version: 66.06
glider: 523
mission: 4
dive: 724
start: 7 16 113 0 42 24
data:
$ID,523
$MISSION,4
$DIVE,724
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$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,200
$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,-50617.887
$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,2633
$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,1955
$C_ROLL_CLIMB,1982
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,32
$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
$GPS1,003541,2110.695,-15755.538,19,0.8,19,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-72.5
$GPS2,004206,2110.686,-15755.552,18,0.8,18,9.8
$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,102.7,23620,-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,-146.0,0.0,0.0,0,112,0.00,0.00,-92.22,0.000,6,0.000,0.000,37,1952,3395,0,0,0,0,0,0
$GC,116,-0.74,-146.0,3.3,-4.1,15,130,9.62,0.00,0.00,0.000,6,0.220,0.000,2387,1952,3397,0,0,0,0,0,0
$GC,291,-0.74,-146.0,29.9,-11.9,47,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1952,3397,0,0,0,0,0,0
$GC,460,-0.74,-146.0,50.9,-11.5,78,467,0.00,2.33,0.00,0.000,4,0.000,0.064,2388,536,3398,0,0,0,0,0,0
$GC,589,-0.74,-146.0,63.6,-9.7,101,595,0.00,2.20,0.00,0.000,6,0.000,0.042,2381,1946,3398,0,0,0,0,0,0
$GC,929,-0.74,-146.0,92.4,-7.7,149,933,0.00,2.30,0.00,0.000,4,0.000,0.065,2380,543,3398,0,0,0,0,0,0
$GC,1167,-0.74,-146.0,112.1,-9.0,170,1174,0.00,2.22,0.00,0.000,6,0.000,0.041,2371,1952,3399,0,0,0,0,0,0
$GC,1495,-0.74,-146.0,139.8,-8.6,201,1499,0.00,2.28,0.00,0.000,4,0.000,0.064,2371,545,3399,0,0,0,0,0,0
$GC,1641,-0.74,-146.0,153.2,-9.0,214,1646,0.12,2.20,0.00,0.000,6,0.156,0.041,2394,1957,3400,0,0,0,0,0,0
$GC,1969,-0.74,-146.0,176.6,-6.1,244,1973,0.00,2.30,0.00,0.000,4,0.000,0.064,2385,3368,3400,0,0,0,0,0,0
$GC,1999,-0.74,-146.0,178.7,-6.5,246,2003,0.00,2.25,0.00,0.000,6,0.000,0.050,2385,1948,3400,0,0,0,0,0,0
$GC,2327,-0.74,-146.0,200.1,-7.2,276,2331,0.00,2.28,0.00,0.000,4,0.000,0.068,2385,540,3400,0,0,0,0,0,0
$GC,2518,-0.74,-146.0,215.1,-7.4,284,2524,0.00,2.20,0.00,0.000,6,0.000,0.041,2376,1958,3400,0,0,0,0,0,0
$GC,2834,-0.74,-146.0,234.9,-5.5,300,2839,0.00,2.33,0.00,0.000,4,0.000,0.063,2376,535,3400,0,0,0,0,0,0
$GC,2954,-0.74,-146.0,242.2,-5.3,305,2958,0.00,2.17,0.00,0.000,6,0.000,0.040,2367,1955,3400,0,0,0,0,0,0
$GC,3279,-0.74,-146.0,260.2,-5.5,321,3283,0.00,2.33,0.00,0.000,4,0.000,0.062,2367,543,3400,0,0,0,0,0,0
$GC,3485,-0.74,-146.0,276.2,-8.2,330,3490,0.12,2.20,0.00,0.000,6,0.153,0.040,2391,1965,3400,0,0,0,0,0,0
$GC,3809,-0.74,-146.0,298.6,-7.4,346,3813,0.00,2.25,0.00,0.000,4,0.000,0.065,2382,3361,3399,0,0,0,0,0,0
$GC,3894,-0.74,-146.0,304.0,-5.4,349,3898,0.00,2.25,0.00,0.000,6,0.000,0.048,2382,1950,3400,0,0,0,0,0,0
$GC,4221,-0.74,-146.0,320.9,-5.0,357,4225,0.00,2.28,0.00,0.000,4,0.000,0.064,2382,539,3397,0,0,0,0,0,0
$GC,4400,-0.74,-146.0,331.3,-5.4,361,4404,0.00,2.20,0.00,0.000,6,0.000,0.040,2373,1965,3397,0,0,0,0,0,0
$GC,4725,-0.74,-146.0,349.3,-5.9,369,4729,0.00,2.28,0.00,0.000,4,0.000,0.065,2362,3371,3395,0,0,0,0,0,0
$GC,4746,-0.74,-146.0,350.9,-6.3,369,4751,0.12,2.25,0.00,0.000,6,0.139,0.050,2395,1951,3396,0,0,0,0,0,0
$GC,5085,-0.74,-146.0,374.2,-7.1,378,5089,0.00,2.28,0.00,0.000,4,0.000,0.065,2396,538,3393,0,0,0,0,0,0
$GC,5148,-0.74,-146.0,378.7,-7.3,379,5152,0.00,2.20,0.00,0.000,6,0.000,0.040,2388,1964,3393,0,0,0,0,0,0
$GC,5498,-0.74,-146.0,399.4,-5.6,388,5502,0.00,2.33,0.00,0.000,4,0.000,0.063,2388,543,3391,0,0,0,0,0,0
$GC,5711,-0.74,-146.0,410.9,-5.4,392,5716,0.00,2.20,0.00,0.000,6,0.000,0.041,2378,1961,3390,0,0,0,0,0,0
