version: 66.06
glider: 523
mission: 4
dive: 227
start: 5 18 113 23 2 40
data:
$ID,523
$MISSION,4
$DIVE,227
$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,-40351.059
$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,27
$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
$GPS1,225647,2104.871,-15744.297,23,1.2,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.0
$GPS2,230223,2104.868,-15744.294,16,1.2,16,9.8
$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,207.0,16073,-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,-75.82,0.000,2,0.000,0.000,36,1971,3360,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-4.5,12,113,9.50,2.38,-0.80,0.000,4,0.231,0.064,2393,551,3397,0,0,0,0,0,0
$GC,354,-0.74,-146.0,55.8,-18.7,59,359,0.00,2.17,0.00,0.000,6,0.000,0.035,2385,1972,3399,0,0,0,0,0,0
$GC,689,-0.74,-146.0,106.6,-11.3,103,693,0.00,2.30,0.00,0.000,4,0.000,0.052,2385,546,3400,0,0,0,0,0,0
$GC,927,-0.74,-146.0,138.6,-14.1,124,931,0.00,2.15,0.00,0.000,6,0.000,0.035,2376,1965,3401,0,0,0,0,0,0
$GC,1254,-0.74,-146.0,178.7,-13.2,154,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1965,3402,0,0,0,0,0,0
$GC,1567,-0.74,-146.0,210.0,-8.6,179,1572,0.00,2.28,0.00,0.000,4,0.000,0.051,2376,550,3403,0,0,0,0,0,0
$GC,1825,-0.74,-146.0,235.0,-8.8,190,1830,0.12,2.10,0.00,0.000,6,0.163,0.034,2399,1964,3403,0,0,0,0,0,0
$GC,2146,-0.74,-146.0,259.8,-8.7,206,2151,0.00,2.25,0.00,0.000,4,0.000,0.053,2400,550,3403,0,0,0,0,0,0
$GC,2230,-0.74,-146.0,267.3,-8.8,209,2235,0.00,2.15,0.00,0.000,6,0.000,0.036,2392,1967,3403,0,0,0,0,0,0
$GC,2548,-0.74,-146.0,290.4,-7.1,225,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1968,3403,0,0,0,0,0,0
$GC,2873,-0.74,-146.0,317.3,-8.3,236,2877,0.00,2.28,0.00,0.000,4,0.000,0.056,2392,552,3403,0,0,0,0,0,0
$GC,2930,-0.74,-146.0,322.4,-8.8,237,2934,0.00,2.15,0.00,0.000,6,0.000,0.038,2382,1969,3402,0,0,0,0,0,0
$GC,3244,-0.74,-146.0,345.5,-6.7,245,3248,0.00,2.20,0.00,0.000,4,0.000,0.058,2372,3366,3401,0,0,0,0,0,0
$GC,3266,-0.74,-146.0,347.2,-7.1,245,3271,0.10,2.20,0.00,0.000,6,0.159,0.040,2397,1946,3401,0,0,0,0,0,0
$GC,3607,-0.74,-146.0,371.2,-7.5,254,3611,0.00,2.22,0.00,0.000,4,0.000,0.055,2389,3363,3400,0,0,0,0,0,0
$GC,3662,-0.74,-146.0,375.8,-7.8,255,3666,0.00,2.17,0.00,0.000,6,0.000,0.041,2389,1959,3399,0,0,0,0,0,0
$GC,4013,-0.74,-146.0,402.5,-7.6,264,4017,0.00,2.20,0.00,0.000,4,0.000,0.062,2389,557,3397,0,0,0,0,0,0
$GC,4271,-0.74,-146.0,427.3,-9.4,269,4276,0.00,2.15,0.00,0.000,6,0.000,0.041,2379,1961,3394,0,0,0,0,0,0
$STATE,4519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4519,begin apogee
$GC,4525,-0.17,0.0,450.0,8.9,276,4647,0.62,0.00,118.57,0.781,6,0.127,0.000,2579,1961,2800,0,0,0,0,0,0
$STATE,4647,end apogee,CONTROL_FINISHED_OK
$STATE,4648,begin climb
$GC,4650,0.74,146.0,453.2,0.0,279,4782,0.85,0.00,125.15,0.752,6,0.082,0.000,2873,1961,2204,0,0,0,0,0,0
