version: 66.06
glider: 523
mission: 4
dive: 298
start: 5 26 113 10 46 22
data:
$ID,523
$MISSION,4
$DIVE,298
$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,-41707.266
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,104034,2109.421,-15756.973,23,0.9,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.0
$GPS2,104605,2109.395,-15757.012,15,1.1,15,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,95.4,25239,-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,-75.95,0.000,2,0.000,0.000,49,1979,3378,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.4,-5.2,12,112,9.48,0.00,-0.38,0.000,6,0.232,0.000,2392,1980,3397,0,0,0,0,0,0
$GC,274,-0.74,-146.0,43.0,-17.8,44,282,0.00,2.35,0.00,0.000,4,0.000,0.058,2392,555,3399,0,0,0,0,0,0
$GC,414,-0.74,-146.0,66.0,-16.7,69,420,0.00,2.12,0.00,0.000,6,0.000,0.035,2384,1962,3399,0,0,0,0,0,0
$GC,749,-0.74,-146.0,109.4,-11.7,110,756,0.00,2.22,0.00,0.000,4,0.000,0.051,2384,557,3401,0,0,0,0,0,0
$GC,766,-0.74,-146.0,111.6,-10.8,111,774,0.00,2.15,0.00,0.000,6,0.000,0.035,2375,1953,3401,0,0,0,0,0,0
$GC,1093,-0.74,-146.0,147.8,-11.5,142,1097,0.00,2.22,0.00,0.000,4,0.000,0.054,2365,3367,3402,0,0,0,0,0,0
$GC,1202,-0.74,-146.0,160.3,-11.7,151,1207,0.12,2.17,0.00,0.000,6,0.152,0.042,2397,1963,3402,0,0,0,0,0,0
$GC,1530,-0.74,-146.0,188.7,-5.8,181,1534,0.00,2.22,0.00,0.000,4,0.000,0.051,2398,538,3403,0,0,0,0,0,0
$GC,1784,-0.74,-146.0,211.7,-10.5,198,1789,0.00,2.15,0.00,0.000,6,0.000,0.033,2390,1967,3403,0,0,0,0,0,0
$GC,2103,-0.74,-146.0,240.3,-8.2,214,2107,0.00,2.25,0.00,0.000,4,0.000,0.051,2390,551,3403,0,0,0,0,0,0
$GC,2265,-0.74,-146.0,253.5,-8.7,221,2269,0.00,2.12,0.00,0.000,6,0.000,0.034,2380,1964,3403,0,0,0,0,0,0
$GC,2588,-0.74,-146.0,283.9,-9.4,237,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1965,3403,0,0,0,0,0,0
$GC,2897,-0.74,-146.0,305.8,-6.0,250,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1965,3402,0,0,0,0,0,0
$GC,3220,-0.74,-146.0,327.8,-7.7,258,3224,0.00,2.28,0.00,0.000,4,0.000,0.054,2380,551,3402,0,0,0,0,0,0
$GC,3394,-0.74,-146.0,343.2,-8.0,262,3399,0.12,2.15,0.00,0.000,6,0.168,0.036,2404,1962,3400,0,0,0,0,0,0
$GC,3720,-0.74,-146.0,363.9,-6.2,270,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1963,3399,0,0,0,0,0,0
$GC,4044,-0.74,-146.0,379.5,-4.7,278,4048,0.00,2.30,0.00,0.000,4,0.000,0.056,2404,550,3396,0,0,0,0,0,0
$GC,4257,-0.74,-146.0,396.0,-8.9,282,4262,0.00,2.15,0.00,0.000,6,0.000,0.038,2396,1958,3395,0,0,0,0,0,0
$GC,4589,-0.74,-146.0,424.3,-8.2,291,4593,0.00,2.22,0.00,0.000,4,0.000,0.057,2386,3369,3393,0,0,0,0,0,0
$GC,4629,-0.74,-146.0,427.0,-6.5,292,4633,0.00,2.20,0.00,0.000,6,0.000,0.041,2386,1952,3393,0,0,0,0,0,0
$GC,4953,-0.74,-146.0,443.2,-4.2,300,4957,0.00,2.22,0.00,0.000,4,0.000,0.061,2385,553,3392,0,0,0,0,0,0
$GC,4998,-0.74,-146.0,445.7,-5.5,301,5002,0.00,2.17,0.00,0.000,6,0.000,0.040,2376,1966,3391,0,0,0,0,0,0
$STATE,5070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5070,begin apogee
$GC,5077,-0.17,0.0,450.5,6.7,303,5199,0.65,0.00,119.05,0.784,6,0.121,0.000,2584,1966,2800,0,0,0,0,0,0
