version: 66.06
glider: 523
mission: 4
dive: 229
start: 5 19 113 4 0 5
data:
$ID,523
$MISSION,4
$DIVE,229
$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,-40390.879
$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,21
$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
$GPS1,035409,2103.783,-15743.971,17,0.8,18,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-74.1
$GPS2,035949,2103.819,-15744.040,20,0.8,21,9.8
$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,212.8,14859,-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,-77.38,0.000,6,0.000,0.000,24,1965,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.1,-7.4,13,118,9.57,2.25,0.00,0.000,4,0.232,0.048,2393,550,3397,0,0,0,0,0,0
$GC,355,-0.74,-146.0,56.1,-15.7,60,362,0.00,2.20,0.00,0.000,6,0.000,0.034,2385,1976,3399,0,0,0,0,0,0
$GC,687,-0.74,-146.0,101.9,-12.1,105,691,0.00,2.28,0.00,0.000,4,0.000,0.051,2385,551,3400,0,0,0,0,0,0
$GC,863,-0.74,-146.0,125.7,-13.9,120,871,0.00,2.15,0.00,0.000,6,0.000,0.034,2376,1962,3401,0,0,0,0,0,0
$GC,1190,-0.74,-146.0,166.4,-11.2,151,1194,0.00,2.20,0.00,0.000,4,0.000,0.054,2365,3362,3402,0,0,0,0,0,0
$GC,1320,-0.74,-146.0,180.0,-10.2,162,1327,0.12,2.20,0.00,0.000,6,0.151,0.043,2398,1955,3402,0,0,0,0,0,0
$GC,1661,-0.74,-146.0,210.4,-9.4,189,1665,0.00,2.20,0.00,0.000,4,0.000,0.051,2398,544,3403,0,0,0,0,0,0
$GC,1918,-0.74,-146.0,237.0,-9.7,200,1924,0.00,2.12,0.00,0.000,6,0.000,0.033,2390,1976,3403,0,0,0,0,0,0
$GC,2237,-0.74,-146.0,265.5,-8.6,216,2241,0.00,2.25,0.00,0.000,4,0.000,0.052,2390,552,3403,0,0,0,0,0,0
$GC,2343,-0.74,-146.0,275.6,-9.3,220,2348,0.00,2.12,0.00,0.000,6,0.000,0.035,2380,1963,3403,0,0,0,0,0,0
$GC,2662,-0.74,-146.0,305.5,-9.5,235,2666,0.00,2.15,0.00,0.000,4,0.000,0.054,2371,3366,3403,0,0,0,0,0,0
$GC,2758,-0.74,-146.0,314.0,-8.0,237,2763,0.12,2.20,0.00,0.000,6,0.153,0.041,2403,1952,3402,0,0,0,0,0,0
$GC,3075,-0.74,-146.0,335.9,-7.4,245,3079,0.00,2.20,0.00,0.000,4,0.000,0.058,2404,554,3402,0,0,0,0,0,0
$GC,3212,-0.74,-146.0,347.3,-7.7,248,3216,0.00,2.12,0.00,0.000,6,0.000,0.038,2396,1957,3401,0,0,0,0,0,0
$GC,3539,-0.74,-146.0,372.0,-7.2,256,3543,0.00,2.17,0.00,0.000,4,0.000,0.056,2385,3365,3398,0,0,0,0,0,0
$GC,3701,-0.74,-146.0,383.0,-6.6,259,3705,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1950,3398,0,0,0,0,0,0
$GC,4037,-0.74,-146.0,404.2,-6.3,268,4041,0.00,2.22,0.00,0.000,4,0.000,0.063,2385,557,3396,0,0,0,0,0,0
$GC,4175,-0.74,-146.0,413.5,-6.3,271,4179,0.00,2.17,0.00,0.000,6,0.000,0.041,2376,1970,3395,0,0,0,0,0,0
$GC,4500,-0.74,-146.0,433.1,-5.7,279,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1970,3392,0,0,0,0,0,0
$STATE,4784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4784,begin apogee
$GC,4790,-0.17,0.0,452.8,7.0,286,4912,0.65,0.00,118.43,0.785,6,0.126,0.000,2583,1970,2800,0,0,0,0,0,0
$STATE,4913,end apogee,CONTROL_FINISHED_OK
$STATE,4913,begin climb
$GC,4916,0.74,146.0,454.1,0.0,289,5050,0.82,2.35,125.10,0.753,4,0.078,0.058,2868,3379,2203,0,0,0,0,0,0
