version: 66.06
glider: 523
mission: 4
dive: 621
start: 7 2 113 13 50 49
data:
$ID,523
$MISSION,4
$DIVE,621
$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,-48544.047
$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
$GPS1,134107,2100.061,-15758.639,15,0.8,16,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.0
$GPS2,135033,2100.058,-15758.686,18,3.2,37,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,329.4,16401,-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,-80.78,0.000,6,0.000,0.000,26,1974,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.5,-5.3,13,118,9.55,2.22,0.00,0.000,4,0.218,0.051,2383,3366,3398,0,0,0,0,0,0
$GC,208,-0.74,-146.0,25.3,-14.9,32,216,0.00,2.28,0.00,0.000,6,0.000,0.047,2383,1948,3399,0,0,0,0,0,0
$GC,381,-0.74,-146.0,50.4,-13.8,63,387,0.00,2.25,0.00,0.000,4,0.000,0.066,2383,548,3399,0,0,0,0,0,0
$GC,634,-0.74,-146.0,88.4,-13.2,104,638,0.00,2.17,0.00,0.000,6,0.000,0.039,2374,1961,3400,0,0,0,0,0,0
$GC,963,-0.74,-146.0,120.8,-9.0,134,967,0.00,2.28,0.00,0.000,4,0.000,0.059,2374,542,3401,0,0,0,0,0,0
$GC,1214,-0.74,-146.0,145.9,-8.9,156,1222,0.10,2.22,0.00,0.000,6,0.137,0.038,2396,1963,3402,0,0,0,0,0,0
$GC,1541,-0.74,-146.0,171.0,-7.9,187,1545,0.00,2.25,0.00,0.000,4,0.000,0.061,2387,3369,3402,0,0,0,0,0,0
$GC,1648,-0.74,-146.0,179.4,-7.2,196,1653,0.00,2.25,0.00,0.000,6,0.000,0.047,2387,1955,3402,0,0,0,0,0,0
$GC,1979,-0.74,-146.0,202.9,-6.0,225,1983,0.00,2.28,0.00,0.000,4,0.000,0.062,2387,541,3403,0,0,0,0,0,0
$GC,2215,-0.74,-146.0,220.6,-8.3,235,2221,0.00,2.20,0.00,0.000,6,0.000,0.038,2378,1964,3403,0,0,0,0,0,0
$GC,2535,-0.74,-146.0,247.2,-8.3,251,2539,0.00,2.30,0.00,0.000,4,0.000,0.058,2378,542,3403,0,0,0,0,0,0
$GC,2687,-0.74,-146.0,261.8,-9.6,258,2692,0.12,2.17,0.00,0.000,6,0.153,0.040,2402,1957,3403,0,0,0,0,0,0
$GC,3014,-0.74,-146.0,284.0,-7.0,274,3018,0.00,2.30,0.00,0.000,4,0.000,0.058,2402,546,3403,0,0,0,0,0,0
$GC,3248,-0.74,-146.0,303.1,-6.9,284,3252,0.00,2.20,0.00,0.000,6,0.000,0.039,2394,1967,3402,0,0,0,0,0,0
$GC,3599,-0.74,-146.0,323.6,-5.7,293,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1967,3401,0,0,0,0,0,0
$GC,3922,-0.74,-146.0,347.4,-7.8,301,3927,0.00,2.30,0.00,0.000,4,0.000,0.058,2394,547,3399,0,0,0,0,0,0
$GC,4153,-0.74,-146.0,366.0,-6.4,306,4157,0.00,2.20,0.00,0.000,6,0.000,0.040,2384,1958,3397,0,0,0,0,0,0
$GC,4466,-0.74,-146.0,382.2,-4.5,314,4470,0.00,2.30,0.00,0.000,4,0.000,0.059,2384,542,3396,0,0,0,0,0,0
$GC,4719,-0.74,-146.0,394.4,-4.3,319,4723,0.00,2.20,0.00,0.000,6,0.000,0.041,2375,1961,3394,0,0,0,0,0,0
$GC,5051,-0.74,-146.0,414.0,-6.2,327,5054,0.00,2.33,0.00,0.000,4,0.000,0.060,2375,538,3392,0,0,0,0,0,0
$GC,5308,-0.74,-146.0,431.4,-7.7,332,5313,0.12,2.22,0.00,0.000,6,0.153,0.043,2398,1967,3390,0,0,0,0,0,0
$STATE,5439,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5439,begin apogee
$GC,5446,-0.17,0.0,439.0,5.6,336,5571,0.57,0.00,121.85,0.749,6,0.109,0.000,2588,1967,2800,0,0,0,0,0,0
$STATE,5572,end apogee,CONTROL_FINISHED_OK
$STATE,5572,begin climb
$GC,5575,0.74,146.0,439.6,0.0,339,5711,0.85,2.42,127.70,0.723,4,0.070,0.062,2882,3383,2202,0,0,0,0,0,0
