version: 66.06
glider: 523
mission: 4
dive: 224
start: 5 18 113 15 29 54
data:
$ID,523
$MISSION,4
$DIVE,224
$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,-40299.238
$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,23
$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
$GPS1,152406,2107.233,-15744.548,24,0.9,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.2
$GPS2,152937,2107.239,-15744.540,17,1.0,18,9.8
$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,123.5,3850,-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,-78.12,0.000,6,0.000,0.000,27,1969,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.6,-5.1,13,118,9.48,2.25,0.00,0.000,4,0.229,0.048,2393,544,3397,0,0,0,0,0,0
$GC,239,-0.74,-146.0,36.7,-16.9,38,247,0.00,2.20,0.00,0.000,6,0.000,0.036,2385,1961,3398,0,0,0,0,0,0
$GC,575,-0.74,-146.0,90.2,-14.1,93,579,0.00,2.28,0.00,0.000,4,0.000,0.053,2385,549,3400,0,0,0,0,0,0
$GC,605,-0.74,-146.0,94.7,-14.7,95,612,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,1974,3400,0,0,0,0,0,0
$GC,940,-0.74,-146.0,141.0,-12.7,126,944,0.00,2.33,0.00,0.000,4,0.000,0.053,2376,542,3401,0,0,0,0,0,0
$GC,1147,-0.74,-146.0,169.3,-12.9,144,1152,0.12,2.15,0.00,0.000,6,0.166,0.034,2398,1977,3401,0,0,0,0,0,0
$GC,1476,-0.74,-146.0,204.0,-9.7,173,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1978,3402,0,0,0,0,0,0
$GC,1787,-0.74,-146.0,231.5,-9.1,188,1792,0.00,2.30,0.00,0.000,4,0.000,0.052,2399,540,3402,0,0,0,0,0,0
$GC,1923,-0.74,-146.0,245.7,-9.9,194,1927,0.00,2.15,0.00,0.000,6,0.000,0.034,2390,1962,3402,0,0,0,0,0,0
$GC,2246,-0.74,-146.0,274.8,-8.8,210,2251,0.00,2.30,0.00,0.000,4,0.000,0.052,2390,537,3402,0,0,0,0,0,0
$GC,2341,-0.74,-146.0,283.2,-9.0,214,2346,0.00,2.15,0.00,0.000,6,0.000,0.035,2380,1962,3402,0,0,0,0,0,0
$GC,2684,-0.74,-146.0,312.5,-9.0,228,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1962,3402,0,0,0,0,0,0
$GC,3007,-0.74,-146.0,338.6,-7.4,236,3011,0.00,2.17,0.00,0.000,4,0.000,0.054,2371,3360,3402,0,0,0,0,0,0
$GC,3126,-0.74,-146.0,348.7,-8.8,238,3131,0.12,2.20,0.00,0.000,6,0.153,0.043,2404,1943,3402,0,0,0,0,0,0
$GC,3462,-0.74,-146.0,371.1,-6.3,246,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1943,3399,0,0,0,0,0,0
$GC,3783,-0.74,-146.0,392.6,-6.6,254,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1943,3398,0,0,0,0,0,0
$GC,4108,-0.74,-146.0,412.2,-6.1,262,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1943,3396,0,0,0,0,0,0
$GC,4433,-0.74,-146.0,435.6,-7.6,270,4437,0.00,2.22,0.00,0.000,4,0.000,0.060,2404,551,3393,0,0,0,0,0,0
$STATE,4605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4605,begin apogee
$GC,4614,-0.17,0.0,450.3,8.3,273,4735,0.55,0.00,118.22,0.782,6,0.124,0.000,2577,1970,2799,0,0,0,0,0,0
$STATE,4736,end apogee,CONTROL_FINISHED_OK
$STATE,4736,begin climb
$GC,4739,0.74,146.0,452.3,0.0,276,4868,0.85,0.00,125.28,0.751,6,0.081,0.000,2869,1970,2204,0,0,0,0,0,0