$GC,5119,0.74,146.0,430.6,15.0,293,5125,0.00,2.28,0.00,0.000,6,0.000,0.048,2878,1983,2199,0,0,0,0,0,0
$GC,5450,0.74,146.0,381.7,14.3,302,5454,0.00,2.35,0.00,0.000,4,0.000,0.071,2889,558,2196,0,0,0,0,0,0
$GC,5495,0.74,146.0,374.9,15.2,303,5499,0.00,2.22,0.00,0.000,6,0.000,0.044,2889,1976,2195,0,0,0,0,0,0
$GC,5813,0.74,146.0,328.0,13.9,311,5817,0.00,2.22,0.00,0.000,4,0.000,0.061,2889,3396,2193,0,0,0,0,0,0
$GC,5852,0.74,146.0,322.5,14.7,312,5856,0.00,2.25,0.00,0.000,6,0.000,0.042,2899,1959,2192,0,0,0,0,0,0
$GC,6179,0.74,146.0,273.1,14.9,324,6183,0.00,2.20,0.00,0.000,4,0.000,0.057,2910,569,2191,0,0,0,0,0,0
$GC,6223,0.74,146.0,266.4,15.0,326,6228,0.12,2.17,0.00,0.000,6,0.152,0.037,2877,1984,2191,0,0,0,0,0,0
$GC,6544,0.74,146.0,227.0,11.3,342,6549,0.00,2.25,0.00,0.000,4,0.000,0.054,2885,565,2189,0,0,0,0,0,0
$GC,6589,0.74,146.0,221.8,11.5,344,6593,0.00,2.17,0.00,0.000,6,0.000,0.036,2885,1985,2189,0,0,0,0,0,0
$GC,6916,0.74,146.0,183.5,12.9,366,6920,0.00,2.25,0.00,0.000,4,0.000,0.053,2895,564,2189,0,0,0,0,0,0
$GC,6937,0.74,146.0,180.5,12.9,367,6945,0.00,2.17,0.00,0.000,6,0.000,0.036,2895,1973,2188,0,0,0,0,0,0
$GC,7264,0.74,146.0,143.9,10.5,398,7268,0.00,2.15,0.00,0.000,4,0.000,0.051,2895,3380,2188,0,0,0,0,0,0
$GC,7391,0.74,146.0,127.5,13.3,409,7395,0.00,2.20,0.00,0.000,6,0.000,0.042,2905,1968,2187,0,0,0,0,0,0
$GC,7718,0.74,146.0,89.4,9.6,439,7722,0.00,2.17,0.00,0.000,4,0.000,0.055,2913,563,2187,0,0,0,0,0,0
$GC,7815,0.74,146.0,79.8,9.3,447,7823,0.10,2.17,0.00,0.000,6,0.115,0.035,2879,1977,2187,0,0,0,0,0,0
$GC,8150,0.74,149.6,50.7,8.9,508,8157,0.00,2.28,0.00,0.000,4,0.000,0.061,2887,569,2187,0,0,0,0,0,0
$GC,8185,0.74,149.6,47.4,9.1,514,8193,0.00,2.17,0.00,0.000,6,0.000,0.040,2887,1971,2187,0,0,0,0,0,0
$GC,8513,0.81,204.5,21.1,6.8,575,8566,0.00,0.00,46.65,0.471,6,0.000,0.000,2887,1971,1966,0,0,0,0,0,0
$GC,8726,0.81,208.8,3.0,8.9,613,8733,0.00,0.00,3.72,0.306,6,0.000,0.000,2887,1971,1947,0,0,0,0,0,0
$STATE,8739,end climb,SURFACE_DEPTH_REACHED
$STATE,8739,begin surface coast
$FINISH,0.5,1.227716
$STATE,8772,end surface coast,CONTROL_FINISHED_OK
$STATE,8772,begin surface
$SM_CCo,8790,42.03,0.438,0,0,1576,300.24
$SM_GC,1.41,0.00,0.00,42.03,0.000,0.000,0.438,37,1971,1576,-8.14,0.31,300.24
$IRIDIUM_FIX,2054.83,-15746.61,130802,010101
$TT8_MAMPS,0.028379
$HUMID,62.01
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.7,18.894
$10V_AH,10.5,20.653
$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,18.850,79.475,293.900,42.025,0.000,25.463,41.911,139.671,19.500,0.000,22.126,1143.229,5074.556,377.312,2131.574,445.135,0.000,1141.337,0.000,2073.766,0.000,126.974,0.000
$DEVICE_MAMPS,232.401,71.331,784.641,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,421.525,349.138,1222.840,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,34992,621
$CAP_FILE_SIZE,98227,0
$CFSIZE,260165632,244305920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190513,062834,2103.100,-15744.275,38,0.9,38,9.8