version: 66.06
glider: 523
mission: 4
dive: 735
start: 7 17 113 11 29 32
data:
$ID,523
$MISSION,4
$DIVE,735
$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,157
$T_MISSION,190
$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,1
$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,-50841.25
$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,2618
$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,1940
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,31
$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
$GPS1,112205,2108.847,-15753.672,24,1.0,24,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.2
$GPS2,112842,2108.855,-15753.725,21,1.2,21,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.247,-0.068
$KALMAN_X,-663.8,-663.8,-663.8,1632.3,-410.3
$KALMAN_Y,106.2,106.2,106.2,-642.3,65.7
$MHEAD_RNG_PITCHd_Wd,95.7,19504,-17.6,-9.554
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-83.18,0.000,6,0.000,0.000,34,1937,3396,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.8,-5.7,14,125,9.55,2.30,0.00,0.000,4,0.221,0.063,2360,515,3398,0,0,0,0,0,0
$GC,205,-0.76,-146.0,23.2,-14.1,31,213,0.00,2.25,0.00,0.000,6,0.000,0.041,2352,1930,3399,0,0,0,0,0,0
$GC,376,-0.76,-146.0,43.5,-11.3,62,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1930,3399,0,0,0,0,0,0
$GC,712,-0.76,-146.0,76.9,-9.3,123,718,0.00,2.28,0.00,0.000,4,0.000,0.063,2352,528,3400,0,0,0,0,0,0
$GC,852,-0.76,-146.0,90.8,-10.3,138,859,0.00,2.22,0.00,0.000,6,0.000,0.041,2342,1938,3400,0,0,0,0,0,0
$GC,1180,-0.76,-146.0,125.4,-10.2,169,1184,0.00,2.30,0.00,0.000,4,0.000,0.065,2342,528,3401,0,0,0,0,0,0
$GC,1358,-0.76,-146.0,143.4,-9.6,185,1363,0.15,2.22,0.00,0.000,6,0.156,0.041,2372,1952,3401,0,0,0,0,0,0
$GC,1686,-0.76,-146.0,166.8,-6.1,215,1690,0.00,2.35,0.00,0.000,4,0.000,0.064,2372,518,3401,0,0,0,0,0,0
$GC,1934,-0.76,-146.0,185.1,-7.5,237,1942,0.00,2.22,0.00,0.000,6,0.000,0.041,2364,1937,3401,0,0,0,0,0,0
$GC,2269,-0.76,-146.0,208.7,-6.9,263,2273,0.00,2.33,0.00,0.000,4,0.000,0.064,2364,524,3401,0,0,0,0,0,0
$GC,2527,-0.76,-146.0,228.5,-7.7,274,2532,0.00,2.20,0.00,0.000,6,0.000,0.040,2355,1942,3401,0,0,0,0,0,0
$GC,2846,-0.76,-146.0,250.6,-7.4,290,2850,0.00,2.30,0.00,0.000,4,0.000,0.063,2355,526,3401,0,0,0,0,0,0
$GC,2983,-0.76,-146.0,262.3,-8.1,296,2987,0.00,2.20,0.00,0.000,6,0.000,0.040,2345,1940,3401,0,0,0,0,0,0
$GC,3308,-0.76,-146.0,285.0,-6.5,312,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1940,3401,0,0,0,0,0,0
$GC,3634,-0.76,-146.0,303.0,-5.4,327,3638,0.00,2.38,0.00,0.000,4,0.000,0.061,2345,518,3401,0,0,0,0,0,0
$GC,3892,-0.76,-146.0,321.8,-8.5,332,3898,0.12,2.22,0.00,0.000,6,0.154,0.040,2368,1943,3399,0,0,0,0,0,0
$GC,4224,-0.76,-146.0,344.1,-6.4,341,4228,0.00,2.33,0.00,0.000,4,0.000,0.061,2368,526,3398,0,0,0,0,0,0
$GC,4314,-0.76,-146.0,349.8,-6.2,343,4321,0.00,2.20,0.00,0.000,6,0.000,0.041,2360,1949,3398,0,0,0,0,0,0
$GC,4647,-0.76,-146.0,364.2,-3.8,351,4651,0.00,2.35,0.00,0.000,4,0.000,0.062,2360,517,3396,0,0,0,0,0,0
$GC,4781,-0.76,-146.0,370.1,-4.7,354,4785,0.00,2.22,0.00,0.000,6,0.000,0.041,2351,1941,3395,0,0,0,0,0,0
$GC,5107,-0.76,-146.0,386.7,-5.4,362,5110,0.00,2.28,0.00,0.000,4,0.000,0.065,2340,3344,3394,0,0,0,0,0,0
$GC,5134,-0.76,-146.0,388.7,-6.6,362,5139,0.12,2.28,0.00,0.000,6,0.152,0.051,2372,1938,3394,0,0,0,0,0,0
$GC,5472,-0.76,-146.0,409.5,-6.1,371,5476,0.00,2.30,0.00,0.000,4,0.000,0.066,2372,525,3392,0,0,0,0,0,0
$STATE,5705,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,5705,begin apogee