$STATE,5200,end apogee,CONTROL_FINISHED_OK
$STATE,5200,begin climb
$GC,5203,0.74,146.0,452.0,0.0,306,5333,0.85,0.00,127.03,0.755,6,0.074,0.000,2875,1966,2204,0,0,0,0,0,0
$GC,5637,0.74,146.0,392.2,14.5,317,5641,0.00,2.28,0.00,0.000,4,0.000,0.055,2875,3376,2197,0,0,0,0,0,0
$GC,5710,0.74,146.0,381.1,14.7,318,5714,0.00,2.25,0.00,0.000,6,0.000,0.048,2884,1976,2195,0,0,0,0,0,0
$GC,6046,0.74,146.0,332.8,15.0,327,6050,0.00,2.30,0.00,0.000,4,0.000,0.067,2894,555,2193,0,0,0,0,0,0
$GC,6108,0.74,146.0,322.4,16.5,328,6112,0.00,2.22,0.00,0.000,6,0.000,0.042,2894,1975,2192,0,0,0,0,0,0
$GC,6438,0.74,146.0,273.6,15.1,340,6442,0.00,2.17,0.00,0.000,4,0.000,0.053,2895,3383,2191,0,0,0,0,0,0
$GC,6477,0.74,146.0,267.1,17.1,342,6481,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,1963,2191,0,0,0,0,0,0
$GC,6803,0.74,146.0,223.1,12.8,358,6807,0.00,2.28,0.00,0.000,4,0.000,0.060,2904,3382,2190,0,0,0,0,0,0
$GC,6843,0.74,146.0,217.8,13.3,360,6848,0.12,2.22,0.00,0.000,6,0.156,0.049,2878,1977,2189,0,0,0,0,0,0
$GC,7166,0.74,152.6,184.1,8.8,382,7179,0.00,2.28,4.43,0.463,4,0.000,0.061,2887,566,2176,0,0,0,0,0,0
$GC,7259,0.74,152.6,174.9,9.1,390,7264,0.00,2.17,0.00,0.000,6,0.000,0.041,2887,1985,2176,0,0,0,0,0,0
$GC,7586,0.74,152.6,138.6,12.1,420,7590,0.00,2.20,0.00,0.000,4,0.000,0.053,2887,3383,2175,0,0,0,0,0,0
$GC,7692,0.74,152.6,125.6,11.9,429,7696,0.00,2.20,0.00,0.000,6,0.000,0.046,2895,1966,2175,0,0,0,0,0,0
$GC,8019,0.74,152.6,90.5,10.1,459,8023,0.00,2.25,0.00,0.000,4,0.000,0.054,2895,3388,2175,0,0,0,0,0,0
$GC,8051,0.74,152.6,87.2,9.9,461,8058,0.00,2.22,0.00,0.000,6,0.000,0.042,2904,1975,2176,0,0,0,0,0,0
$GC,8378,0.74,152.6,58.0,9.3,514,8385,0.00,2.25,0.00,0.000,4,0.000,0.054,2904,3374,2175,0,0,0,0,0,0
$GC,8421,0.74,152.6,54.2,9.7,521,8427,0.12,2.17,0.00,0.000,6,0.148,0.043,2876,1973,2175,0,0,0,0,0,0
$GC,8752,0.83,222.6,29.9,6.1,582,8816,0.00,2.25,58.70,0.482,4,0.000,0.056,2885,559,1892,0,0,0,0,0,0
$GC,8979,0.84,231.3,12.9,8.7,622,8993,0.00,2.20,9.05,0.410,6,0.000,0.035,2885,1968,1856,0,0,0,0,0,0
$STATE,9089,end climb,SURFACE_DEPTH_REACHED
$STATE,9089,begin surface coast
$FINISH,0.5,1.003828
$STATE,9114,end surface coast,CONTROL_FINISHED_OK
$STATE,9114,begin surface
$SM_CCo,9131,32.55,0.436,0,0,1574,300.24
$SM_GC,1.41,0.00,0.00,32.55,0.000,0.000,0.436,34,1979,1574,-8.15,0.54,300.24
$IRIDIUM_FIX,2106.38,-15757.32,200802,080855
$TT8_MAMPS,0.028379
$HUMID,63.93
$INTERNAL_PRESSURE,9.37261
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,24.6,24.428
$10V_AH,10.5,26.783
$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,18.775,79.850,318.250,32.550,0.000,25.653,33.337,144.388,19.250,0.000,15.948,1173.780,5364.070,415.022,2091.076,451.759,0.000,1141.776,0.000,2052.212,0.000,117.241,0.000
$DEVICE_MAMPS,231.634,67.496,783.874,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,439.071,371.291,1270.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34909,646
$CAP_FILE_SIZE,98129,0
$CFSIZE,260165632,241037312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260513,132000,2109.267,-15756.464,14,2.0,14,9.8