version: 66.06
glider: 523
mission: 4
dive: 645
start: 7 5 113 12 0 52
data:
$ID,523
$MISSION,4
$DIVE,645
$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,-48976.863
$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,23
$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
$GPS1,115421,2107.328,-15748.512,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.5
$GPS2,120035,2107.318,-15748.561,17,1.0,17,9.8
$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,96.1,10140,-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,-146.0,0.0,0.0,0,114,0.00,0.00,-89.07,0.000,6,0.000,0.000,49,1949,3396,0,0,0,0,0,0
$GC,118,-0.74,-146.0,4.0,-6.3,15,133,9.40,2.22,0.00,0.000,4,0.216,0.054,2393,547,3397,0,0,0,0,0,0
$GC,371,-0.74,-146.0,46.7,-14.2,62,378,0.00,2.20,0.00,0.000,6,0.000,0.037,2384,1951,3398,0,0,0,0,0,0
$GC,711,-0.74,-146.0,88.9,-10.4,116,715,0.00,2.25,0.00,0.000,4,0.000,0.056,2384,542,3399,0,0,0,0,0,0
$GC,965,-0.74,-146.0,120.3,-11.9,138,973,0.00,2.17,0.00,0.000,6,0.000,0.035,2375,1948,3400,0,0,0,0,0,0
$GC,1292,-0.74,-146.0,152.9,-9.9,169,1296,0.00,2.25,0.00,0.000,4,0.000,0.054,2375,544,3401,0,0,0,0,0,0
$GC,1422,-0.74,-146.0,165.5,-9.4,180,1427,0.12,2.17,0.00,0.000,6,0.156,0.035,2398,1972,3401,0,0,0,0,0,0
$GC,1754,-0.74,-146.0,185.6,-5.2,211,1758,0.00,2.30,0.00,0.000,4,0.000,0.053,2399,546,3401,0,0,0,0,0,0
$GC,1921,-0.74,-146.0,196.8,-7.4,225,1928,0.00,2.17,0.00,0.000,6,0.000,0.035,2391,1953,3401,0,0,0,0,0,0
$GC,2240,-0.74,-146.0,223.6,-8.4,243,2244,0.00,2.28,0.00,0.000,4,0.000,0.053,2391,547,3401,0,0,0,0,0,0
$GC,2308,-0.74,-146.0,229.7,-8.6,246,2313,0.00,2.15,0.00,0.000,6,0.000,0.035,2382,1957,3401,0,0,0,0,0,0
$GC,2640,-0.74,-146.0,250.5,-4.8,262,2644,0.00,2.25,0.00,0.000,4,0.000,0.056,2371,3364,3401,0,0,0,0,0,0
$GC,2703,-0.74,-146.0,253.9,-5.6,265,2708,0.12,2.25,0.00,0.000,6,0.143,0.047,2405,1958,3401,0,0,0,0,0,0
$GC,3029,-0.74,-146.0,271.4,-6.2,281,3033,0.00,2.25,0.00,0.000,4,0.000,0.057,2406,540,3401,0,0,0,0,0,0
$GC,3243,-0.74,-146.0,287.7,-7.6,290,3248,0.00,2.15,0.00,0.000,6,0.000,0.036,2398,1956,3401,0,0,0,0,0,0
$GC,3578,-0.74,-146.0,307.3,-5.8,304,3582,0.00,2.25,0.00,0.000,4,0.000,0.058,2388,3365,3400,0,0,0,0,0,0
$GC,3612,-0.74,-146.0,309.5,-6.0,304,3620,0.00,2.22,0.00,0.000,6,0.000,0.045,2388,1951,3400,0,0,0,0,0,0
$GC,3952,-0.74,-146.0,326.7,-4.4,313,3956,0.00,2.25,0.00,0.000,4,0.000,0.060,2388,544,3398,0,0,0,0,0,0
$GC,4065,-0.74,-146.0,333.0,-6.0,315,4069,0.00,2.15,0.00,0.000,6,0.000,0.036,2378,1957,3397,0,0,0,0,0,0
$GC,4403,-0.74,-146.0,354.7,-6.8,324,4408,0.00,2.25,0.00,0.000,4,0.000,0.060,2368,3365,3396,0,0,0,0,0,0
$GC,4523,-0.74,-146.0,362.4,-6.8,326,4528,0.12,2.25,0.00,0.000,6,0.143,0.046,2401,1951,3396,0,0,0,0,0,0
$GC,4862,-0.74,-146.0,381.3,-5.7,335,4866,0.00,2.28,0.00,0.000,4,0.000,0.061,2401,541,3393,0,0,0,0,0,0
$GC,4924,-0.74,-146.0,385.4,-5.5,336,4928,0.00,2.17,0.00,0.000,6,0.000,0.038,2393,1956,3392,0,0,0,0,0,0
$GC,5266,-0.74,-146.0,403.6,-5.5,345,5270,0.00,2.33,0.00,0.000,4,0.000,0.061,2393,549,3391,0,0,0,0,0,0
$GC,5374,-0.74,-146.0,409.9,-6.0,347,5378,0.00,2.20,0.00,0.000,6,0.000,0.040,2383,1967,3390,0,0,0,0,0,0
$STATE,5434,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5434,begin apogee