$GC,5773,0.74,146.0,419.2,12.8,344,5777,0.00,2.33,0.00,0.000,6,0.000,0.047,2892,1973,2200,0,0,0,0,0,0
$GC,6091,0.74,146.0,380.4,12.1,352,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1973,2196,0,0,0,0,0,0
$GC,6416,0.74,146.0,340.9,12.1,360,6420,0.00,2.28,0.00,0.000,4,0.000,0.058,2892,3388,2194,0,0,0,0,0,0
$GC,6444,0.74,146.0,337.3,12.2,360,6448,0.00,2.25,0.00,0.000,6,0.000,0.047,2901,1979,2193,0,0,0,0,0,0
$GC,6781,0.74,146.0,298.5,11.2,369,6785,0.00,2.28,0.00,0.000,4,0.000,0.058,2901,3391,2192,0,0,0,0,0,0
$GC,6871,0.74,146.0,287.1,12.5,373,6875,0.12,2.28,0.00,0.000,6,0.150,0.049,2877,1974,2192,0,0,0,0,0,0
$GC,7192,0.78,179.2,259.5,7.7,389,7222,0.00,0.00,27.95,0.640,6,0.000,0.000,2876,1974,2069,0,0,0,0,0,0
$GC,7521,0.79,188.3,231.7,8.7,405,7535,0.00,2.35,8.82,0.555,4,0.000,0.061,2877,3387,2031,0,0,0,0,0,0
$GC,7665,0.79,188.3,216.9,10.7,411,7669,0.00,2.25,0.00,0.000,6,0.000,0.049,2884,1978,2030,0,0,0,0,0,0
$GC,7987,0.79,188.3,185.7,9.2,433,7991,0.00,2.30,0.00,0.000,4,0.000,0.061,2883,3386,2029,0,0,0,0,0,0
$GC,8050,0.79,188.3,179.2,10.7,438,8054,0.00,2.28,0.00,0.000,6,0.000,0.051,2892,1975,2029,0,0,0,0,0,0
$GC,8377,0.79,188.3,146.8,9.5,468,8381,0.00,2.30,0.00,0.000,4,0.000,0.061,2892,3386,2028,0,0,0,0,0,0
$GC,8452,0.79,188.3,138.9,9.1,474,8460,0.00,2.30,0.00,0.000,6,0.000,0.053,2893,1978,2028,0,0,0,0,0,0
$GC,8780,0.83,223.5,113.5,7.6,505,8816,0.00,2.35,31.20,0.532,4,0.000,0.061,2893,3386,1887,0,0,0,0,0,0
$GC,8852,0.83,223.5,107.3,10.3,511,8856,0.00,2.25,0.00,0.000,6,0.000,0.051,2894,1979,1886,0,0,0,0,0,0
$GC,9181,0.87,250.6,80.7,7.9,541,9210,0.00,2.30,24.10,0.494,4,0.000,0.058,2894,3392,1778,0,0,0,0,0,0
$GC,9258,0.87,250.6,74.0,9.3,553,9263,0.00,2.28,0.00,0.000,6,0.000,0.051,2901,1970,1778,0,0,0,0,0,0
$GC,9590,0.91,287.9,47.9,7.5,614,9632,0.00,2.35,33.40,0.468,4,0.000,0.060,2901,3383,1624,0,0,0,0,0,0
$GC,9716,0.91,287.9,37.7,9.6,636,9723,0.00,2.30,0.00,0.000,6,0.000,0.051,2903,1978,1623,0,0,0,0,0,0
$GC,10043,0.95,316.1,11.2,7.9,697,10077,0.12,2.30,24.88,0.430,4,0.078,0.061,2980,567,1509,0,0,0,0,0,0
$STATE,10126,end climb,SURFACE_DEPTH_REACHED
$STATE,10126,begin surface coast
$FINISH,0.9,1.023049
$STATE,10154,end surface coast,CONTROL_FINISHED_OK
$STATE,10154,begin surface
$SM_CCo,10234,0.00,0.000,0,0,1507,317.17
$SM_GC,1.52,7.55,0.00,0.00,0.028,0.000,0.000,41,1970,1507,-7.99,0.40,317.17
$IRIDIUM_FIX,2047.91,-15800.78,260902,131304
$TT8_MAMPS,0.027612
$HUMID,65.39
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.4,53.174
$10V_AH,10.1,58.342
$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,19.125,90.900,399.900,0.000,0.000,58.475,70.320,208.990,18.250,0.000,38.868,1317.401,5916.633,444.817,2489.282,624.264,0.000,1308.122,0.000,2421.585,0.000,116.571,0.000
$DEVICE_MAMPS,217.828,65.962,748.592,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,485.947,415.903,1428.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38195,716
$CAP_FILE_SIZE,112795,0
$CFSIZE,260165632,224776192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020713,164235,2100.941,-15759.408,36,0.9,36,9.8