version: 66.06
glider: 523
mission: 4
dive: 201
start: 5 16 113 5 29 10
data:
$ID,523
$MISSION,4
$DIVE,201
$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,-39870.742
$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
$GPS1,052305,2102.614,-15754.905,26,1.3,26,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-74.1
$GPS2,052853,2102.666,-15754.970,14,1.9,14,9.8
$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,300.8,16136,-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,-76.15,0.000,2,0.000,0.000,38,1984,3369,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.4,12,113,9.48,2.15,-0.55,0.000,4,0.232,0.062,2386,3367,3396,0,0,0,0,0,0
$GC,260,-0.74,-146.0,38.8,-18.2,41,266,0.00,2.22,0.00,0.000,6,0.000,0.044,2386,1961,3398,0,0,0,0,0,0
$GC,590,-0.74,-146.0,89.6,-14.1,96,596,0.00,2.25,0.00,0.000,4,0.000,0.055,2386,547,3399,0,0,0,0,0,0
$GC,799,-0.74,-146.0,119.5,-15.2,115,804,0.00,2.15,0.00,0.000,6,0.000,0.034,2377,1966,3399,0,0,0,0,0,0
$GC,1131,-0.74,-146.0,168.2,-13.0,146,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1966,3400,0,0,0,0,0,0
$GC,1457,-0.74,-146.0,208.5,-11.9,174,1461,0.00,2.20,0.00,0.000,4,0.000,0.053,2366,3361,3401,0,0,0,0,0,0
$GC,1549,-0.74,-146.0,218.0,-11.1,178,1554,0.12,2.22,0.00,0.000,6,0.153,0.043,2399,1953,3401,0,0,0,0,0,0
$GC,1875,-0.74,-146.0,247.1,-9.0,194,1879,0.00,2.22,0.00,0.000,4,0.000,0.053,2400,551,3402,0,0,0,0,0,0
$GC,2134,-0.74,-146.0,271.4,-8.7,205,2139,0.00,2.10,0.00,0.000,6,0.000,0.035,2392,1963,3401,0,0,0,0,0,0
$GC,2452,-0.74,-146.0,296.8,-7.5,221,2456,0.00,2.17,0.00,0.000,4,0.000,0.054,2381,3360,3402,0,0,0,0,0,0
$GC,2509,-0.74,-146.0,301.5,-7.8,223,2513,0.00,2.20,0.00,0.000,6,0.000,0.041,2381,1946,3401,0,0,0,0,0,0
$GC,2861,-0.74,-146.0,327.1,-7.5,232,2865,0.00,2.20,0.00,0.000,4,0.000,0.058,2381,549,3401,0,0,0,0,0,0
$GC,2956,-0.74,-146.0,334.7,-8.0,234,2961,0.12,2.15,0.00,0.000,6,0.167,0.038,2405,1962,3400,0,0,0,0,0,0
$GC,3277,-0.74,-146.0,359.9,-8.4,242,3281,0.00,2.15,0.00,0.000,4,0.000,0.055,2396,3363,3399,0,0,0,0,0,0
$GC,3408,-0.74,-146.0,371.2,-8.8,244,3413,0.00,2.17,0.00,0.000,6,0.000,0.041,2396,1950,3398,0,0,0,0,0,0
$GC,3739,-0.74,-146.0,395.0,-6.8,253,3746,0.00,2.20,0.00,0.000,4,0.000,0.062,2396,551,3396,0,0,0,0,0,0
$GC,3808,-0.74,-146.0,400.5,-8.5,254,3812,0.00,2.15,0.00,0.000,6,0.000,0.041,2386,1958,3395,0,0,0,0,0,0
$GC,4153,-0.74,-146.0,430.7,-9.0,263,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1958,3393,0,0,0,0,0,0
$STATE,4391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4392,begin apogee
$GC,4398,-0.17,0.0,452.1,8.6,269,4520,0.62,0.00,118.70,0.782,6,0.130,0.000,2585,1957,2799,0,0,0,0,0,0
$STATE,4520,end apogee,CONTROL_FINISHED_OK
$STATE,4521,begin climb
$GC,4523,0.74,146.0,455.4,0.0,272,4653,0.82,0.00,125.53,0.753,6,0.081,0.000,2870,1957,2204,0,0,0,0,0,0
$GC,4970,0.74,146.0,405.9,12.3,283,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1958,2195,0,0,0,0,0,0
