version: 66.06
glider: 523
mission: 4
dive: 302
start: 5 26 113 21 19 46
data:
$ID,523
$MISSION,4
$DIVE,302
$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,-41790.812
$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,28
$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
$GPS1,211328,2108.769,-15754.727,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.9
$GPS2,211929,2108.750,-15754.771,17,0.8,17,9.8
$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,95.1,21191,-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,-75.88,0.000,2,0.000,0.000,43,1964,3385,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.5,-5.5,12,113,9.45,2.25,-0.17,0.000,4,0.229,0.062,2395,546,3394,0,0,0,0,0,0
$GC,142,-0.74,-146.0,17.0,-28.0,19,150,0.00,2.22,0.00,0.000,6,0.000,0.039,2387,1966,3396,0,0,0,0,0,0
$GC,313,-0.74,-146.0,48.5,-16.8,50,320,0.00,2.22,0.00,0.000,4,0.000,0.055,2377,3365,3396,0,0,0,0,0,0
$GC,327,-0.74,-146.0,51.1,-16.3,52,334,0.00,2.25,0.00,0.000,6,0.000,0.046,2376,1970,3397,0,0,0,0,0,0
$GC,661,-0.74,-146.0,101.1,-13.6,100,665,0.00,2.25,0.00,0.000,4,0.000,0.057,2376,541,3398,0,0,0,0,0,0
$GC,843,-0.74,-146.0,127.0,-14.4,116,848,0.12,2.15,0.00,0.000,6,0.176,0.034,2397,1970,3399,0,0,0,0,0,0
$GC,1175,-0.74,-146.0,162.9,-10.6,147,1179,0.00,2.20,0.00,0.000,4,0.000,0.054,2389,3364,3400,0,0,0,0,0,0
$GC,1238,-0.74,-146.0,169.5,-10.5,152,1245,0.00,2.20,0.00,0.000,6,0.000,0.045,2389,1955,3400,0,0,0,0,0,0
$GC,1572,-0.74,-146.0,197.2,-8.7,183,1576,0.00,2.20,0.00,0.000,4,0.000,0.051,2389,542,3400,0,0,0,0,0,0
$GC,1684,-0.74,-146.0,208.7,-10.2,189,1688,0.00,2.12,0.00,0.000,6,0.000,0.032,2378,1975,3400,0,0,0,0,0,0
$GC,2013,-0.74,-146.0,235.1,-7.8,205,2017,0.00,2.25,0.00,0.000,4,0.000,0.050,2379,548,3399,0,0,0,0,0,0
$GC,2272,-0.74,-146.0,258.8,-8.2,216,2278,0.12,2.10,0.00,0.000,6,0.173,0.035,2402,1956,3400,0,0,0,0,0,0
$GC,2590,-0.74,-146.0,280.0,-7.3,232,2594,0.00,2.22,0.00,0.000,4,0.000,0.054,2402,551,3400,0,0,0,0,0,0
$GC,2748,-0.74,-146.0,294.5,-8.9,239,2753,0.00,2.15,0.00,0.000,6,0.000,0.035,2394,1969,3400,0,0,0,0,0,0
$GC,3072,-0.74,-146.0,319.9,-7.6,249,3076,0.00,2.20,0.00,0.000,4,0.000,0.055,2383,3359,3399,0,0,0,0,0,0
$GC,3121,-0.74,-146.0,323.6,-6.7,250,3125,0.00,2.20,0.00,0.000,6,0.000,0.042,2383,1950,3399,0,0,0,0,0,0
$GC,3443,-0.74,-146.0,349.4,-8.2,258,3449,0.00,2.22,0.00,0.000,4,0.000,0.058,2383,551,3397,0,0,0,0,0,0
$GC,3702,-0.74,-146.0,374.6,-8.8,263,3706,0.00,2.12,0.00,0.000,6,0.000,0.038,2374,1956,3395,0,0,0,0,0,0
$GC,4040,-0.74,-146.0,400.4,-7.3,272,4044,0.00,2.25,0.00,0.000,4,0.000,0.059,2374,554,3393,0,0,0,0,0,0
$GC,4293,-0.74,-146.0,419.3,-6.2,277,4297,0.12,2.15,0.00,0.000,6,0.168,0.040,2397,1967,3392,0,0,0,0,0,0
$GC,4629,-0.74,-146.0,437.6,-5.3,286,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1968,3390,0,0,0,0,0,0
$STATE,4872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4872,begin apogee
$GC,4879,-0.17,0.0,451.7,5.9,292,5000,0.57,0.00,118.18,0.778,6,0.119,0.000,2585,1967,2800,0,0,0,0,0,0
