version: 66.06
glider: 523
mission: 4
dive: 309
start: 5 27 113 15 28 43
data:
$ID,523
$MISSION,4
$DIVE,309
$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,-41939.801
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,151904,2107.615,-15748.796,26,1.4,26,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.3
$GPS2,152825,2107.658,-15748.985,21,0.9,21,9.8
$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,98.2,11025,-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,-75.82,0.000,2,0.000,0.000,50,1965,3373,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.3,-4.9,12,113,9.48,2.28,-0.47,0.000,4,0.230,0.064,2392,546,3396,0,0,0,0,0,0
$GC,229,-0.74,-146.0,34.0,-17.3,35,234,0.00,2.17,0.00,0.000,6,0.000,0.035,2384,1965,3398,0,0,0,0,0,0
$GC,565,-0.74,-146.0,84.6,-12.8,94,570,0.00,2.25,0.00,0.000,4,0.000,0.054,2384,552,3398,0,0,0,0,0,0
$GC,589,-0.74,-146.0,87.9,-13.3,96,593,0.00,2.15,0.00,0.000,6,0.000,0.035,2375,1963,3398,0,0,0,0,0,0
$GC,917,-0.74,-146.0,135.4,-14.6,126,921,0.00,2.28,0.00,0.000,4,0.000,0.052,2375,553,3400,0,0,0,0,0,0
$GC,1048,-0.74,-146.0,153.8,-11.8,137,1055,0.10,2.17,0.00,0.000,6,0.146,0.035,2396,1969,3400,0,0,0,0,0,0
$GC,1375,-0.74,-146.0,183.3,-9.1,168,1379,0.00,2.25,0.00,0.000,4,0.000,0.051,2397,553,3400,0,0,0,0,0,0
$GC,1452,-0.74,-146.0,190.5,-9.6,174,1456,0.00,2.15,0.00,0.000,6,0.000,0.035,2389,1971,3401,0,0,0,0,0,0
$GC,1787,-0.74,-146.0,223.3,-10.3,195,1791,0.00,2.28,0.00,0.000,4,0.000,0.052,2389,548,3401,0,0,0,0,0,0
$GC,2012,-0.74,-146.0,245.4,-9.3,205,2016,0.00,2.15,0.00,0.000,6,0.000,0.035,2379,1969,3401,0,0,0,0,0,0
$GC,2341,-0.74,-146.0,272.1,-7.8,221,2345,0.00,2.25,0.00,0.000,4,0.000,0.054,2379,550,3401,0,0,0,0,0,0
$GC,2601,-0.74,-146.0,291.2,-6.9,232,2607,0.12,2.15,0.00,0.000,6,0.173,0.036,2402,1965,3400,0,0,0,0,0,0
$GC,2915,-0.74,-146.0,309.8,-5.8,244,2920,0.00,2.28,0.00,0.000,4,0.000,0.057,2403,547,3400,0,0,0,0,0,0
$GC,3021,-0.74,-146.0,316.9,-7.0,246,3025,0.00,2.15,0.00,0.000,6,0.000,0.038,2395,1965,3400,0,0,0,0,0,0
$GC,3370,-0.74,-146.0,335.7,-5.3,255,3374,0.00,2.22,0.00,0.000,4,0.000,0.058,2384,3372,3398,0,0,0,0,0,0
$GC,3420,-0.74,-146.0,338.7,-5.8,256,3424,0.00,2.20,0.00,0.000,6,0.000,0.042,2384,1962,3398,0,0,0,0,0,0
$GC,3736,-0.74,-146.0,363.3,-8.7,264,3740,0.00,2.28,0.00,0.000,4,0.000,0.063,2384,551,3396,0,0,0,0,0,0
$GC,3988,-0.74,-146.0,384.7,-7.7,269,3992,0.00,2.15,0.00,0.000,6,0.000,0.041,2375,1959,3394,0,0,0,0,0,0
$GC,4324,-0.74,-146.0,408.4,-6.9,278,4328,0.00,2.22,0.00,0.000,4,0.000,0.054,2365,3376,3393,0,0,0,0,0,0
$GC,4386,-0.74,-146.0,412.9,-7.2,279,4391,0.12,2.22,0.00,0.000,6,0.150,0.045,2398,1957,3392,0,0,0,0,0,0
$GC,4731,-0.74,-146.0,431.9,-5.6,288,4735,0.00,2.20,0.00,0.000,4,0.000,0.058,2398,550,3391,0,0,0,0,0,0
$GC,4911,-0.74,-146.0,444.5,-7.5,292,4915,0.00,2.17,0.00,0.000,6,0.000,0.044,2390,1969,3389,0,0,0,0,0,0
$STATE,5029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5030,begin apogee