$GC,5097,0.74,146.0,396.0,14.3,290,5101,0.00,2.28,0.00,0.000,4,0.000,0.061,2882,568,2195,0,0,0,0,0,0
$GC,5147,0.74,146.0,389.2,13.1,291,5151,0.00,2.22,0.00,0.000,6,0.000,0.041,2882,1983,2195,0,0,0,0,0,0
$GC,5460,0.74,146.0,349.5,12.6,299,5464,0.00,2.20,0.00,0.000,4,0.000,0.059,2883,3382,2194,0,0,0,0,0,0
$GC,5487,0.74,146.0,345.5,14.6,299,5491,0.00,2.20,0.00,0.000,6,0.000,0.041,2892,1978,2193,0,0,0,0,0,0
$GC,5818,0.74,146.0,297.9,14.5,307,5822,0.00,2.25,0.00,0.000,4,0.000,0.056,2902,558,2192,0,0,0,0,0,0
$GC,5891,0.74,146.0,286.3,15.5,310,5895,0.00,2.20,0.00,0.000,6,0.000,0.037,2902,1988,2191,0,0,0,0,0,0
$GC,6207,0.74,146.0,237.8,15.1,325,6211,0.00,2.17,0.00,0.000,4,0.000,0.052,2902,3389,2190,0,0,0,0,0,0
$GC,6269,0.74,146.0,227.8,16.4,328,6274,0.12,2.20,0.00,0.000,6,0.163,0.041,2879,1973,2188,0,0,0,0,0,0
$GC,6591,0.74,146.0,192.4,10.1,347,6595,0.00,2.20,0.00,0.000,4,0.000,0.055,2887,568,2188,0,0,0,0,0,0
$GC,6665,0.74,146.0,184.1,11.3,353,6669,0.00,2.15,0.00,0.000,6,0.000,0.036,2887,1988,2188,0,0,0,0,0,0
$GC,6992,0.74,146.0,150.4,10.5,383,6995,0.00,2.17,0.00,0.000,4,0.000,0.051,2887,3387,2187,0,0,0,0,0,0
$GC,7056,0.74,146.0,142.9,11.2,388,7064,0.00,2.22,0.00,0.000,6,0.000,0.040,2897,1975,2187,0,0,0,0,0,0
$GC,7383,0.74,146.0,106.6,10.7,419,7387,0.00,2.22,0.00,0.000,4,0.000,0.054,2908,556,2187,0,0,0,0,0,0
$GC,7435,0.74,146.0,101.3,10.3,423,7439,0.00,2.17,0.00,0.000,6,0.000,0.035,2908,1984,2186,0,0,0,0,0,0
$GC,7765,0.74,146.0,68.9,10.8,463,7771,0.00,2.17,0.00,0.000,4,0.000,0.051,2907,3379,2187,0,0,0,0,0,0
$GC,7855,0.74,146.0,59.5,10.8,479,7861,0.15,2.17,0.00,0.000,6,0.143,0.039,2874,1976,2187,0,0,0,0,0,0
$GC,8188,0.79,190.6,34.0,7.2,540,8230,0.00,2.25,35.45,0.480,4,0.000,0.051,2883,564,2020,0,0,0,0,0,0
$GC,8281,0.82,216.0,26.9,8.0,556,8309,0.00,2.17,21.85,0.459,6,0.000,0.034,2883,1966,1918,0,0,0,0,0,0
$GC,8469,0.82,216.0,9.7,10.0,590,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1966,1915,0,0,0,0,0,0
$STATE,8544,end climb,SURFACE_DEPTH_REACHED
$STATE,8544,begin surface coast
$FINISH,0.5,1.022362
$STATE,8577,end surface coast,CONTROL_FINISHED_OK
$STATE,8577,begin surface
$SM_CCo,8594,38.90,0.437,0,0,1574,300.24
$SM_GC,1.34,0.00,0.00,38.90,0.000,0.000,0.437,48,1975,1574,-8.11,0.42,300.24
$IRIDIUM_FIX,2052.52,-15747.49,120802,202048
$TT8_MAMPS,0.028379
$HUMID,62.40
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,24.7,18.738
$10V_AH,10.4,20.475
$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,18.775,75.000,301.025,38.900,0.000,31.051,33.182,144.932,19.000,0.000,17.318,1115.363,5034.599,376.297,2008.167,436.136,0.000,1084.396,0.000,1961.248,0.000,117.255,0.000
$DEVICE_MAMPS,230.867,64.428,780.806,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,414.247,351.475,1202.946,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,34887,610
$CAP_FILE_SIZE,94464,0
$CFSIZE,260165632,244400128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190513,012754,2104.264,-15744.064,41,0.8,41,9.8