version: 66.06
glider: 523
mission: 4
dive: 116
start: 5 7 113 8 3 10
data:
$ID,523
$MISSION,4
$DIVE,116
$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,-38188.055
$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,26
$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
$GPS1,075722,2107.234,-15754.710,40,1.0,40,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-76.0
$GPS2,080253,2107.231,-15754.748,16,1.2,16,9.8
$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,87.5,20608,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-77.75,0.000,6,0.000,0.000,49,1973,3392,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.9,13,118,9.45,2.22,0.00,0.000,4,0.235,0.050,2385,3380,3393,0,0,0,0,0,0
$GC,136,-0.74,-146.0,16.8,-35.6,18,144,0.00,2.28,0.00,0.000,6,0.000,0.046,2385,1967,3394,0,0,0,0,0,0
$GC,308,-0.74,-146.0,48.1,-17.6,49,313,0.00,2.28,0.00,0.000,4,0.000,0.061,2385,540,3395,0,0,0,0,0,0
$GC,485,-0.74,-146.0,79.2,-15.5,81,491,0.00,2.20,0.00,0.000,6,0.000,0.037,2375,1974,3396,0,0,0,0,0,0
$GC,812,-0.74,-146.0,127.5,-14.0,112,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1974,3396,0,0,0,0,0,0
$GC,1130,-0.74,-146.0,166.2,-11.7,142,1134,0.00,2.30,0.00,0.000,4,0.000,0.051,2375,544,3397,0,0,0,0,0,0
$GC,1249,-0.74,-146.0,178.8,-9.5,152,1254,0.12,2.12,0.00,0.000,6,0.169,0.034,2398,1968,3397,0,0,0,0,0,0
$GC,1573,-0.74,-146.0,202.0,-7.6,181,1577,0.00,2.28,0.00,0.000,4,0.000,0.051,2398,543,3398,0,0,0,0,0,0
$GC,1635,-0.74,-146.0,207.5,-9.2,183,1640,0.00,2.12,0.00,0.000,6,0.000,0.035,2391,1965,3399,0,0,0,0,0,0
$GC,1953,-0.74,-146.0,235.6,-10.0,199,1957,0.00,2.25,0.00,0.000,4,0.000,0.054,2390,544,3399,0,0,0,0,0,0
$GC,2144,-0.74,-146.0,256.8,-10.6,207,2149,0.00,2.15,0.00,0.000,6,0.000,0.038,2381,1963,3399,0,0,0,0,0,0
$GC,2462,-0.74,-146.0,284.6,-8.4,223,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1963,3399,0,0,0,0,0,0
$GC,2788,-0.74,-146.0,310.5,-7.5,236,2792,0.00,2.33,0.00,0.000,4,0.000,0.058,2380,537,3398,0,0,0,0,0,0
$GC,2884,-0.74,-146.0,319.2,-8.9,238,2889,0.12,2.17,0.00,0.000,6,0.168,0.039,2405,1963,3398,0,0,0,0,0,0
$GC,3199,-0.74,-146.0,340.9,-6.8,246,3203,0.00,2.28,0.00,0.000,4,0.000,0.060,2405,536,3396,0,0,0,0,0,0
$GC,3345,-0.74,-146.0,352.9,-8.4,249,3349,0.00,2.17,0.00,0.000,6,0.000,0.041,2398,1959,3394,0,0,0,0,0,0
$GC,3696,-0.74,-146.0,380.2,-7.9,258,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1959,3393,0,0,0,0,0,0
$GC,4021,-0.74,-146.0,405.6,-7.7,266,4025,0.00,2.22,0.00,0.000,4,0.000,0.060,2387,3370,3390,0,0,0,0,0,0
$GC,4048,-0.74,-146.0,407.9,-7.4,266,4052,0.00,2.22,0.00,0.000,6,0.000,0.044,2387,1943,3390,0,0,0,0,0,0
$GC,4380,-0.74,-146.0,433.4,-7.6,274,4384,0.00,2.20,0.00,0.000,4,0.000,0.066,2387,550,3388,0,0,0,0,0,0
$GC,4430,-0.74,-146.0,437.5,-8.0,275,4434,0.00,2.15,0.00,0.000,6,0.000,0.044,2377,1956,3387,0,0,0,0,0,0
$STATE,4619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4619,begin apogee
$GC,4625,-0.17,0.0,450.5,6.8,280,4746,0.65,0.00,118.07,0.793,6,0.127,0.000,2586,1956,2800,0,0,0,0,0,0
