version: 66.06
glider: 523
mission: 4
dive: 34
start: 4 28 113 17 2 52
data:
$ID,523
$MISSION,4
$DIVE,34
$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,-36568.98
$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,1960
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,34
$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
$GPS1,165718,2104.747,-15745.842,18,1.8,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-76.4
$GPS2,170235,2104.776,-15745.791,17,1.2,17,9.8
$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,59.0,5323,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.12,0.000,2,0.000,0.000,50,1975,3359,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.1,-4.6,12,113,9.40,2.22,-0.77,0.000,4,0.235,0.065,2381,3369,3396,0,0,0,0,0,0
$GC,353,-0.74,-146.0,58.6,-17.3,59,358,0.00,2.22,0.00,0.000,6,0.000,0.044,2381,1956,3397,0,0,0,0,0,0
$GC,681,-0.74,-146.0,111.5,-14.6,102,685,0.00,2.25,0.00,0.000,4,0.000,0.055,2372,3360,3399,0,0,0,0,0,0
$GC,820,-0.74,-146.0,130.4,-13.6,114,825,0.12,2.20,0.00,0.000,6,0.153,0.043,2404,1957,3399,0,0,0,0,0,0
$GC,1152,-0.74,-146.0,169.3,-10.7,145,1159,0.00,2.17,0.00,0.000,4,0.000,0.051,2404,549,3400,0,0,0,0,0,0
$GC,1254,-0.74,-146.0,182.2,-12.8,154,1258,0.00,2.15,0.00,0.000,6,0.000,0.035,2396,1972,3400,0,0,0,0,0,0
$GC,1574,-0.74,-146.0,214.7,-10.4,177,1579,0.00,2.15,0.00,0.000,4,0.000,0.057,2386,3359,3401,0,0,0,0,0,0
$GC,1664,-0.74,-146.0,223.8,-10.3,181,1668,0.00,2.17,0.00,0.000,6,0.000,0.043,2386,1956,3401,0,0,0,0,0,0
$GC,1991,-0.74,-146.0,256.9,-10.2,197,1995,0.00,2.22,0.00,0.000,4,0.000,0.052,2377,3360,3401,0,0,0,0,0,0
$GC,2012,-0.74,-146.0,259.1,-10.1,198,2016,0.00,2.15,0.00,0.000,6,0.000,0.044,2377,1961,3401,0,0,0,0,0,0
$GC,2334,-0.74,-146.0,286.9,-8.1,214,2338,0.00,2.17,0.00,0.000,4,0.000,0.054,2377,553,3401,0,0,0,0,0,0
$GC,2586,-0.74,-146.0,309.4,-8.7,223,2591,0.12,2.15,0.00,0.000,6,0.170,0.038,2400,1970,3401,0,0,0,0,0,0
$GC,2921,-0.74,-146.0,335.4,-7.9,231,2924,0.00,2.17,0.00,0.000,4,0.000,0.056,2392,3364,3401,0,0,0,0,0,0
$GC,2988,-0.74,-146.0,340.8,-7.2,232,2992,0.00,2.17,0.00,0.000,6,0.000,0.041,2391,1951,3401,0,0,0,0,0,0
$GC,3331,-0.74,-146.0,366.9,-7.6,241,3335,0.00,2.17,0.00,0.000,4,0.000,0.062,2392,557,3398,0,0,0,0,0,0
$GC,3421,-0.74,-146.0,374.3,-7.9,243,3425,0.00,2.15,0.00,0.000,6,0.000,0.044,2381,1956,3397,0,0,0,0,0,0
$GC,3739,-0.74,-146.0,394.8,-6.4,251,3744,0.00,2.20,0.00,0.000,4,0.000,0.058,2372,3371,3396,0,0,0,0,0,0
$GC,3806,-0.74,-146.0,399.0,-6.0,252,3811,0.10,2.17,0.00,0.000,6,0.154,0.043,2398,1964,3396,0,0,0,0,0,0
$GC,4150,-0.74,-146.0,418.3,-5.5,261,4154,0.00,2.22,0.00,0.000,4,0.000,0.066,2398,546,3393,0,0,0,0,0,0
$GC,4228,-0.74,-146.0,423.5,-6.4,262,4234,0.00,2.17,0.00,0.000,6,0.000,0.047,2390,1958,3392,0,0,0,0,0,0
$GC,4560,-0.74,-146.0,445.2,-6.6,271,4564,0.00,2.20,0.00,0.000,4,0.000,0.062,2380,3365,3390,0,0,0,0,0,0
$STATE,4627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4627,begin apogee
