version: 66.06
glider: 523
mission: 4
dive: 106
start: 5 6 113 6 55 20
data:
$ID,523
$MISSION,4
$DIVE,106
$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,-38002.844
$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,29
$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
$GPS1,064547,2106.367,-15801.325,17,1.0,17,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.9
$GPS2,065504,2106.365,-15801.340,33,0.8,33,9.8
$SPEED_LIMITS,0.157,0.252
$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,331.2,3855,-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,-76.25,0.000,2,0.000,0.000,31,1991,3367,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-5.3,12,113,9.43,2.33,-0.52,0.000,4,0.231,0.063,2393,549,3393,0,0,0,0,0,0
$GC,266,-0.74,-146.0,39.6,-17.3,43,272,0.00,2.17,0.00,0.000,6,0.000,0.038,2384,1969,3394,0,0,0,0,0,0
$GC,605,-0.74,-146.0,88.5,-12.3,99,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1970,3395,0,0,0,0,0,0
$GC,923,-0.74,-146.0,132.5,-12.3,129,928,0.00,2.30,0.00,0.000,4,0.000,0.051,2384,544,3396,0,0,0,0,0,0
$GC,964,-0.74,-146.0,137.9,-13.0,132,968,0.00,2.15,0.00,0.000,6,0.000,0.034,2375,1965,3396,0,0,0,0,0,0
$GC,1291,-0.74,-146.0,179.7,-12.2,162,1296,0.00,2.17,0.00,0.000,4,0.000,0.054,2364,3366,3398,0,0,0,0,0,0
$GC,1393,-0.74,-146.0,192.9,-11.7,171,1400,0.10,2.22,0.00,0.000,6,0.133,0.043,2397,1954,3397,0,0,0,0,0,0
$GC,1723,-0.74,-146.0,226.1,-8.9,191,1727,0.00,2.17,0.00,0.000,4,0.000,0.054,2398,551,3398,0,0,0,0,0,0
$GC,1790,-0.74,-146.0,232.6,-9.7,194,1794,0.00,2.12,0.00,0.000,6,0.000,0.034,2390,1961,3398,0,0,0,0,0,0
$GC,2113,-0.74,-146.0,257.5,-7.2,210,2117,0.00,2.22,0.00,0.000,4,0.000,0.053,2389,553,3398,0,0,0,0,0,0
$GC,2202,-0.74,-146.0,265.8,-8.8,214,2206,0.00,2.15,0.00,0.000,6,0.000,0.036,2380,1969,3397,0,0,0,0,0,0
$GC,2527,-0.74,-146.0,290.3,-6.7,230,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1969,3397,0,0,0,0,0,0
$GC,2852,-0.74,-146.0,314.6,-8.4,242,2856,0.00,2.25,0.00,0.000,4,0.000,0.058,2380,556,3398,0,0,0,0,0,0
$GC,2935,-0.74,-146.0,322.7,-9.5,243,2941,0.12,2.15,0.00,0.000,6,0.169,0.041,2404,1953,3397,0,0,0,0,0,0
$GC,3271,-0.74,-146.0,345.8,-7.2,252,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1954,3396,0,0,0,0,0,0
$GC,3591,-0.74,-146.0,368.5,-6.6,260,3595,0.00,2.25,0.00,0.000,4,0.000,0.064,2405,551,3393,0,0,0,0,0,0
$GC,3631,-0.74,-146.0,371.5,-7.3,261,3636,0.00,2.20,0.00,0.000,6,0.000,0.045,2397,1966,3393,0,0,0,0,0,0
$GC,3959,-0.74,-146.0,395.9,-7.6,269,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1967,3391,0,0,0,0,0,0
$GC,4283,-0.74,-146.0,420.0,-7.0,277,4287,0.00,2.17,0.00,0.000,4,0.000,0.057,2386,3382,3388,0,0,0,0,0,0
$GC,4317,-0.74,-146.0,422.4,-6.9,277,4323,0.00,2.22,0.00,0.000,6,0.000,0.044,2386,1956,3388,0,0,0,0,0,0
$GC,4649,-0.74,-146.0,444.4,-7.1,286,4653,0.00,2.20,0.00,0.000,4,0.000,0.061,2386,550,3386,0,0,0,0,0,0
$STATE,4721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4721,begin apogee
$GC,4729,-0.17,0.0,450.2,8.4,287,4850,0.60,0.00,117.60,0.794,6,0.125,0.000,2575,1992,2800,0,0,0,0,0,0
