version: 66.06
glider: 523
mission: 4
dive: 91
start: 5 4 113 16 41 22
data:
$ID,523
$MISSION,4
$DIVE,91
$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,-37676.797
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,163524,2100.764,-15747.521,13,1.5,13,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-75.1
$GPS2,164105,2100.747,-15747.544,13,1.3,13,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,207.6,6595,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.93,0.000,6,0.000,0.000,40,1972,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.0,13,118,9.38,2.30,0.00,0.000,4,0.231,0.053,2392,550,3397,0,0,0,0,0,0
$GC,353,-0.74,-146.0,60.2,-18.2,59,358,0.00,2.17,0.00,0.000,6,0.000,0.037,2384,1972,3398,0,0,0,0,0,0
$GC,682,-0.74,-146.0,110.6,-13.9,100,686,0.00,2.30,0.00,0.000,4,0.000,0.054,2384,541,3400,0,0,0,0,0,0
$GC,842,-0.74,-146.0,136.7,-17.1,114,847,0.00,2.15,0.00,0.000,6,0.000,0.037,2374,1968,3400,0,0,0,0,0,0
$GC,1175,-0.74,-146.0,181.9,-12.4,145,1179,0.00,2.28,0.00,0.000,4,0.000,0.053,2374,550,3401,0,0,0,0,0,0
$GC,1194,-0.74,-146.0,184.0,-12.3,146,1201,0.12,2.15,0.00,0.000,6,0.173,0.035,2397,1970,3401,0,0,0,0,0,0
$GC,1522,-0.74,-146.0,213.7,-8.9,170,1526,0.00,2.17,0.00,0.000,4,0.000,0.055,2388,3357,3402,0,0,0,0,0,0
$GC,1697,-0.74,-146.0,229.3,-8.5,178,1701,0.00,2.20,0.00,0.000,6,0.000,0.046,2388,1952,3402,0,0,0,0,0,0
$GC,2030,-0.74,-146.0,257.0,-7.9,194,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1952,3402,0,0,0,0,0,0
$GC,2340,-0.74,-146.0,280.6,-7.4,209,2344,0.00,2.20,0.00,0.000,4,0.000,0.054,2388,550,3402,0,0,0,0,0,0
$GC,2436,-0.74,-146.0,289.0,-8.3,213,2440,0.00,2.15,0.00,0.000,6,0.000,0.038,2378,1958,3402,0,0,0,0,0,0
$GC,2752,-0.74,-146.0,311.8,-7.2,224,2756,0.00,2.22,0.00,0.000,4,0.000,0.058,2368,3367,3402,0,0,0,0,0,0
$GC,2853,-0.74,-146.0,319.1,-6.9,226,2857,0.12,2.17,0.00,0.000,6,0.149,0.044,2403,1960,3402,0,0,0,0,0,0
$GC,3202,-0.74,-146.0,337.3,-5.1,235,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1960,3400,0,0,0,0,0,0
$GC,3526,-0.74,-146.0,359.8,-7.5,243,3532,0.00,2.25,0.00,0.000,4,0.000,0.064,2403,553,3398,0,0,0,0,0,0
$GC,3618,-0.74,-146.0,367.9,-8.9,245,3622,0.00,2.17,0.00,0.000,6,0.000,0.043,2395,1964,3397,0,0,0,0,0,0
$GC,3945,-0.74,-146.0,391.0,-6.6,253,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1964,3394,0,0,0,0,0,0
$GC,4268,-0.74,-146.0,410.8,-5.9,261,4272,0.00,2.30,0.00,0.000,4,0.000,0.065,2395,551,3392,0,0,0,0,0,0
$GC,4393,-0.74,-146.0,418.7,-6.7,263,4398,0.00,2.20,0.00,0.000,6,0.000,0.048,2386,1963,3391,0,0,0,0,0,0
$GC,4727,-0.74,-146.0,440.3,-7.0,272,4731,0.00,2.28,0.00,0.000,4,0.000,0.066,2386,553,3390,0,0,0,0,0,0
$GC,4787,-0.74,-146.0,445.0,-8.3,273,4791,0.00,2.20,0.00,0.000,6,0.000,0.049,2377,1966,3389,0,0,0,0,0,0
$STATE,4847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4848,begin apogee
$GC,4854,-0.17,0.0,450.1,7.5,275,4976,0.62,0.00,118.43,0.795,6,0.121,0.000,2580,1966,2800,0,0,0,0,0,0
$STATE,4976,end apogee,CONTROL_FINISHED_OK
$STATE,4976,begin climb
$GC,4979,0.74,146.0,451.5,0.0,278,5111,0.85,0.00,125.55,0.761,6,0.080,0.000,2871,1965,2204,0,0,0,0,0,0
