version: 66.06
glider: 523
mission: 4
dive: 228
start: 5 19 113 1 34 10
data:
$ID,523
$MISSION,4
$DIVE,228
$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,-40368.125
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,012754,2104.264,-15744.064,41,0.8,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.6
$GPS2,013353,2104.252,-15744.044,16,1.0,16,9.8
$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,210.8,15452,-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,-77.25,0.000,6,0.000,0.000,48,1975,3397,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-6.4,13,118,9.43,2.33,0.00,0.000,4,0.231,0.051,2392,545,3398,0,0,0,0,0,0
$GC,361,-0.74,-146.0,59.8,-16.9,60,368,0.00,2.20,0.00,0.000,6,0.000,0.036,2383,1962,3400,0,0,0,0,0,0
$GC,691,-0.74,-146.0,112.1,-13.2,102,695,0.00,2.25,0.00,0.000,4,0.000,0.053,2383,551,3401,0,0,0,0,0,0
$GC,888,-0.74,-146.0,139.5,-12.2,119,895,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1967,3402,0,0,0,0,0,0
$GC,1222,-0.74,-146.0,177.1,-11.4,150,1226,0.00,2.17,0.00,0.000,4,0.000,0.057,2364,3358,3403,0,0,0,0,0,0
$GC,1285,-0.74,-146.0,184.3,-10.4,155,1290,0.12,2.20,0.00,0.000,6,0.153,0.046,2397,1963,3403,0,0,0,0,0,0
$GC,1611,-0.74,-146.0,218.9,-10.8,178,1615,0.00,2.20,0.00,0.000,4,0.000,0.055,2398,551,3403,0,0,0,0,0,0
$GC,1846,-0.74,-146.0,244.9,-11.2,188,1852,0.00,2.15,0.00,0.000,6,0.000,0.037,2389,1968,3403,0,0,0,0,0,0
$GC,2164,-0.74,-146.0,276.1,-9.3,204,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1970,3403,0,0,0,0,0,0
$GC,2491,-0.74,-146.0,304.8,-8.7,219,2498,0.00,2.22,0.00,0.000,4,0.000,0.059,2379,3368,3403,0,0,0,0,0,0
$GC,2572,-0.74,-146.0,311.1,-7.3,220,2576,0.00,2.22,0.00,0.000,6,0.000,0.045,2379,1955,3403,0,0,0,0,0,0
$GC,2905,-0.74,-146.0,336.1,-8.0,228,2909,0.00,2.22,0.00,0.000,4,0.000,0.061,2379,551,3402,0,0,0,0,0,0
$GC,3164,-0.74,-146.0,364.9,-11.3,233,3171,0.12,2.17,0.00,0.000,6,0.172,0.042,2402,1965,3401,0,0,0,0,0,0
$GC,3498,-0.74,-146.0,389.3,-6.2,242,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1965,3399,0,0,0,0,0,0
$GC,3823,-0.74,-146.0,410.3,-7.2,250,3827,0.00,2.28,0.00,0.000,4,0.000,0.064,2403,547,3397,0,0,0,0,0,0
$GC,3850,-0.74,-146.0,412.9,-9.0,250,3855,0.00,2.20,0.00,0.000,6,0.000,0.047,2395,1961,3396,0,0,0,0,0,0
$GC,4188,-0.74,-146.0,439.5,-7.6,259,4192,0.00,2.28,0.00,0.000,4,0.000,0.064,2394,554,3394,0,0,0,0,0,0
$GC,4221,-0.74,-146.0,442.2,-7.8,259,4225,0.00,2.17,0.00,0.000,6,0.000,0.048,2385,1961,3394,0,0,0,0,0,0
$STATE,4347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4347,begin apogee
$GC,4354,-0.17,0.0,450.7,6.8,262,4476,0.62,0.00,118.55,0.775,6,0.126,0.000,2585,1961,2800,0,0,0,0,0,0
$STATE,4476,end apogee,CONTROL_FINISHED_OK
$STATE,4477,begin climb
$GC,4479,0.74,146.0,451.2,0.0,265,4609,0.82,0.00,125.43,0.746,6,0.081,0.000,2870,1961,2204,0,0,0,0,0,0