$GC,4635,-0.17,0.0,450.3,7.3,272,4756,0.60,0.00,117.53,0.803,6,0.126,0.000,2579,1974,2800,0,0,0,0,0,0
$STATE,4757,end apogee,CONTROL_FINISHED_OK
$STATE,4757,begin climb
$GC,4759,0.74,146.0,452.3,0.0,275,4892,0.88,0.00,125.70,0.769,6,0.077,0.000,2876,1974,2204,0,0,0,0,0,0
$GC,5217,0.74,146.0,398.5,12.4,287,5221,0.00,2.30,0.00,0.000,4,0.000,0.071,2887,573,2196,0,0,0,0,0,0
$GC,5272,0.74,146.0,391.2,13.4,288,5276,0.00,2.22,0.00,0.000,6,0.000,0.044,2887,1978,2196,0,0,0,0,0,0
$GC,5620,0.74,146.0,344.2,13.4,297,5624,0.00,2.20,0.00,0.000,4,0.000,0.056,2887,3389,2193,0,0,0,0,0,0
$GC,5675,0.74,146.0,336.2,14.1,298,5679,0.00,2.22,0.00,0.000,6,0.000,0.046,2896,1974,2192,0,0,0,0,0,0
$GC,6003,0.74,146.0,292.1,13.3,307,6007,0.00,2.25,0.00,0.000,4,0.000,0.064,2907,557,2191,0,0,0,0,0,0
$GC,6098,0.74,146.0,277.8,15.2,311,6102,0.00,2.22,0.00,0.000,6,0.000,0.048,2907,1985,2191,0,0,0,0,0,0
$GC,6414,0.74,146.0,233.1,13.9,326,6418,0.00,2.17,0.00,0.000,4,0.000,0.058,2907,3390,2189,0,0,0,0,0,0
$GC,6525,0.74,146.0,217.1,14.9,331,6530,0.12,2.22,0.00,0.000,6,0.162,0.052,2880,1979,2189,0,0,0,0,0,0
$GC,6853,0.74,146.0,183.7,10.5,355,6857,0.00,2.25,0.00,0.000,4,0.000,0.061,2889,552,2188,0,0,0,0,0,0
$GC,6969,0.74,146.0,172.0,10.1,365,6973,0.00,2.20,0.00,0.000,6,0.000,0.042,2889,1992,2187,0,0,0,0,0,0
$GC,7296,0.74,146.0,135.6,12.1,395,7300,0.00,2.12,0.00,0.000,4,0.000,0.055,2889,3382,2187,0,0,0,0,0,0
$GC,7458,0.74,146.0,116.5,11.1,409,7462,0.00,2.17,0.00,0.000,6,0.000,0.042,2898,1967,2187,0,0,0,0,0,0
$GC,7785,0.74,146.0,81.9,10.5,439,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1967,2187,0,0,0,0,0,0
$GC,8109,0.74,146.0,47.1,10.9,497,8115,0.00,2.15,0.00,0.000,4,0.000,0.058,2908,569,2188,0,0,0,0,0,0
$GC,8158,0.74,146.0,41.2,11.5,506,8166,0.08,2.17,0.00,0.000,6,0.119,0.042,2881,1969,2188,0,0,0,0,0,0
$GC,8485,0.79,187.8,14.6,7.3,567,8525,0.00,2.30,32.92,0.479,4,0.000,0.056,2889,567,2033,0,0,0,0,0,0
$GC,8594,0.81,203.2,5.7,8.4,585,8614,0.00,2.22,13.68,0.443,6,0.000,0.041,2889,1980,1971,0,0,0,0,0,0
$STATE,8620,end climb,SURFACE_DEPTH_REACHED
$STATE,8620,begin surface coast
$FINISH,0.4,1.009885
$STATE,8652,end surface coast,CONTROL_FINISHED_OK
$STATE,8652,begin surface
$SM_CCo,8670,43.70,0.454,0,0,1575,300.24
$SM_GC,1.11,0.00,0.00,43.70,0.000,0.000,0.454,38,1983,1575,-8.13,0.65,300.24
$IRIDIUM_FIX,2101.76,-15747.88,230702,141413
$TT8_MAMPS,0.028379
$HUMID,61.65
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,24.6,3.285
$10V_AH,10.5,3.549
$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,18.750,83.525,289.825,43.700,0.000,31.075,32.104,131.399,19.250,0.000,18.136,1106.387,5130.704,403.125,1985.683,406.703,0.000,1090.260,0.000,1932.797,0.000,120.959,0.000
$DEVICE_MAMPS,235.469,70.564,803.049,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.850,336.491,1173.181,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,31808,595
$CAP_FILE_SIZE,94964,0
$CFSIZE,260165632,253485056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280413,192922,2104.789,-15745.259,37,0.7,37,9.8