version: 66.06
glider: 523
mission: 4
dive: 271
start: 5 23 113 14 8 34
data:
$ID,523
$MISSION,4
$DIVE,271
$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,-41183.426
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,140234,2102.065,-15745.150,32,0.8,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-76.3
$GPS2,140817,2102.057,-15745.151,15,1.4,15,9.8
$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,216.9,11184,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.53,0.000,6,0.000,0.000,29,1973,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.2,-6.9,13,118,9.45,2.20,0.00,0.000,4,0.228,0.045,2384,3377,3395,0,0,0,0,0,0
$GC,356,-0.74,-146.0,52.8,-12.2,60,363,0.00,2.28,0.00,0.000,6,0.000,0.042,2384,1952,3398,0,0,0,0,0,0
$GC,691,-0.74,-146.0,99.2,-13.0,108,698,0.00,2.20,0.00,0.000,4,0.000,0.054,2384,547,3399,0,0,0,0,0,0
$GC,850,-0.74,-146.0,121.5,-13.4,122,858,0.00,2.17,0.00,0.000,6,0.000,0.034,2375,1974,3399,0,0,0,0,0,0
$GC,1177,-0.74,-146.0,159.4,-9.8,153,1184,0.00,2.30,0.00,0.000,4,0.000,0.051,2374,546,3400,0,0,0,0,0,0
$GC,1378,-0.74,-146.0,183.1,-11.3,171,1383,0.12,2.15,0.00,0.000,6,0.168,0.035,2397,1968,3400,0,0,0,0,0,0
$GC,1709,-0.74,-146.0,213.2,-7.5,194,1713,0.00,2.25,0.00,0.000,4,0.000,0.052,2398,547,3400,0,0,0,0,0,0
$GC,1753,-0.74,-146.0,216.4,-7.3,196,1757,0.00,2.15,0.00,0.000,6,0.000,0.035,2390,1969,3401,0,0,0,0,0,0
$GC,2077,-0.74,-146.0,245.1,-9.8,212,2081,0.00,2.25,0.00,0.000,4,0.000,0.052,2390,543,3401,0,0,0,0,0,0
$GC,2334,-0.74,-146.0,271.2,-9.5,223,2340,0.00,2.15,0.00,0.000,6,0.000,0.035,2381,1962,3401,0,0,0,0,0,0
$GC,2652,-0.74,-146.0,293.8,-5.7,239,2656,0.00,2.20,0.00,0.000,4,0.000,0.053,2370,3362,3401,0,0,0,0,0,0
$GC,2741,-0.74,-146.0,299.6,-6.7,243,2746,0.12,2.20,0.00,0.000,6,0.151,0.041,2403,1948,3400,0,0,0,0,0,0
$GC,3080,-0.74,-146.0,318.3,-5.2,252,3084,0.00,2.22,0.00,0.000,4,0.000,0.059,2404,547,3400,0,0,0,0,0,0
$GC,3338,-0.74,-146.0,337.6,-7.7,257,3343,0.00,2.15,0.00,0.000,6,0.000,0.037,2396,1961,3399,0,0,0,0,0,0
$GC,3671,-0.74,-146.0,359.6,-6.9,266,3675,0.00,2.20,0.00,0.000,4,0.000,0.055,2384,3370,3398,0,0,0,0,0,0
$GC,3721,-0.74,-146.0,363.8,-7.8,267,3725,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1957,3398,0,0,0,0,0,0
$GC,4042,-0.74,-146.0,386.0,-6.5,275,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1956,3396,0,0,0,0,0,0
$GC,4366,-0.74,-146.0,412.4,-9.5,283,4370,0.00,2.25,0.00,0.000,4,0.000,0.061,2385,554,3394,0,0,0,0,0,0
$GC,4558,-0.74,-146.0,430.6,-9.0,287,4562,0.00,2.17,0.00,0.000,6,0.000,0.041,2375,1968,3392,0,0,0,0,0,0
$STATE,4822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4822,begin apogee
$GC,4829,-0.17,0.0,451.1,7.8,294,4951,0.65,0.00,118.68,0.772,6,0.121,0.000,2585,1969,2799,0,0,0,0,0,0
$STATE,4952,end apogee,CONTROL_FINISHED_OK
$STATE,4952,begin climb
$GC,4954,0.74,146.0,452.6,0.0,297,5084,0.85,0.00,126.53,0.743,6,0.078,0.000,2874,1969,2203,0,0,0,0,0,0