$STATE,5001,end apogee,CONTROL_FINISHED_OK
$STATE,5001,begin climb
$GC,5004,0.74,146.0,453.5,0.0,295,5134,0.85,0.00,125.85,0.749,6,0.087,0.000,2874,1967,2204,0,0,0,0,0,0
$GC,5451,0.74,146.0,401.3,12.7,306,5455,0.00,2.25,0.00,0.000,4,0.000,0.057,2874,3377,2196,0,0,0,0,0,0
$GC,5484,0.74,146.0,396.6,14.3,306,5489,0.00,2.28,0.00,0.000,6,0.000,0.048,2883,1977,2195,0,0,0,0,0,0
$GC,5815,0.74,146.0,351.0,14.4,315,5819,0.00,2.30,0.00,0.000,4,0.000,0.061,2893,555,2193,0,0,0,0,0,0
$GC,5859,0.74,146.0,344.3,15.6,316,5863,0.00,2.22,0.00,0.000,6,0.000,0.041,2894,1972,2192,0,0,0,0,0,0
$GC,6177,0.74,146.0,295.4,15.1,324,6181,0.00,2.22,0.00,0.000,4,0.000,0.053,2894,3387,2191,0,0,0,0,0,0
$GC,6232,0.74,146.0,286.6,16.6,326,6238,0.00,2.28,0.00,0.000,6,0.000,0.050,2897,1965,2190,0,0,0,0,0,0
$GC,6548,0.74,146.0,241.9,13.3,342,6552,0.00,2.25,0.00,0.000,4,0.000,0.061,2908,556,2190,0,0,0,0,0,0
$GC,6603,0.74,146.0,233.9,15.3,344,6609,0.12,2.20,0.00,0.000,6,0.143,0.039,2874,1980,2189,0,0,0,0,0,0
$GC,6922,0.74,146.0,194.9,12.2,362,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1981,2189,0,0,0,0,0,0
$GC,7243,0.77,169.8,162.7,8.0,392,7267,0.00,2.20,18.67,0.595,4,0.000,0.052,2874,3380,2107,0,0,0,0,0,0
$GC,7292,0.77,176.3,157.9,8.8,396,7305,0.00,2.22,7.03,0.509,6,0.000,0.046,2880,1970,2080,0,0,0,0,0,0
$GC,7624,0.77,176.3,123.3,11.0,427,7628,0.00,2.25,0.00,0.000,4,0.000,0.058,2891,563,2078,0,0,0,0,0,0
$GC,7666,0.77,176.3,118.9,10.4,430,7670,0.00,2.20,0.00,0.000,6,0.000,0.039,2891,1982,2077,0,0,0,0,0,0
$GC,7992,0.77,176.3,81.6,11.0,460,7996,0.00,2.20,0.00,0.000,4,0.000,0.051,2891,3383,2077,0,0,0,0,0,0
$GC,8044,0.77,176.3,76.1,10.7,467,8050,0.00,2.22,0.00,0.000,6,0.000,0.044,2899,1972,2077,0,0,0,0,0,0
$GC,8373,0.78,177.3,43.8,9.0,528,8381,0.00,2.25,0.00,0.000,4,0.000,0.057,2909,565,2077,0,0,0,0,0,0
$GC,8506,0.78,177.3,31.4,10.3,552,8514,0.00,2.17,0.00,0.000,6,0.000,0.036,2909,1971,2077,0,0,0,0,0,0
$STATE,8828,end climb,SURFACE_DEPTH_REACHED
$STATE,8829,begin surface coast
$FINISH,0.5,1.023187
$STATE,8858,end surface coast,CONTROL_FINISHED_OK
$STATE,8858,begin surface
$SM_CCo,8876,56.10,0.445,0,0,1575,300.24
$SM_GC,1.22,0.00,0.00,56.10,0.000,0.000,0.445,42,1979,1575,-8.12,0.54,300.24
$IRIDIUM_FIX,2057.14,-15836.36,200802,181803
$TT8_MAMPS,0.027612
$HUMID,63.70
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,24.7,24.753
$10V_AH,10.5,27.150
$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,18.600,79.675,269.725,56.100,0.000,24.160,39.118,166.047,19.500,0.000,17.918,1154.890,5184.745,398.086,2087.847,466.247,0.000,1117.497,0.000,2037.341,0.000,117.268,0.000
$DEVICE_MAMPS,229.333,62.127,777.738,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,420.879,348.323,1222.716,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,34976,618
$CAP_FILE_SIZE,96711,0
$CFSIZE,260165632,240840704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260513,234930,2108.745,-15753.300,13,1.8,13,9.8