$STATE,4851,end apogee,CONTROL_FINISHED_OK
$STATE,4851,begin climb
$GC,4854,0.74,146.0,452.2,0.0,290,4989,0.88,2.33,125.22,0.762,4,0.084,0.053,2875,3388,2202,0,0,0,0,0,0
$GC,5018,0.74,146.0,437.0,13.2,294,5022,0.00,2.33,0.00,0.000,6,0.000,0.047,2883,1971,2199,0,0,0,0,0,0
$GC,5341,0.74,146.0,392.3,13.5,302,5345,0.00,2.25,0.00,0.000,4,0.000,0.062,2894,561,2195,0,0,0,0,0,0
$GC,5442,0.74,146.0,378.3,13.8,304,5446,0.00,2.22,0.00,0.000,6,0.000,0.044,2894,1972,2193,0,0,0,0,0,0
$GC,5789,0.74,146.0,323.9,14.8,313,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1974,2191,0,0,0,0,0,0
$GC,6096,0.74,146.0,283.9,13.2,323,6100,0.00,2.28,0.00,0.000,4,0.000,0.058,2904,562,2190,0,0,0,0,0,0
$GC,6140,0.74,146.0,278.3,12.5,325,6144,0.00,2.20,0.00,0.000,6,0.000,0.038,2904,1983,2189,0,0,0,0,0,0
$GC,6461,0.74,146.0,237.6,15.1,341,6465,0.00,2.17,0.00,0.000,4,0.000,0.054,2904,3378,2188,0,0,0,0,0,0
$GC,6483,0.74,146.0,234.1,15.4,342,6488,0.12,2.25,0.00,0.000,6,0.156,0.051,2879,1963,2188,0,0,0,0,0,0
$GC,6808,0.74,146.0,196.6,12.5,359,6812,0.00,2.22,0.00,0.000,4,0.000,0.061,2887,555,2187,0,0,0,0,0,0
$GC,6849,0.74,146.0,190.7,14.3,362,6853,0.00,2.17,0.00,0.000,6,0.000,0.039,2887,1983,2186,0,0,0,0,0,0
$GC,7175,0.74,146.0,150.2,12.5,392,7179,0.00,2.15,0.00,0.000,4,0.000,0.053,2887,3390,2186,0,0,0,0,0,0
$GC,7207,0.74,146.0,145.6,13.8,394,7215,0.00,2.22,0.00,0.000,6,0.000,0.042,2896,1974,2185,0,0,0,0,0,0
$GC,7536,0.74,146.0,103.3,11.4,425,7540,0.00,2.22,0.00,0.000,4,0.000,0.058,2907,555,2185,0,0,0,0,0,0
$GC,7568,0.74,146.0,99.1,11.6,427,7575,0.08,2.20,0.00,0.000,6,0.122,0.038,2880,1981,2185,0,0,0,0,0,0
$GC,7896,0.74,146.0,67.1,9.3,469,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1981,2185,0,0,0,0,0,0
$GC,8228,0.76,166.5,38.7,8.2,530,8248,0.00,2.25,15.45,0.483,4,0.000,0.051,2880,3389,2120,0,0,0,0,0,0
$GC,8284,0.76,166.5,33.8,9.5,539,8289,0.00,2.22,0.00,0.000,6,0.000,0.043,2886,1967,2119,0,0,0,0,0,0
$GC,8604,0.77,174.0,4.3,8.7,600,8618,0.00,2.22,8.23,0.416,4,0.000,0.054,2897,561,2088,0,0,0,0,0,0
$STATE,8625,end climb,SURFACE_DEPTH_REACHED
$STATE,8625,begin surface coast
$FINISH,0.4,1.000572
$STATE,8663,end surface coast,CONTROL_FINISHED_OK
$STATE,8663,begin surface
$SM_CCo,8683,55.78,0.454,0,0,1574,300.24
$SM_GC,1.20,0.00,0.00,55.78,0.000,0.000,0.454,43,1975,1574,-8.12,0.40,300.24
$IRIDIUM_FIX,2059.45,-15738.45,310702,060629
$TT8_MAMPS,0.027612
$HUMID,61.97
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,24.6,9.041
$10V_AH,10.4,9.891
$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,18.575,79.825,266.500,55.775,0.000,53.610,73.708,219.099,19.000,0.000,33.958,1104.949,5326.336,377.718,1902.060,585.393,0.000,1036.132,0.000,1843.985,0.000,121.230,0.000
$DEVICE_MAMPS,230.867,63.661,793.845,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.612,347.198,1157.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,34963,610
$CAP_FILE_SIZE,95306,0
$CFSIZE,260165632,250081280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060513,092154,2107.294,-15801.929,16,1.4,16,9.8