$GC,5186,0.74,146.0,396.5,13.7,287,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1970,2196,0,0,0,0,0,0
$GC,5510,0.74,146.0,349.5,14.4,295,5514,0.00,2.20,0.00,0.000,4,0.000,0.052,2869,3384,2194,0,0,0,0,0,0
$GC,5532,0.74,146.0,346.3,14.1,295,5536,0.00,2.25,0.00,0.000,6,0.000,0.048,2879,1971,2193,0,0,0,0,0,0
$GC,5869,0.74,146.0,301.8,13.2,304,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1971,2191,0,0,0,0,0,0
$GC,6178,0.74,146.0,264.9,11.2,318,6182,0.00,2.25,0.00,0.000,4,0.000,0.060,2889,561,2190,0,0,0,0,0,0
$GC,6250,0.74,146.0,255.7,12.5,321,6254,0.00,2.20,0.00,0.000,6,0.000,0.042,2889,1981,2189,0,0,0,0,0,0
$GC,6565,0.74,146.0,216.7,12.3,336,6570,0.00,2.25,0.00,0.000,4,0.000,0.057,2899,559,2189,0,0,0,0,0,0
$GC,6621,0.74,146.0,209.3,14.2,338,6627,0.00,2.17,0.00,0.000,6,0.000,0.038,2899,1973,2188,0,0,0,0,0,0
$GC,6948,0.74,146.0,166.4,13.2,366,6952,0.00,2.15,0.00,0.000,4,0.000,0.051,2899,3380,2188,0,0,0,0,0,0
$GC,7001,0.74,146.0,158.9,12.8,370,7008,0.08,2.22,0.00,0.000,6,0.140,0.040,2882,1965,2187,0,0,0,0,0,0
$GC,7328,0.74,146.0,125.4,9.2,401,7332,0.00,2.17,0.00,0.000,4,0.000,0.057,2891,569,2187,0,0,0,0,0,0
$GC,7390,0.74,146.0,119.3,10.4,406,7394,0.00,2.15,0.00,0.000,6,0.000,0.037,2891,1977,2187,0,0,0,0,0,0
$GC,7718,0.74,146.0,84.3,10.9,436,7722,0.00,2.15,0.00,0.000,4,0.000,0.049,2891,3378,2187,0,0,0,0,0,0
$GC,7739,0.74,146.0,81.8,9.9,437,7747,0.00,2.20,0.00,0.000,6,0.000,0.038,2900,1973,2187,0,0,0,0,0,0
$GC,8068,0.74,146.0,48.5,10.4,496,8075,0.00,2.22,0.00,0.000,4,0.000,0.057,2910,572,2188,0,0,0,0,0,0
$GC,8285,0.74,146.1,28.1,9.0,535,8294,0.08,2.15,0.00,0.000,6,0.107,0.035,2882,1972,2187,0,0,0,0,0,0
$GC,8454,0.74,146.1,14.4,9.2,566,8461,0.00,2.17,0.00,0.000,4,0.000,0.049,2881,3377,2188,0,0,0,0,0,0
$GC,8480,0.76,167.2,12.4,8.2,570,8501,0.00,2.17,16.75,0.446,6,0.000,0.038,2888,1980,2118,0,0,0,0,0,0
$STATE,8589,end climb,SURFACE_DEPTH_REACHED
$STATE,8589,begin surface coast
$FINISH,0.8,1.023370
$STATE,8629,end surface coast,CONTROL_FINISHED_OK
$STATE,8629,begin surface
$SM_CCo,8646,59.40,0.442,0,0,1575,300.24
$SM_GC,1.43,0.00,0.00,59.40,0.000,0.000,0.442,36,1974,1575,-8.14,0.40,300.24
$IRIDIUM_FIX,2104.07,-15744.86,120802,131321
$TT8_MAMPS,0.028379
$HUMID,60.90
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.7,18.505
$10V_AH,10.5,20.212
$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,18.425,66.200,260.250,59.400,0.000,24.799,35.340,142.776,19.000,0.000,18.427,1077.916,5277.477,384.265,1872.276,425.790,0.000,1024.780,0.000,1826.942,0.000,123.147,0.000
$DEVICE_MAMPS,228.566,59.826,781.573,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,405.746,339.823,1158.875,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,31832,597
$CAP_FILE_SIZE,88454,0
$CFSIZE,260165632,244551680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180513,175603,2106.633,-15743.612,21,1.3,23,9.8