version: 66.06
glider: 523
mission: 4
dive: 656
start: 7 6 113 20 0 21
data:
$ID,523
$MISSION,4
$DIVE,656
$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,-49224.008
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,195334,2106.470,-15746.154,31,0.9,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.3
$GPS2,200005,2106.385,-15746.135,22,0.9,22,9.8
$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,91.0,5657,-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,-146.0,0.0,0.0,0,101,0.00,0.00,-78.53,0.000,6,0.000,0.000,37,1981,3395,0,0,0,0,0,0
$GC,106,-0.74,-146.0,3.5,-4.8,13,120,9.50,2.33,0.00,0.000,4,0.219,0.052,2388,543,3396,0,0,0,0,0,0
$GC,186,-0.74,-146.0,20.6,-14.8,27,193,0.00,2.25,0.00,0.000,6,0.000,0.040,2380,1962,3397,0,0,0,0,0,0
$GC,357,-0.74,-146.0,45.6,-14.4,58,364,0.00,2.35,0.00,0.000,4,0.000,0.058,2381,544,3398,0,0,0,0,0,0
$GC,521,-0.74,-146.0,69.3,-14.5,87,527,0.12,2.17,0.00,0.000,6,0.165,0.040,2402,1958,3398,0,0,0,0,0,0
$GC,850,-0.74,-146.0,101.6,-8.5,125,854,0.00,2.33,0.00,0.000,4,0.000,0.057,2403,535,3399,0,0,0,0,0,0
$GC,1057,-0.74,-146.0,122.7,-10.7,143,1061,0.00,2.22,0.00,0.000,6,0.000,0.039,2395,1967,3400,0,0,0,0,0,0
$GC,1385,-0.74,-146.0,149.5,-5.8,173,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1967,3401,0,0,0,0,0,0
$GC,1703,-0.74,-146.0,171.1,-8.0,203,1707,0.00,2.33,0.00,0.000,4,0.000,0.056,2395,545,3402,0,0,0,0,0,0
$GC,1953,-0.74,-146.0,193.9,-6.3,225,1961,0.00,2.20,0.00,0.000,6,0.000,0.038,2385,1954,3402,0,0,0,0,0,0
$GC,2274,-0.74,-146.0,211.1,-5.2,246,2278,0.00,2.28,0.00,0.000,4,0.000,0.054,2385,541,3402,0,0,0,0,0,0
$GC,2409,-0.74,-146.0,220.1,-6.7,252,2414,0.00,2.20,0.00,0.000,6,0.000,0.038,2376,1964,3402,0,0,0,0,0,0
$GC,2737,-0.74,-146.0,247.3,-8.7,268,2741,0.00,2.30,0.00,0.000,4,0.000,0.055,2376,545,3402,0,0,0,0,0,0
$GC,2984,-0.74,-146.0,268.3,-7.9,279,2989,0.12,2.17,0.00,0.000,6,0.152,0.038,2400,1958,3402,0,0,0,0,0,0
$GC,3308,-0.74,-146.0,288.3,-5.3,295,3312,0.00,2.28,0.00,0.000,4,0.000,0.055,2401,542,3401,0,0,0,0,0,0
$GC,3450,-0.74,-146.0,295.5,-4.8,301,3454,0.00,2.20,0.00,0.000,6,0.000,0.039,2392,1962,3402,0,0,0,0,0,0
$GC,3783,-0.74,-146.0,318.4,-7.8,311,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1962,3401,0,0,0,0,0,0
$GC,4109,-0.74,-146.0,341.9,-6.3,319,4113,0.00,2.33,0.00,0.000,4,0.000,0.055,2393,545,3400,0,0,0,0,0,0
$GC,4143,-0.74,-146.0,343.9,-5.6,319,4148,0.00,2.17,0.00,0.000,6,0.000,0.040,2383,1955,3399,0,0,0,0,0,0
$GC,4474,-0.74,-146.0,358.8,-4.4,328,4478,0.00,2.33,0.00,0.000,4,0.000,0.057,2383,542,3397,0,0,0,0,0,0
$GC,4636,-0.74,-146.0,368.4,-6.7,331,4640,0.00,2.20,0.00,0.000,6,0.000,0.041,2374,1963,3397,0,0,0,0,0,0
$GC,4969,-0.74,-146.0,392.8,-7.6,339,4973,0.00,2.33,0.00,0.000,4,0.000,0.058,2374,545,3395,0,0,0,0,0,0
$GC,5094,-0.74,-146.0,402.6,-7.9,341,5100,0.12,2.20,0.00,0.000,6,0.153,0.042,2398,1957,3394,0,0,0,0,0,0
$STATE,5424,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5424,begin apogee
$GC,5430,-0.17,0.0,421.7,5.4,350,5556,0.57,0.00,122.70,0.723,6,0.111,0.000,2586,1957,2800,0,0,0,0,0,0
$STATE,5557,end apogee,CONTROL_FINISHED_OK
$STATE,5557,begin climb