$GC,5715,-0.17,0.0,425.2,6.1,376,5841,0.60,0.00,122.93,0.726,6,0.121,0.000,2557,1985,2799,0,0,0,0,0,0
$STATE,5842,end apogee,CONTROL_FINISHED_OK
$STATE,5842,begin climb
$GC,5845,0.76,146.0,425.8,0.0,379,5983,0.88,2.35,127.78,0.703,4,0.075,0.064,2863,3385,2203,0,0,0,0,0,0
$GC,6040,0.76,146.0,405.5,12.1,383,6044,0.00,2.28,0.00,0.000,6,0.000,0.047,2873,1981,2200,0,0,0,0,0,0
$GC,6382,0.76,146.0,370.0,9.9,392,6386,0.00,2.33,0.00,0.000,4,0.000,0.059,2873,3399,2196,0,0,0,0,0,0
$GC,6511,0.76,146.0,356.2,9.7,394,6516,0.00,2.28,0.00,0.000,6,0.000,0.048,2882,1985,2194,0,0,0,0,0,0
$GC,6842,0.76,146.0,323.4,10.2,403,6846,0.00,2.28,0.00,0.000,4,0.000,0.061,2881,3391,2194,0,0,0,0,0,0
$GC,6954,0.76,146.0,310.8,11.4,405,6958,0.00,2.22,0.00,0.000,6,0.000,0.049,2890,1988,2194,0,0,0,0,0,0
$GC,7274,0.77,154.2,279.6,9.2,418,7285,0.00,2.28,6.43,0.532,4,0.000,0.061,2891,3394,2171,0,0,0,0,0,0
$GC,7325,0.80,177.9,275.0,8.5,420,7356,0.00,2.28,22.65,0.629,6,0.000,0.051,2899,1978,2073,0,0,0,0,0,0
$GC,7668,0.80,177.9,245.3,10.2,437,7672,0.00,2.33,0.00,0.000,4,0.000,0.062,2899,3391,2069,0,0,0,0,0,0
$GC,7757,0.80,177.9,234.3,12.2,441,7761,0.00,2.28,0.00,0.000,6,0.000,0.051,2906,1985,2069,0,0,0,0,0,0
$GC,8078,0.80,177.9,199.0,10.7,457,8083,0.00,2.33,0.00,0.000,4,0.000,0.063,2907,3391,2068,0,0,0,0,0,0
$GC,8121,0.80,177.9,193.7,12.1,460,8129,0.08,2.30,0.00,0.000,6,0.118,0.054,2880,1988,2068,0,0,0,0,0,0
$GC,8450,0.86,227.0,167.8,7.4,491,8503,0.00,2.38,42.80,0.571,4,0.000,0.061,2880,3392,1872,0,0,0,0,0,0
$GC,8531,0.87,233.2,160.9,9.3,498,8543,0.00,2.33,6.97,0.466,6,0.000,0.053,2886,1982,1849,0,0,0,0,0,0
$GC,8866,0.90,254.0,132.5,8.6,529,8891,0.00,2.38,19.70,0.518,4,0.000,0.062,2886,3391,1762,0,0,0,0,0,0
$GC,8970,0.92,270.2,123.3,8.8,538,8995,0.00,2.28,15.35,0.500,6,0.000,0.053,2890,1979,1698,0,0,0,0,0,0
$GC,9315,0.99,327.0,97.3,7.1,570,9372,0.12,2.38,49.47,0.502,4,0.077,0.061,2966,3389,1465,0,0,0,0,0,0
$GC,9410,0.99,327.0,88.9,9.8,578,9415,0.15,2.28,0.00,0.000,6,0.123,0.052,2931,1986,1463,0,0,0,0,0,0
$GC,9740,0.99,327.0,55.7,10.5,629,9746,0.00,2.35,0.00,0.000,4,0.000,0.072,2934,575,1463,0,0,0,0,0,0
$GC,9831,0.99,327.0,46.6,10.3,645,9836,0.00,2.22,0.00,0.000,6,0.000,0.039,2934,2000,1463,0,0,0,0,0,0
$GC,10158,1.02,350.9,18.5,8.5,706,10187,0.00,2.28,20.73,0.426,4,0.000,0.066,2934,3392,1368,0,0,0,0,0,0
$GC,10255,1.05,379.7,10.2,8.3,722,10289,0.00,2.28,24.58,0.422,6,0.000,0.051,2936,1983,1249,0,0,0,0,0,0
$STATE,10322,end climb,SURFACE_DEPTH_REACHED
$STATE,10322,begin surface coast
$FINISH,0.9,1.023368
$STATE,10352,end surface coast,CONTROL_FINISHED_OK
$STATE,10352,begin surface
$SM_CCo,10431,0.00,0.000,0,0,1246,381.19
$SM_GC,1.46,7.38,0.00,0.00,0.020,0.000,0.000,42,1938,1246,-7.91,-0.03,381.19
$IRIDIUM_FIX,2104.07,-15844.97,111002,080823
$TT8_MAMPS,0.027612
$HUMID,69.01
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,24.3,63.872
$10V_AH,10.0,70.811
$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,19.150,100.750,459.375,0.000,0.000,28.630,32.073,169.293,17.750,0.000,21.542,1352.720,5879.922,457.262,2585.366,546.136,30.188,1424.973,0.000,2527.988,0.000,109.522,0.000
$DEVICE_MAMPS,220.896,128.089,726.349,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,501.151,425.222,1475.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,41217,738
$CAP_FILE_SIZE,116846,0
$CFSIZE,260165632,218095616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170713,142435,2108.903,-15753.565,36,0.8,36,9.8