version: 66.06
glider: 523
mission: 4
dive: 269
start: 5 23 113 9 7 49
data:
$ID,523
$MISSION,4
$DIVE,269
$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,-41150.453
$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,24
$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
$GPS1,090143,2104.570,-15743.284,14,1.3,14,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-75.3
$GPS2,090733,2104.582,-15743.287,26,1.0,26,9.8
$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,212.8,16780,-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,-76.05,0.000,2,0.000,0.000,39,1970,3375,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.6,12,113,9.43,2.25,-0.43,0.000,4,0.228,0.063,2392,542,3396,0,0,0,0,0,0
$GC,354,-0.74,-146.0,58.5,-18.1,59,359,0.00,2.15,0.00,0.000,6,0.000,0.035,2384,1963,3398,0,0,0,0,0,0
$GC,688,-0.74,-146.0,104.6,-12.1,105,692,0.00,2.28,0.00,0.000,4,0.000,0.053,2384,544,3399,0,0,0,0,0,0
$GC,834,-0.74,-146.0,123.5,-13.9,118,838,0.00,2.15,0.00,0.000,6,0.000,0.035,2374,1961,3399,0,0,0,0,0,0
$GC,1161,-0.74,-146.0,166.9,-12.6,148,1165,0.00,2.20,0.00,0.000,4,0.000,0.056,2364,3361,3401,0,0,0,0,0,0
$GC,1193,-0.74,-146.0,171.4,-12.7,150,1200,0.10,2.25,0.00,0.000,6,0.136,0.044,2396,1954,3401,0,0,0,0,0,0
$GC,1527,-0.74,-146.0,207.0,-10.2,179,1531,0.00,2.22,0.00,0.000,4,0.000,0.052,2396,545,3402,0,0,0,0,0,0
$GC,1627,-0.74,-146.0,216.2,-9.5,183,1631,0.00,2.15,0.00,0.000,6,0.000,0.035,2388,1967,3402,0,0,0,0,0,0
$GC,1946,-0.74,-146.0,243.7,-9.1,198,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1967,3402,0,0,0,0,0,0
$GC,2255,-0.74,-146.0,270.6,-8.7,213,2259,0.00,2.30,0.00,0.000,4,0.000,0.053,2388,542,3402,0,0,0,0,0,0
$GC,2287,-0.74,-146.0,274.1,-9.2,214,2293,0.00,2.17,0.00,0.000,6,0.000,0.036,2379,1971,3402,0,0,0,0,0,0
$GC,2625,-0.74,-146.0,304.9,-9.2,230,2630,0.00,2.28,0.00,0.000,4,0.000,0.054,2379,551,3402,0,0,0,0,0,0
$GC,2855,-0.74,-146.0,323.9,-8.2,235,2860,0.12,2.15,0.00,0.000,6,0.168,0.038,2402,1957,3401,0,0,0,0,0,0
$GC,3178,-0.74,-146.0,346.2,-6.8,243,3182,0.00,2.20,0.00,0.000,4,0.000,0.057,2394,3365,3401,0,0,0,0,0,0
$GC,3245,-0.74,-146.0,350.8,-6.7,244,3249,0.00,2.20,0.00,0.000,6,0.000,0.042,2395,1960,3400,0,0,0,0,0,0
$GC,3584,-0.74,-146.0,377.3,-8.7,253,3588,0.00,2.28,0.00,0.000,4,0.000,0.062,2394,551,3399,0,0,0,0,0,0
$GC,3692,-0.74,-146.0,386.6,-8.5,255,3696,0.00,2.17,0.00,0.000,6,0.000,0.041,2384,1962,3397,0,0,0,0,0,0
$GC,4038,-0.74,-146.0,412.7,-7.5,264,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1962,3395,0,0,0,0,0,0
$GC,4360,-0.74,-146.0,436.2,-7.4,272,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1962,3393,0,0,0,0,0,0
$STATE,4561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4561,begin apogee
$GC,4568,-0.17,0.0,451.5,7.5,277,4690,0.62,0.00,118.70,0.774,6,0.151,0.000,2582,1962,2799,0,0,0,0,0,0