$GC,5426,0.74,146.0,401.3,11.5,289,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1966,2195,0,0,0,0,0,0
$GC,5751,0.74,146.0,360.2,12.7,297,5755,0.00,2.30,0.00,0.000,4,0.000,0.067,2881,571,2193,0,0,0,0,0,0
$GC,5806,0.74,146.0,353.1,13.3,298,5810,0.00,2.22,0.00,0.000,6,0.000,0.048,2881,1983,2193,0,0,0,0,0,0
$GC,6153,0.74,146.0,307.6,12.6,307,6157,0.00,2.20,0.00,0.000,4,0.000,0.055,2880,3391,2191,0,0,0,0,0,0
$GC,6181,0.74,146.0,303.8,13.8,307,6185,0.00,2.22,0.00,0.000,6,0.000,0.044,2890,1975,2191,0,0,0,0,0,0
$GC,6496,0.74,146.0,265.9,11.8,321,6500,0.00,2.25,0.00,0.000,4,0.000,0.061,2890,3385,2190,0,0,0,0,0,0
$GC,6519,0.74,146.0,262.9,12.8,322,6523,0.00,2.25,0.00,0.000,6,0.000,0.050,2898,1966,2189,0,0,0,0,0,0
$GC,6845,0.74,146.0,218.9,14.1,338,6849,0.00,2.22,0.00,0.000,4,0.000,0.062,2909,562,2189,0,0,0,0,0,0
$GC,6922,0.74,146.0,208.0,13.3,341,6929,0.12,2.17,0.00,0.000,6,0.151,0.043,2875,1982,2188,0,0,0,0,0,0
$GC,7247,0.74,146.0,178.1,10.0,368,7251,0.00,2.15,0.00,0.000,4,0.000,0.055,2875,3381,2187,0,0,0,0,0,0
$GC,7300,0.74,146.0,172.4,10.3,372,7307,0.00,2.22,0.00,0.000,6,0.000,0.044,2883,1975,2187,0,0,0,0,0,0
$GC,7627,0.74,146.0,139.6,11.1,403,7631,0.00,2.25,0.00,0.000,4,0.000,0.059,2893,557,2187,0,0,0,0,0,0
$GC,7711,0.74,146.0,131.1,10.2,410,7715,0.00,2.15,0.00,0.000,6,0.000,0.039,2893,1978,2186,0,0,0,0,0,0
$GC,8037,0.74,146.0,95.6,11.3,440,8041,0.00,2.22,0.00,0.000,4,0.000,0.056,2901,564,2186,0,0,0,0,0,0
$GC,8078,0.74,146.0,90.8,11.8,443,8082,0.00,2.15,0.00,0.000,6,0.000,0.038,2901,1985,2186,0,0,0,0,0,0
$GC,8408,0.74,146.0,51.8,12.1,494,8415,0.00,2.30,0.00,0.000,4,0.000,0.061,2910,565,2187,0,0,0,0,0,0
$GC,8494,0.74,146.0,42.7,10.4,509,8500,0.12,2.15,0.00,0.000,6,0.138,0.039,2874,1974,2187,0,0,0,0,0,0
$GC,8819,0.78,180.6,18.0,7.6,570,8853,0.00,2.22,27.25,0.472,4,0.000,0.054,2874,3387,2063,0,0,0,0,0,0
$GC,8889,0.80,196.9,13.0,8.4,581,8909,0.00,2.22,15.05,0.446,6,0.000,0.040,2880,1978,1996,0,0,0,0,0,0
$STATE,9017,end climb,SURFACE_DEPTH_REACHED
$STATE,9017,begin surface coast
$FINISH,0.4,1.010636
$STATE,9055,end surface coast,CONTROL_FINISHED_OK
$STATE,9055,begin surface
$SM_CCo,9073,46.88,0.449,0,0,1575,300.24
$SM_GC,1.26,0.00,0.00,46.88,0.000,0.000,0.449,50,1975,1575,-8.10,0.42,300.24
$IRIDIUM_FIX,2057.14,-15746.61,290702,141423
$TT8_MAMPS,0.028379
$HUMID,61.18
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,24.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,445.0,47.4
$24V_AH,24.6,7.825
$10V_AH,10.5,8.565
$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,18.625,79.775,286.275,46.875,0.000,30.691,44.846,144.258,19.250,0.000,13.818,1122.565,5537.421,379.997,1976.618,444.779,0.000,1083.728,0.000,1928.534,0.000,123.579,0.000
$DEVICE_MAMPS,230.867,67.496,795.379,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.705,346.382,1183.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,35039,611
$CAP_FILE_SIZE,96297,0
$CFSIZE,260165632,250793984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040513,191434,2059.996,-15748.365,33,0.7,33,9.8