$STATE,4747,end apogee,CONTROL_FINISHED_OK
$STATE,4747,begin climb
$GC,4750,0.74,146.0,451.8,0.0,283,4885,0.82,2.40,125.12,0.759,4,0.079,0.061,2880,569,2203,0,0,0,0,0,0
$GC,4896,0.74,146.0,437.3,12.1,286,4900,0.00,2.28,0.00,0.000,6,0.000,0.041,2880,1976,2200,0,0,0,0,0,0
$GC,5232,0.74,146.0,392.0,13.8,295,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1976,2195,0,0,0,0,0,0
$GC,5557,0.74,146.0,346.8,14.3,303,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1975,2193,0,0,0,0,0,0
$GC,5882,0.74,146.0,296.7,15.2,311,5886,0.00,2.30,0.00,0.000,4,0.000,0.066,2889,567,2191,0,0,0,0,0,0
$GC,5944,0.74,146.0,287.1,15.7,314,5948,0.00,2.20,0.00,0.000,6,0.000,0.043,2889,1978,2190,0,0,0,0,0,0
$GC,6270,0.74,146.0,244.4,11.4,330,6274,0.00,2.28,0.00,0.000,4,0.000,0.066,2897,564,2189,0,0,0,0,0,0
$GC,6291,0.74,146.0,241.8,11.5,331,6295,0.00,2.20,0.00,0.000,6,0.000,0.045,2897,1974,2189,0,0,0,0,0,0
$GC,6612,0.74,146.0,198.4,13.7,347,6616,0.00,2.28,0.00,0.000,4,0.000,0.065,2907,567,2188,0,0,0,0,0,0
$GC,6665,0.74,146.0,190.9,13.4,351,6673,0.00,2.22,0.00,0.000,6,0.000,0.045,2907,1977,2188,0,0,0,0,0,0
$GC,6992,0.74,146.0,153.2,9.7,382,6996,0.00,2.20,0.00,0.000,4,0.000,0.059,2907,3386,2187,0,0,0,0,0,0
$GC,7129,0.74,146.0,137.3,13.0,394,7134,0.12,2.22,0.00,0.000,6,0.159,0.046,2875,1961,2186,0,0,0,0,0,0
$GC,7457,0.74,146.0,101.9,11.0,424,7461,0.00,2.20,0.00,0.000,4,0.000,0.058,2883,559,2186,0,0,0,0,0,0
$GC,7584,0.74,146.0,88.5,10.3,435,7588,0.00,2.17,0.00,0.000,6,0.000,0.041,2883,1995,2186,0,0,0,0,0,0
$GC,7914,0.76,163.9,57.8,8.3,487,7938,0.00,2.20,13.40,0.492,4,0.000,0.051,2883,3378,2131,0,0,0,0,0,0
$GC,7977,0.79,192.0,52.4,7.9,498,8008,0.00,2.22,24.88,0.499,6,0.000,0.043,2892,1973,2016,0,0,0,0,0,0
$GC,8331,0.79,192.0,20.3,11.2,563,8338,0.00,2.25,0.00,0.000,4,0.000,0.056,2902,567,2013,0,0,0,0,0,0
$GC,8377,0.79,192.0,15.5,10.0,571,8385,0.00,2.20,0.00,0.000,6,0.000,0.038,2902,1978,2013,0,0,0,0,0,0
$STATE,8498,end climb,SURFACE_DEPTH_REACHED
$STATE,8498,begin surface coast
$FINISH,0.4,1.023192
$STATE,8527,end surface coast,CONTROL_FINISHED_OK
$STATE,8528,begin surface
$SM_CCo,8545,49.42,0.453,0,0,1575,300.24
$SM_GC,1.05,0.00,0.00,49.42,0.000,0.000,0.453,41,1983,1575,-8.12,0.65,300.24
$IRIDIUM_FIX,2101.76,-15750.89,010802,050504
$TT8_MAMPS,0.028379
$HUMID,62.67
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.6,9.832
$10V_AH,10.5,10.758
$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,18.625,75.775,281.475,49.425,0.000,25.095,35.126,145.858,19.250,0.000,17.155,1085.687,5111.505,383.459,1921.170,424.763,0.000,1060.776,0.000,1873.867,0.000,117.235,0.000
$DEVICE_MAMPS,235.469,65.962,793.078,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.497,335.019,1169.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31837,599
$CAP_FILE_SIZE,92454,0
$CFSIZE,260165632,249622528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070513,102720,2106.973,-15754.083,16,1.7,16,9.8