version: 66.06
glider: 523
mission: 4
dive: 14
start: 4 26 113 16 3 36
data:
$ID,523
$MISSION,4
$DIVE,14
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,140
$T_MISSION,160
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-36191.949
$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,2700
$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,1980
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,26
$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
$GPS1,155334,2109.859,-15759.353,44,1.0,44,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-73.4
$GPS2,160317,2109.900,-15759.479,18,0.9,18,9.8
$SPEED_LIMITS,0.165,0.256
$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,227.2,5326,-17.5,-9.524
$D_GRID,400
$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,-0.76,-146.0,0.0,0.0,0,99,0.00,0.00,-78.22,0.000,6,0.000,0.000,38,1993,3393,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.7,-6.9,13,118,9.60,2.28,0.00,0.000,4,0.232,0.050,2444,563,3394,0,0,0,0,0,0
$GC,357,-0.76,-146.0,48.2,-12.6,60,364,0.00,2.22,0.00,0.000,6,0.000,0.038,2435,1989,3395,0,0,0,0,0,0
$GC,688,-0.76,-146.0,89.7,-13.7,114,695,0.00,2.25,0.00,0.000,4,0.000,0.055,2435,570,3396,0,0,0,0,0,0
$GC,943,-0.76,-146.0,120.5,-9.2,137,947,0.00,2.17,0.00,0.000,6,0.000,0.038,2427,1995,3397,0,0,0,0,0,0
$GC,1270,-0.76,-146.0,152.1,-10.4,167,1274,0.00,2.28,0.00,0.000,4,0.000,0.054,2427,568,3397,0,0,0,0,0,0
$GC,1433,-0.76,-146.0,170.9,-11.0,181,1441,0.08,2.17,0.00,0.000,6,0.142,0.037,2447,1985,3397,0,0,0,0,0,0
$GC,1757,-0.76,-146.0,202.8,-9.6,211,1761,0.00,2.25,0.00,0.000,4,0.000,0.052,2448,561,3398,0,0,0,0,0,0
$GC,1862,-0.76,-146.0,213.6,-10.0,215,1868,0.00,2.15,0.00,0.000,6,0.000,0.038,2440,1978,3398,0,0,0,0,0,0
$GC,2182,-0.76,-146.0,239.4,-8.0,231,2186,0.00,2.17,0.00,0.000,4,0.000,0.056,2437,3387,3398,0,0,0,0,0,0
$GC,2237,-0.76,-146.0,244.9,-9.6,233,2241,0.00,2.17,0.00,0.000,6,0.000,0.039,2437,1965,3398,0,0,0,0,0,0
$GC,2557,-0.76,-146.0,274.6,-8.2,249,2562,0.00,2.15,0.00,0.000,4,0.000,0.054,2437,580,3398,0,0,0,0,0,0
$GC,2678,-0.76,-146.0,283.8,-7.4,254,2682,0.00,2.12,0.00,0.000,6,0.000,0.040,2429,1979,3398,0,0,0,0,0,0
$GC,3020,-0.76,-146.0,302.9,-5.9,270,3024,0.00,2.20,0.00,0.000,4,0.000,0.055,2429,580,3398,0,0,0,0,0,0
$GC,3082,-0.76,-146.0,307.1,-7.3,271,3087,0.12,2.15,0.00,0.000,6,0.153,0.041,2458,1984,3397,0,0,0,0,0,0
$GC,3434,-0.76,-146.0,326.4,-6.0,280,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1984,3396,0,0,0,0,0,0
$GC,3755,-0.76,-146.0,345.9,-5.5,288,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1985,3394,0,0,0,0,0,0
$GC,4082,-0.76,-146.0,370.9,-8.2,296,4086,0.00,2.17,0.00,0.000,4,0.000,0.059,2450,3386,3393,0,0,0,0,0,0