$STATE,6040,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6040,begin apogee
$GC,6046,-0.17,0.0,427.7,4.9,401,6172,0.62,0.00,122.40,0.730,6,0.116,0.000,2578,1961,2800,0,0,0,0,0,0
$STATE,6172,end apogee,CONTROL_FINISHED_OK
$STATE,6172,begin climb
$GC,6176,0.74,146.0,427.0,0.0,404,6310,0.82,0.00,127.93,0.706,6,0.075,0.000,2865,1961,2204,0,0,0,0,0,0
$GC,6624,0.74,146.0,382.4,10.0,415,6628,0.00,2.30,0.00,0.000,4,0.000,0.061,2865,3394,2197,0,0,0,0,0,0
$GC,6777,0.74,146.0,365.0,11.4,418,6781,0.00,2.28,0.00,0.000,6,0.000,0.047,2875,1973,2196,0,0,0,0,0,0
$GC,7119,0.74,146.0,330.2,9.9,427,7123,0.00,2.30,0.00,0.000,4,0.000,0.058,2874,3396,2194,0,0,0,0,0,0
$GC,7231,0.74,146.0,318.2,10.7,429,7235,0.00,2.28,0.00,0.000,6,0.000,0.048,2883,1976,2193,0,0,0,0,0,0
$GC,7548,0.74,146.0,285.0,11.1,440,7552,0.00,2.28,0.00,0.000,4,0.000,0.060,2883,3391,2192,0,0,0,0,0,0
$GC,7627,0.74,146.0,275.5,11.8,443,7632,0.00,2.25,0.00,0.000,6,0.000,0.050,2892,1982,2191,0,0,0,0,0,0
$GC,7943,0.74,146.0,241.7,9.9,459,7947,0.00,2.28,0.00,0.000,4,0.000,0.061,2892,3390,2191,0,0,0,0,0,0
$GC,8032,0.74,146.0,232.4,10.2,463,8037,0.12,2.25,0.00,0.000,6,0.134,0.051,2866,1982,2191,0,0,0,0,0,0
$GC,8354,0.79,191.4,208.7,7.1,479,8398,0.00,2.35,38.05,0.607,4,0.000,0.063,2866,3386,2017,0,0,0,0,0,0
$GC,8432,0.82,216.4,202.5,8.0,482,8462,0.00,2.25,22.98,0.580,6,0.000,0.043,2873,1973,1918,0,0,0,0,0,0
$GC,8790,0.85,237.8,174.0,8.1,514,8817,0.10,2.30,20.02,0.558,4,0.090,0.058,2956,570,1829,0,0,0,0,0,0
$GC,8839,0.85,237.8,168.7,11.1,518,8847,0.15,2.25,0.00,0.000,6,0.102,0.036,2904,1993,1829,0,0,0,0,0,0
$GC,9168,0.85,241.3,137.9,8.9,549,9180,0.00,2.35,4.60,0.405,4,0.000,0.058,2907,570,1815,0,0,0,0,0,0
$GC,9238,0.85,241.3,131.7,9.3,555,9242,0.00,2.17,0.00,0.000,6,0.000,0.036,2907,1983,1815,0,0,0,0,0,0
$GC,9566,0.85,241.3,102.8,9.7,585,9570,0.00,2.22,0.00,0.000,4,0.000,0.053,2907,3398,1815,0,0,0,0,0,0
$GC,9639,0.85,241.3,95.5,10.5,591,9643,0.00,2.22,0.00,0.000,6,0.000,0.043,2912,1981,1815,0,0,0,0,0,0
$GC,9972,0.92,296.9,69.3,6.7,635,10030,0.00,2.33,48.85,0.491,4,0.000,0.054,2912,3392,1587,0,0,0,0,0,0
$GC,10109,0.92,296.9,57.0,11.0,659,10115,0.00,2.28,0.00,0.000,6,0.000,0.045,2921,1973,1586,0,0,0,0,0,0
$GC,10441,0.94,308.4,25.6,8.6,720,10462,0.00,2.28,11.00,0.421,4,0.000,0.060,2929,578,1541,0,0,0,0,0,0
$GC,10471,0.94,314.3,23.0,8.8,724,10485,0.00,2.20,6.53,0.374,6,0.000,0.037,2929,1977,1519,0,0,0,0,0,0
$GC,10647,0.95,322.7,8.0,8.7,756,10661,0.00,2.30,8.55,0.388,4,0.000,0.060,2932,565,1483,0,0,0,0,0,0
$STATE,10705,end climb,SURFACE_DEPTH_REACHED
$STATE,10705,begin surface coast
$FINISH,0.7,1.011756
$STATE,10752,end surface coast,CONTROL_FINISHED_OK
$STATE,10752,begin surface
$SM_CCo,10833,0.00,0.000,0,0,1480,323.79
$SM_GC,1.72,7.43,0.00,0.00,0.028,0.000,0.000,50,1953,1480,-7.97,-0.06,323.79
$IRIDIUM_FIX,2111.01,-15736.69,091002,212137
$TT8_MAMPS,0.028379
$HUMID,69.76
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,24.4,62.817
$10V_AH,10.0,69.590
$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,19.250,103.975,410.900,0.000,0.000,33.881,36.864,161.771,17.750,0.000,18.911,1402.997,6180.119,445.948,2631.036,548.787,0.000,1395.588,0.000,2582.126,0.000,109.536,0.000
$DEVICE_MAMPS,220.129,68.263,730.184,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,525.309,455.420,1547.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,44480,774
$CAP_FILE_SIZE,120225,0
$CFSIZE,260165632,218746880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160713,034405,2110.878,-15754.951,32,1.0,32,9.8