$GC,5036,-0.17,0.0,452.1,6.3,295,5158,0.60,0.00,118.65,0.778,6,0.120,0.000,2583,1969,2800,0,0,0,0,0,0
$STATE,5159,end apogee,CONTROL_FINISHED_OK
$STATE,5159,begin climb
$GC,5162,0.74,146.0,452.3,0.0,298,5292,0.82,0.00,126.15,0.747,6,0.080,0.000,2868,1969,2204,0,0,0,0,0,0
$GC,5608,0.74,146.0,395.4,12.8,309,5612,0.00,2.28,0.00,0.000,4,0.000,0.064,2877,567,2196,0,0,0,0,0,0
$GC,5630,0.74,146.0,392.5,12.4,309,5634,0.00,2.22,0.00,0.000,6,0.000,0.044,2878,1979,2195,0,0,0,0,0,0
$GC,5967,0.74,146.0,345.7,14.1,318,5971,0.00,2.20,0.00,0.000,4,0.000,0.053,2877,3387,2194,0,0,0,0,0,0
$GC,6045,0.74,146.0,334.5,14.0,319,6050,0.00,2.22,0.00,0.000,6,0.000,0.041,2887,1963,2192,0,0,0,0,0,0
$GC,6356,0.74,146.0,295.7,12.2,328,6360,0.00,2.28,0.00,0.000,4,0.000,0.051,2887,3396,2191,0,0,0,0,0,0
$GC,6383,0.74,146.0,291.9,13.6,329,6387,0.00,2.22,0.00,0.000,6,0.000,0.041,2897,1975,2190,0,0,0,0,0,0
$GC,6699,0.74,146.0,247.7,12.3,344,6703,0.00,2.25,0.00,0.000,4,0.000,0.061,2907,567,2190,0,0,0,0,0,0
$GC,6783,0.74,146.0,236.5,12.6,348,6787,0.00,2.20,0.00,0.000,6,0.000,0.040,2907,1988,2189,0,0,0,0,0,0
$GC,7111,0.74,146.0,192.9,12.5,366,7115,0.00,2.30,0.00,0.000,4,0.000,0.061,2916,561,2189,0,0,0,0,0,0
$GC,7153,0.74,146.0,186.4,14.3,369,7160,0.10,2.20,0.00,0.000,6,0.119,0.041,2881,1966,2188,0,0,0,0,0,0
$GC,7480,0.74,146.0,152.4,10.5,400,7484,0.00,2.17,0.00,0.000,4,0.000,0.053,2881,3383,2187,0,0,0,0,0,0
$GC,7662,0.74,146.0,131.0,12.2,416,7666,0.00,2.17,0.00,0.000,6,0.000,0.041,2890,1975,2187,0,0,0,0,0,0
$GC,7989,0.74,146.0,95.1,12.5,446,7993,0.00,2.20,0.00,0.000,4,0.000,0.056,2900,564,2187,0,0,0,0,0,0
$GC,8030,0.74,146.0,90.4,11.3,449,8034,0.00,2.15,0.00,0.000,6,0.000,0.038,2900,1976,2187,0,0,0,0,0,0
$GC,8363,0.79,190.0,57.4,7.2,501,8403,0.00,2.20,34.70,0.500,4,0.000,0.050,2900,3392,2025,0,0,0,0,0,0
$GC,8511,0.79,190.0,43.3,11.2,527,8516,0.00,2.25,0.00,0.000,6,0.000,0.042,2907,1964,2023,0,0,0,0,0,0
$GC,8836,0.79,190.0,8.5,9.4,588,8844,0.00,2.22,0.00,0.000,4,0.000,0.055,2916,575,2023,0,0,0,0,0,0
$STATE,8887,end climb,SURFACE_DEPTH_REACHED
$STATE,8887,begin surface coast
$FINISH,0.9,1.023357
$STATE,8914,end surface coast,CONTROL_FINISHED_OK
$STATE,8914,begin surface
$SM_CCo,8934,49.38,0.439,0,0,1575,300.24
$SM_GC,1.30,0.00,0.00,49.38,0.000,0.000,0.439,34,1981,1575,-8.15,0.59,300.24
$IRIDIUM_FIX,2054.83,-15748.75,210802,151547
$TT8_MAMPS,0.027612
$HUMID,63.19
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.7,25.342
$10V_AH,10.4,27.785
$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,18.600,88.550,279.500,49.375,0.000,49.991,75.976,230.873,19.000,0.000,24.010,1133.531,5339.905,392.913,2064.143,614.770,0.000,1121.484,0.000,2014.616,0.000,117.250,0.000
$DEVICE_MAMPS,230.100,63.661,777.738,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.961,336.459,1144.372,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,31840,602
$CAP_FILE_SIZE,102258,0
$CFSIZE,260165632,240504832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270513,175933,2107.566,-15748.599,27,1.1,27,9.8