$GC,5560,0.74,146.0,422.4,0.0,353,5698,0.82,2.42,127.35,0.702,4,0.073,0.061,2874,3383,2203,0,0,0,0,0,0
$GC,5754,0.74,146.0,403.2,12.0,357,5758,0.00,2.33,0.00,0.000,6,0.000,0.050,2884,1972,2200,0,0,0,0,0,0
$GC,6097,0.74,146.0,370.5,9.1,366,6101,0.00,2.30,0.00,0.000,4,0.000,0.058,2884,3388,2196,0,0,0,0,0,0
$GC,6164,0.74,146.0,362.9,12.2,367,6168,0.00,2.28,0.00,0.000,6,0.000,0.048,2893,1975,2196,0,0,0,0,0,0
$GC,6506,0.74,146.0,323.4,12.2,376,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1975,2195,0,0,0,0,0,0
$GC,6813,0.74,146.0,287.4,11.5,386,6817,0.00,2.30,0.00,0.000,4,0.000,0.060,2893,3389,2194,0,0,0,0,0,0
$GC,6930,0.74,146.0,273.2,12.5,391,6934,0.00,2.25,0.00,0.000,6,0.000,0.052,2895,1981,2192,0,0,0,0,0,0
$GC,7246,0.74,151.7,243.5,8.8,406,7255,0.00,2.28,4.60,0.455,4,0.000,0.061,2895,3386,2180,0,0,0,0,0,0
$GC,7359,0.74,151.7,231.7,11.2,411,7363,0.00,2.25,0.00,0.000,6,0.000,0.053,2905,1981,2177,0,0,0,0,0,0
$GC,7685,0.74,151.7,197.8,10.9,427,7689,0.00,2.30,0.00,0.000,4,0.000,0.061,2905,3392,2176,0,0,0,0,0,0
$GC,7824,0.74,151.7,182.0,12.2,439,7829,0.12,2.28,0.00,0.000,6,0.141,0.054,2878,1973,2175,0,0,0,0,0,0
$GC,8151,0.85,238.1,157.0,5.4,469,8237,0.10,2.40,74.93,0.567,4,0.087,0.063,2953,3386,1827,0,0,0,0,0,0
$GC,8306,0.85,238.1,141.6,12.1,483,8310,0.17,2.30,0.00,0.000,6,0.131,0.053,2913,1972,1826,0,0,0,0,0,0
$GC,8632,0.85,238.1,109.0,9.8,513,8637,0.00,2.33,0.00,0.000,4,0.000,0.062,2912,3386,1826,0,0,0,0,0,0
$GC,8654,0.85,238.1,106.6,10.3,514,8662,0.00,2.30,0.00,0.000,6,0.000,0.054,2919,1988,1824,0,0,0,0,0,0
$GC,8981,0.87,257.5,76.7,8.2,548,9006,0.00,2.33,17.80,0.476,4,0.000,0.063,2919,3382,1748,0,0,0,0,0,0
$GC,9026,0.89,268.4,73.0,8.6,555,9043,0.00,2.30,11.10,0.446,6,0.000,0.054,2928,1969,1704,0,0,0,0,0,0
$GC,9372,0.93,302.2,46.9,7.6,618,9407,0.00,2.30,30.02,0.465,4,0.000,0.061,2928,3385,1566,0,0,0,0,0,0
$GC,9430,0.93,306.0,41.8,8.9,628,9443,0.00,2.33,4.90,0.351,6,0.000,0.054,2934,1979,1551,0,0,0,0,0,0
$GC,9762,0.93,306.0,12.0,9.6,690,9770,0.00,2.33,0.00,0.000,4,0.000,0.062,2934,3383,1550,0,0,0,0,0,0
$GC,9830,0.93,306.0,4.9,10.7,702,9838,0.00,2.30,0.00,0.000,6,0.000,0.051,2938,1973,1550,0,0,0,0,0,0
$STATE,9849,end climb,SURFACE_DEPTH_REACHED
$STATE,9849,begin surface coast
$FINISH,0.7,1.022950
$STATE,9877,end surface coast,CONTROL_FINISHED_OK
$STATE,9878,begin surface
$SM_CCo,9955,0.00,0.000,0,0,1547,307.36
$SM_GC,1.50,7.40,0.00,0.00,0.025,0.000,0.000,34,1970,1547,-8.01,0.42,307.36
$IRIDIUM_FIX,2057.14,-15743.60,300902,171759
$TT8_MAMPS,0.027612
$HUMID,66.14
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.4,56.307
$10V_AH,10.1,62.010
$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,19.075,91.325,393.400,0.000,0.000,27.440,35.250,173.347,17.750,0.000,22.922,1272.104,5746.232,421.702,2362.385,535.356,0.000,1262.417,0.000,2319.616,0.000,109.949,0.000
$DEVICE_MAMPS,218.595,62.894,723.281,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,480.998,421.617,1423.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,37952,710
$CAP_FILE_SIZE,106975,0
$CFSIZE,260165632,222838784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,060713,224729,2106.291,-15745.593,37,1.0,37,9.8