$GC,5440,-0.17,0.0,412.9,4.7,349,5566,0.62,0.00,122.25,0.724,6,0.114,0.000,2584,1966,2799,0,0,0,0,0,0
$STATE,5567,end apogee,CONTROL_FINISHED_OK
$STATE,5567,begin climb
$GC,5570,0.74,146.0,411.8,0.0,352,5705,0.85,2.40,127.32,0.699,4,0.082,0.058,2874,3386,2203,0,0,0,0,0,0
$GC,5733,0.74,146.0,392.5,14.3,356,5737,0.00,2.28,0.00,0.000,6,0.000,0.044,2883,1981,2201,0,0,0,0,0,0
$GC,6057,0.74,146.0,348.2,12.9,364,6061,0.00,2.30,0.00,0.000,4,0.000,0.057,2883,3386,2197,0,0,0,0,0,0
$GC,6135,0.74,146.0,337.6,13.9,365,6141,0.00,2.25,0.00,0.000,6,0.000,0.047,2893,1981,2195,0,0,0,0,0,0
$GC,6467,0.74,146.0,299.6,11.3,374,6471,0.00,2.28,0.00,0.000,4,0.000,0.067,2899,570,2193,0,0,0,0,0,0
$GC,6484,0.74,146.0,297.5,11.4,375,6488,0.00,2.20,0.00,0.000,6,0.000,0.041,2899,1983,2192,0,0,0,0,0,0
$GC,6810,0.74,146.0,261.7,11.7,391,6815,0.00,2.25,0.00,0.000,4,0.000,0.064,2899,3393,2191,0,0,0,0,0,0
$GC,6978,0.74,146.0,241.5,11.7,398,6985,0.12,2.28,0.00,0.000,6,0.145,0.048,2874,1972,2190,0,0,0,0,0,0
$GC,7295,0.80,193.8,217.0,7.0,414,7340,0.00,2.33,40.03,0.613,4,0.000,0.058,2874,3388,2008,0,0,0,0,0,0
$GC,7413,0.80,193.8,207.0,9.2,419,7418,0.00,2.28,0.00,0.000,6,0.000,0.047,2880,1973,2006,0,0,0,0,0,0
$GC,7740,0.80,193.8,176.5,9.3,446,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1973,2004,0,0,0,0,0,0
$GC,8069,0.81,204.8,146.5,8.6,477,8085,0.00,2.33,10.30,0.509,4,0.000,0.059,2880,3386,1963,0,0,0,0,0,0
$GC,8129,0.82,212.4,141.0,8.7,482,8148,0.00,2.28,8.23,0.482,6,0.000,0.047,2888,1978,1933,0,0,0,0,0,0
$GC,8467,0.86,247.5,114.4,7.6,514,8505,0.00,2.35,31.67,0.525,4,0.000,0.060,2888,3391,1789,0,0,0,0,0,0
$GC,8537,0.87,255.6,109.0,8.7,520,8550,0.00,2.25,8.60,0.456,6,0.000,0.047,2891,1974,1757,0,0,0,0,0,0
$GC,8869,0.89,273.4,82.9,8.3,551,8894,0.10,2.30,16.98,0.478,4,0.087,0.061,2941,570,1683,0,0,0,0,0,0
$GC,8925,0.92,292.2,78.3,8.3,557,8950,0.00,2.20,17.27,0.468,6,0.000,0.036,2941,1996,1609,0,0,0,0,0,0
$GC,9281,0.92,292.2,45.5,10.3,621,9286,0.00,2.22,0.00,0.000,4,0.000,0.063,2941,3389,1608,0,0,0,0,0,0
$GC,9370,0.92,292.2,34.6,12.0,637,9376,0.00,2.25,0.00,0.000,6,0.000,0.048,2948,1981,1608,0,0,0,0,0,0
$STATE,9655,end climb,SURFACE_DEPTH_REACHED
$STATE,9655,begin surface coast
$FINISH,0.6,1.022548
$STATE,9688,end surface coast,CONTROL_FINISHED_OK
$STATE,9688,begin surface
$SM_CCo,9706,5.12,0.338,0,0,1575,300.24
$SM_GC,1.73,0.00,0.00,5.12,0.000,0.000,0.338,35,1976,1575,-8.14,0.54,300.24
$IRIDIUM_FIX,2101.76,-15756.04,290902,090900
$TT8_MAMPS,0.028379
$HUMID,66.18
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.4,55.318
$10V_AH,10.1,60.850
$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,18.850,94.425,382.650,5.125,0.000,30.949,37.859,157.258,17.250,0.000,18.386,1257.578,5524.214,444.811,2326.250,528.286,0.000,1272.552,0.000,2289.912,0.000,104.881,0.000
$DEVICE_MAMPS,216.294,66.729,724.048,338.247,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,473.437,416.695,1397.388,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,38137,697
$CAP_FILE_SIZE,106944,0
$CFSIZE,260165632,223453184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050713,144344,2107.080,-15748.638,21,0.7,21,9.8