,0,0,0
$GC,6617,0.74,146.0,307.7,12.7,358,6621,0.00,2.28,0.00,0.000,6,0.000,0.049,2898,1975,2193,0,0,0,0,0,0
$GC,6939,0.74,146.0,270.9,12.0,372,6943,0.00,2.28,0.00,0.000,4,0.000,0.060,2898,3386,2193,0,0,0,0,0,0
$GC,7029,0.74,146.0,258.9,13.8,376,7033,0.00,2.25,0.00,0.000,6,0.000,0.049,2907,1981,2192,0,0,0,0,0,0
$GC,7356,0.74,146.0,221.3,10.7,392,7359,0.00,2.28,0.00,0.000,4,0.000,0.061,2907,3389,2192,0,0,0,0,0,0
$GC,7417,0.74,146.0,214.3,11.6,394,7423,0.12,2.28,0.00,0.000,6,0.146,0.051,2878,1974,2191,0,0,0,0,0,0
$GC,7743,0.79,186.0,188.0,7.4,417,7781,0.00,2.33,33.20,0.595,4,0.000,0.062,2879,3387,2040,0,0,0,0,0,0
$GC,7812,0.79,186.0,182.1,9.7,423,7816,0.00,2.28,0.00,0.000,6,0.000,0.051,2885,1982,2038,0,0,0,0,0,0
$GC,8141,0.79,186.8,152.3,9.0,453,8145,0.00,2.30,0.00,0.000,4,0.000,0.061,2885,3395,2037,0,0,0,0,0,0
$GC,8171,0.79,186.8,149.5,9.8,455,8175,0.00,2.25,0.00,0.000,6,0.000,0.042,2894,1965,2036,0,0,0,0,0,0
$GC,8499,0.83,220.4,120.7,7.6,485,8535,0.00,2.28,30.35,0.530,4,0.000,0.050,2895,3393,1900,0,0,0,0,0,0
$GC,8573,0.83,221.8,114.3,9.0,491,8581,0.00,2.25,0.00,0.000,6,0.000,0.041,2903,1983,1898,0,0,0,0,0,0
$GC,8901,0.86,243.7,85.8,8.1,522,8928,0.00,2.28,21.30,0.492,4,0.000,0.052,2903,3383,1805,0,0,0,0,0,0
$GC,8959,0.87,251.4,80.8,8.7,527,8973,0.00,2.22,8.43,0.435,6,0.000,0.041,2910,1968,1774,0,0,0,0,0,0
$GC,9297,0.87,251.4,50.9,9.7,588,9305,0.00,2.28,0.00,0.000,4,0.000,0.051,2910,3382,1772,0,0,0,0,0,0
$GC,9351,0.87,251.4,45.3,11.6,597,9357,0.00,2.25,0.00,0.000,6,0.000,0.053,2918,1982,1772,0,0,0,0,0,0
$GC,9678,0.87,256.9,19.0,8.8,658,9693,0.00,0.00,6.62,0.377,6,0.000,0.000,2918,1982,1751,0,0,0,0,0,0
$STATE,9852,end climb,SURFACE_DEPTH_REACHED
$STATE,9852,begin surface coast
$FINISH,0.5,1.009464
$STATE,9891,end surface coast,CONTROL_FINISHED_OK
$STATE,9891,begin surface
$SM_CCo,9909,22.83,0.418,0,0,1576,300.24
$SM_GC,1.58,0.00,0.00,22.83,0.000,0.000,0.418,28,1975,1576,-8.16,0.51,300.24
$IRIDIUM_FIX,2054.83,-15826.92,250902,050508
$TT8_MAMPS,0.028379
$HUMID,66.49
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,430.8,55.3
$24V_AH,24.4,52.249
$10V_AH,10.1,57.289
$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,18.875,95.250,349.175,22.825,0.000,24.094,35.790,161.482,19.000,0.000,69.936,1269.756,5807.613,406.398,2360.753,498.830,0.000,1232.055,0.000,2259.909,0.000,116.022,0.000
$DEVICE_MAMPS,221.663,63.661,740.922,418.015,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,473.778,411.867,1385.995,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,38103,697
$CAP_FILE_SIZE,108621,0
$CFSIZE,260165632,225316864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010713,111756,2056.415,-15748.791,29,0.8,30,9.8