$GC,5390,0.74,146.0,397.6,14.0,308,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1969,2196,0,0,0,0,0,0
$GC,5714,0.74,146.0,350.0,14.7,316,5718,0.00,2.20,0.00,0.000,4,0.000,0.054,2875,3381,2194,0,0,0,0,0,0
$GC,5776,0.74,146.0,340.3,15.1,317,5780,0.00,2.22,0.00,0.000,6,0.000,0.045,2884,1978,2192,0,0,0,0,0,0
$GC,6098,0.74,146.0,296.5,12.9,326,6102,0.00,2.25,0.00,0.000,4,0.000,0.059,2894,555,2191,0,0,0,0,0,0
$GC,6216,0.74,146.0,278.3,17.2,331,6220,0.00,2.20,0.00,0.000,6,0.000,0.042,2894,1969,2190,0,0,0,0,0,0
$GC,6531,0.74,146.0,232.7,13.7,346,6535,0.00,2.17,0.00,0.000,4,0.000,0.053,2895,3386,2189,0,0,0,0,0,0
$GC,6571,0.74,146.0,226.4,15.6,348,6575,0.00,2.22,0.00,0.000,6,0.000,0.044,2904,1976,2189,0,0,0,0,0,0
$GC,6893,0.74,146.0,187.5,11.0,368,6897,0.00,2.25,0.00,0.000,4,0.000,0.059,2914,557,2188,0,0,0,0,0,0
$GC,6955,0.74,146.0,180.5,12.0,373,6960,0.12,2.20,0.00,0.000,6,0.143,0.042,2879,1977,2187,0,0,0,0,0,0
$GC,7282,0.74,146.0,147.5,10.0,403,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1977,2187,0,0,0,0,0,0
$GC,7603,0.76,162.1,118.4,8.4,433,7619,0.00,2.17,11.85,0.522,4,0.000,0.050,2879,3382,2140,0,0,0,0,0,0
$GC,7733,0.76,162.1,105.7,9.4,444,7737,0.00,2.22,0.00,0.000,6,0.000,0.044,2886,1966,2138,0,0,0,0,0,0
$GC,8060,0.76,162.1,72.3,10.0,480,8067,0.00,2.22,0.00,0.000,4,0.000,0.056,2897,564,2138,0,0,0,0,0,0
$GC,8092,0.76,162.1,69.2,10.3,485,8097,0.00,2.17,0.00,0.000,6,0.000,0.038,2897,1979,2137,0,0,0,0,0,0
$GC,8423,0.79,189.1,37.2,7.9,546,8454,0.00,2.22,24.23,0.471,4,0.000,0.050,2897,3384,2026,0,0,0,0,0,0
$GC,8550,0.79,189.1,25.3,10.6,568,8558,0.00,2.22,0.00,0.000,6,0.000,0.041,2904,1976,2025,0,0,0,0,0,0
$GC,8718,0.79,189.1,10.1,9.3,599,8726,0.00,2.25,0.00,0.000,4,0.000,0.054,2913,566,2024,0,0,0,0,0,0
$GC,8796,0.79,189.9,3.3,9.0,613,8804,0.00,2.17,0.00,0.000,6,0.000,0.035,2913,1974,2024,0,0,0,0,0,0
$STATE,8810,end climb,SURFACE_DEPTH_REACHED
$STATE,8810,begin surface coast
$FINISH,0.5,1.009752
$STATE,8842,end surface coast,CONTROL_FINISHED_OK
$STATE,8842,begin surface
$SM_CCo,8860,51.40,0.439,0,0,1574,300.24
$SM_GC,1.22,0.00,0.00,51.40,0.000,0.000,0.439,24,1976,1574,-8.18,0.45,300.24
$IRIDIUM_FIX,2057.14,-15741.46,170802,111151
$TT8_MAMPS,0.027612
$HUMID,62.75
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,24.7,22.229
$10V_AH,10.5,24.360
$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,18.625,75.100,281.275,51.400,0.000,32.881,34.160,148.162,19.250,0.000,16.011,1147.815,5192.624,420.995,2046.878,446.073,0.000,1119.023,0.000,2001.052,0.000,117.273,0.000
$DEVICE_MAMPS,227.799,61.360,771.602,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,422.093,357.074,1222.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34952,621
$CAP_FILE_SIZE,94451,0
$CFSIZE,260165632,242327552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230513,163800,2101.283,-15745.707,15,1.4,15,9.8