$GC,4148,-0.76,-146.0,376.1,-7.0,297,4153,0.00,2.17,0.00,0.000,6,0.000,0.042,2450,1974,3392,0,0,0,0,0,0
$STATE,4443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4443,begin apogee
$GC,4449,-0.17,0.0,400.6,8.3,305,4569,0.57,0.00,117.22,0.752,6,0.109,0.000,2643,1974,2800,0,0,0,0,0,0
$STATE,4570,end apogee,CONTROL_FINISHED_OK
$STATE,4570,begin climb
$GC,4573,0.76,146.0,402.9,0.0,308,4706,0.82,2.38,124.05,0.722,4,0.054,0.057,2948,3383,2202,0,0,0,0,0,0
$GC,4757,0.76,146.0,376.5,18.9,312,4761,0.00,2.28,0.00,0.000,6,0.000,0.047,2958,1984,2198,0,0,0,0,0,0
$GC,5099,0.76,146.0,314.3,18.0,321,5103,0.00,2.28,0.00,0.000,4,0.000,0.067,2968,570,2194,0,0,0,0,0,0
$GC,5154,0.76,146.0,304.9,16.2,322,5158,0.00,2.22,0.00,0.000,6,0.000,0.045,2968,1976,2193,0,0,0,0,0,0
$GC,5485,0.76,146.0,251.5,15.9,337,5489,0.00,2.25,0.00,0.000,4,0.000,0.064,2978,570,2192,0,0,0,0,0,0
$GC,5517,0.76,146.0,246.3,15.1,338,5523,0.12,2.22,0.00,0.000,6,0.165,0.047,2946,1982,2191,0,0,0,0,0,0
$GC,5833,0.76,146.0,202.1,14.6,354,5837,0.00,2.22,0.00,0.000,4,0.000,0.063,2946,3389,2190,0,0,0,0,0,0
$GC,5876,0.76,146.0,195.4,15.0,357,5883,0.00,2.25,0.00,0.000,6,0.000,0.049,2954,1974,2190,0,0,0,0,0,0
$GC,6204,0.76,146.0,144.2,16.0,388,6208,0.00,2.25,0.00,0.000,4,0.000,0.066,2965,560,2189,0,0,0,0,0,0
$GC,6319,0.76,146.0,125.4,17.5,398,6324,0.00,2.22,0.00,0.000,6,0.000,0.044,2965,1990,2189,0,0,0,0,0,0
$GC,6646,0.76,146.0,80.8,11.1,428,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1990,2189,0,0,0,0,0,0
$GC,6969,0.76,146.0,40.6,13.9,487,6975,0.00,2.17,0.00,0.000,4,0.000,0.058,2964,3388,2189,0,0,0,0,0,0
$GC,6994,0.76,146.0,37.1,14.3,491,7000,0.00,2.20,0.00,0.000,6,0.000,0.044,2974,1978,2189,0,0,0,0,0,0
$STATE,7242,end climb,SURFACE_DEPTH_REACHED
$STATE,7242,begin surface coast
$FINISH,0.6,1.023704
$STATE,7265,end surface coast,CONTROL_FINISHED_OK
$STATE,7265,begin surface
$SM_CCo,7282,66.05,0.466,0,0,1575,300.24
$SM_GC,1.25,0.00,0.00,66.05,0.000,0.000,0.466,38,1967,1575,-8.32,-0.37,300.24
$IRIDIUM_FIX,2104.07,-15737.57,210702,131313
$TT8_MAMPS,0.028379
$HUMID,63.93
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,24.7,1.670
$10V_AH,10.6,1.822
$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,18.800,62.050,241.275,66.050,0.000,28.111,39.712,339.954,16.500,0.000,19.416,985.396,4183.570,365.141,1753.515,648.287,0.000,968.205,0.000,1707.202,0.000,101.765,0.000
$DEVICE_MAMPS,231.634,67.496,752.427,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,368.752,313.171,1067.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,28630,542
$CAP_FILE_SIZE,84885,0
$CFSIZE,260165632,254435328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260413,180700,2109.397,-15800.146,17,1.6,17,9.8