$GC,5295,0.74,146.0,365.0,12.5,291,5299,0.00,2.22,0.00,0.000,4,0.000,0.054,2870,3386,2193,0,0,0,0,0,0
$GC,5328,0.74,146.0,360.8,12.6,291,5333,0.00,2.25,0.00,0.000,6,0.000,0.046,2880,1980,2192,0,0,0,0,0,0
$GC,5659,0.74,146.0,319.2,12.5,300,5663,0.00,2.28,0.00,0.000,4,0.000,0.058,2890,555,2191,0,0,0,0,0,0
$GC,5742,0.74,146.0,308.7,12.4,301,5748,0.00,2.22,0.00,0.000,6,0.000,0.042,2890,1978,2191,0,0,0,0,0,0
$GC,6057,0.74,146.0,271.0,11.7,315,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1978,2190,0,0,0,0,0,0
$GC,6366,0.74,146.0,231.6,12.8,330,6370,0.00,2.28,0.00,0.000,4,0.000,0.064,2899,564,2188,0,0,0,0,0,0
$GC,6466,0.74,146.0,217.9,12.8,334,6472,0.00,2.20,0.00,0.000,6,0.000,0.041,2899,1981,2188,0,0,0,0,0,0
$GC,6789,0.74,146.0,180.0,12.2,358,6793,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3385,2187,0,0,0,0,0,0
$GC,6851,0.74,146.0,171.8,14.3,363,6856,0.12,2.20,0.00,0.000,6,0.159,0.040,2874,1969,2187,0,0,0,0,0,0
$GC,7178,0.74,146.0,135.4,10.8,393,7182,0.00,2.20,0.00,0.000,4,0.000,0.058,2883,562,2186,0,0,0,0,0,0
$GC,7229,0.74,146.0,130.1,10.3,397,7233,0.00,2.17,0.00,0.000,6,0.000,0.037,2883,1984,2186,0,0,0,0,0,0
$GC,7556,0.74,146.0,95.7,9.9,427,7560,0.00,2.12,0.00,0.000,4,0.000,0.049,2883,3381,2186,0,0,0,0,0,0
$GC,7588,0.74,146.0,92.2,10.4,429,7595,0.00,2.20,0.00,0.000,6,0.000,0.038,2893,1974,2186,0,0,0,0,0,0
$GC,7915,0.74,147.1,61.9,9.0,478,7922,0.00,2.22,0.00,0.000,4,0.000,0.048,2893,3373,2187,0,0,0,0,0,0
$GC,7936,0.74,147.1,60.0,9.7,481,7942,0.00,2.17,0.00,0.000,6,0.000,0.038,2899,1966,2187,0,0,0,0,0,0
$GC,8268,0.75,159.9,28.0,8.5,542,8283,0.00,2.20,10.05,0.440,4,0.000,0.054,2909,570,2148,0,0,0,0,0,0
$GC,8376,0.75,159.9,17.8,10.1,561,8383,0.00,2.17,0.00,0.000,6,0.000,0.035,2909,1982,2147,0,0,0,0,0,0
$GC,8545,0.81,207.3,4.7,7.1,592,8566,0.00,0.00,18.75,0.442,2,0.000,0.000,2909,1982,2031,0,0,0,0,0,0
$STATE,8566,end climb,SURFACE_DEPTH_REACHED
$STATE,8566,begin surface coast
$FINISH,0.6,1.023342
$STATE,8600,end surface coast,CONTROL_FINISHED_OK
$STATE,8600,begin surface
$SM_CCo,8618,49.72,0.443,0,0,1575,300.24
$SM_GC,1.31,0.00,0.00,49.72,0.000,0.000,0.443,45,1984,1575,-8.11,0.68,300.24
$IRIDIUM_FIX,2057.14,-15753.90,100802,030315
$TT8_MAMPS,0.028379
$HUMID,61.89
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,24.7,16.627
$10V_AH,10.5,18.205
$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,18.600,70.225,273.025,49.725,0.000,24.720,41.598,157.921,19.250,0.000,14.750,1099.551,5145.927,386.646,1931.318,453.154,0.000,1056.893,0.000,1892.248,0.000,119.138,0.000
$DEVICE_MAMPS,231.634,63.661,781.573,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.412,344.769,1163.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,31812,601
$CAP_FILE_SIZE,91802,0
$CFSIZE,260165632,245645312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160513,075452,2103.409,-15756.075,35,0.9,35,9.8