$GC,4926,0.74,146.0,395.1,13.2,276,4930,0.00,2.28,0.00,0.000,4,0.000,0.067,2880,566,2195,0,0,0,0,0,0
$GC,4947,0.74,146.0,392.0,13.4,276,4951,0.00,2.22,0.00,0.000,6,0.000,0.039,2880,1985,2195,0,0,0,0,0,0
$GC,5284,0.74,146.0,344.5,13.7,285,5288,0.00,2.17,0.00,0.000,4,0.000,0.053,2879,3389,2193,0,0,0,0,0,0
$GC,5362,0.74,146.0,333.2,14.8,286,5367,0.00,2.22,0.00,0.000,6,0.000,0.041,2889,1975,2192,0,0,0,0,0,0
$GC,5674,0.74,146.0,288.3,14.5,296,5678,0.00,2.22,0.00,0.000,4,0.000,0.059,2900,562,2191,0,0,0,0,0,0
$GC,5729,0.74,146.0,280.2,13.4,298,5735,0.00,2.20,0.00,0.000,6,0.000,0.039,2900,1988,2190,0,0,0,0,0,0
$GC,6045,0.74,146.0,236.3,14.1,314,6049,0.00,2.17,0.00,0.000,4,0.000,0.052,2900,3387,2189,0,0,0,0,0,0
$GC,6078,0.74,146.0,231.5,13.8,315,6084,0.12,2.22,0.00,0.000,6,0.161,0.041,2876,1962,2189,0,0,0,0,0,0
$GC,6397,0.74,146.0,197.7,10.3,332,6401,0.00,2.20,0.00,0.000,4,0.000,0.058,2885,568,2188,0,0,0,0,0,0
$GC,6460,0.74,146.0,190.2,12.9,337,6464,0.00,2.17,0.00,0.000,6,0.000,0.038,2885,1986,2188,0,0,0,0,0,0
$GC,6786,0.74,146.0,154.1,9.7,367,6790,0.00,2.15,0.00,0.000,4,0.000,0.051,2885,3386,2188,0,0,0,0,0,0
$GC,6906,0.74,146.0,140.7,11.1,377,6913,0.00,2.20,0.00,0.000,6,0.000,0.041,2894,1981,2187,0,0,0,0,0,0
$GC,7234,0.74,146.0,101.3,13.5,408,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1981,2187,0,0,0,0,0,0
$GC,7561,0.74,146.0,63.4,11.1,452,7568,0.00,2.22,0.00,0.000,4,0.000,0.056,2905,575,2187,0,0,0,0,0,0
$GC,7618,0.74,146.0,57.6,9.9,462,7625,0.00,2.15,0.00,0.000,6,0.000,0.036,2905,1974,2187,0,0,0,0,0,0
$GC,7954,0.75,158.0,28.0,8.5,523,7968,0.00,2.28,8.85,0.433,4,0.000,0.063,2913,569,2154,0,0,0,0,0,0
$GC,7998,0.76,164.1,24.2,8.8,530,8012,0.00,2.17,6.88,0.407,6,0.000,0.041,2913,1962,2130,0,0,0,0,0,0
$GC,8171,0.76,164.1,7.0,9.1,562,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1962,2129,0,0,0,0,0,0
$STATE,8219,end climb,SURFACE_DEPTH_REACHED
$STATE,8219,begin surface coast
$FINISH,0.4,1.023299
$STATE,8262,end surface coast,CONTROL_FINISHED_OK
$STATE,8262,begin surface
$SM_CCo,8280,61.88,0.446,0,0,1575,300.24
$SM_GC,1.38,0.00,0.00,61.88,0.000,0.000,0.446,24,1964,1575,-8.18,0.11,300.24
$IRIDIUM_FIX,2052.52,-15744.48,120802,232333
$TT8_MAMPS,0.028379
$HUMID,62.56
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.7,18.815
$10V_AH,10.5,20.561
$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,18.525,70.700,259.700,61.875,0.000,33.921,53.486,144.698,19.000,0.000,16.436,1054.572,4916.252,398.015,1875.570,456.617,0.000,1054.852,0.000,1834.560,0.000,119.177,0.000
$DEVICE_MAMPS,230.867,66.729,775.437,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,393.133,333.286,1143.647,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,31787,579
$CAP_FILE_SIZE,89085,0
$CFSIZE,260165632,244363264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190513,035409,2103.783,-15743.971,17,0.8,18,9.8