$STATE,4690,end apogee,CONTROL_FINISHED_OK
$STATE,4691,begin climb
$GC,4693,0.74,146.0,453.4,0.0,280,4826,0.88,2.45,125.68,0.746,4,0.075,0.062,2890,568,2203,0,0,0,0,0,0
$GC,4846,0.74,146.0,436.5,14.8,284,4850,0.00,2.30,0.00,0.000,6,0.000,0.043,2890,1975,2201,0,0,0,0,0,0
$GC,5170,0.74,146.0,385.8,15.3,292,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1975,2196,0,0,0,0,0,0
$GC,5495,0.74,146.0,333.8,16.2,300,5499,0.00,2.25,0.00,0.000,4,0.000,0.060,2890,3392,2194,0,0,0,0,0,0
$GC,5584,0.74,146.0,318.5,17.3,302,5588,0.00,2.28,0.00,0.000,6,0.000,0.051,2900,1975,2192,0,0,0,0,0,0
$GC,5911,0.74,146.0,266.7,15.2,315,5915,0.00,2.25,0.00,0.000,4,0.000,0.059,2911,550,2191,0,0,0,0,0,0
$GC,6040,0.74,146.0,248.2,14.6,321,6045,0.12,2.20,0.00,0.000,6,0.150,0.038,2877,1981,2190,0,0,0,0,0,0
$GC,6367,0.74,146.0,210.0,11.6,337,6371,0.00,2.15,0.00,0.000,4,0.000,0.051,2877,3382,2189,0,0,0,0,0,0
$GC,6439,0.74,146.0,200.2,14.1,340,6444,0.00,2.20,0.00,0.000,6,0.000,0.040,2885,1967,2187,0,0,0,0,0,0
$GC,6768,0.74,146.0,160.7,12.4,370,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1967,2187,0,0,0,0,0,0
$GC,7097,0.74,146.0,120.9,11.2,401,7101,0.00,2.22,0.00,0.000,4,0.000,0.050,2885,3385,2187,0,0,0,0,0,0
$GC,7118,0.74,146.0,117.8,12.0,402,7126,0.00,2.22,0.00,0.000,6,0.000,0.041,2895,1974,2187,0,0,0,0,0,0
$GC,7445,0.74,146.0,80.5,12.3,433,7449,0.00,2.17,0.00,0.000,4,0.000,0.056,2906,569,2187,0,0,0,0,0,0
$GC,7510,0.74,146.0,73.3,9.6,444,7518,0.00,2.17,0.00,0.000,6,0.000,0.036,2906,1978,2187,0,0,0,0,0,0
$GC,7848,0.76,168.0,41.6,8.1,505,7873,0.00,2.33,17.10,0.475,4,0.000,0.059,2912,565,2113,0,0,0,0,0,0
$GC,7901,0.79,186.4,37.2,8.3,514,7925,0.00,2.22,16.75,0.466,6,0.000,0.039,2912,1987,2038,0,0,0,0,0,0
$GC,8245,0.79,186.4,3.9,9.5,578,8253,0.00,2.20,0.00,0.000,4,0.000,0.051,2912,3376,2036,0,0,0,0,0,0
$STATE,8258,end climb,SURFACE_DEPTH_REACHED
$STATE,8259,begin surface coast
$FINISH,0.5,1.009725
$STATE,8286,end surface coast,CONTROL_FINISHED_OK
$STATE,8286,begin surface
$SM_CCo,8307,52.92,0.442,0,0,1575,300.24
$SM_GC,1.34,0.00,0.00,52.92,0.000,0.000,0.442,44,1954,1575,-8.12,-0.17,300.24
$IRIDIUM_FIX,2059.45,-15745.74,170802,060639
$TT8_MAMPS,0.028379
$HUMID,62.91
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,24.7,22.073
$10V_AH,10.4,24.180
$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,18.575,71.300,278.225,52.925,0.000,30.975,36.418,143.118,19.500,0.000,26.970,1067.576,4916.855,395.937,1890.730,437.210,0.000,1041.156,0.000,1835.367,0.000,121.295,0.000
$DEVICE_MAMPS,227.799,62.894,773.903,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,397.310,326.091,1135.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,31870,585
$CAP_FILE_SIZE,88614,0
$CFSIZE,260165632,242434048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230513,112806,2103.400,-15744.125,18,1.6,18,9.8