version: 66.06
glider: 523
mission: 4
dive: 315
start: 5 28 113 7 4 46
data:
$ID,523
$MISSION,4
$DIVE,315
$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,-42057.277
$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,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
$GPS1,065900,2106.206,-15743.199,37,2.0,37,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.4
$GPS2,070429,2106.252,-15743.200,18,1.3,18,9.8
$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,206.9,19259,-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,16,-0.74,-146.0,0.0,0.0,0,99,0.00,0.00,-77.32,0.000,6,0.000,0.000,37,1949,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.0,13,118,9.60,2.20,0.00,0.000,4,0.232,0.049,2394,549,3396,0,0,0,0,0,0
$GC,342,-0.74,-146.0,54.2,-17.3,57,347,0.00,2.17,0.00,0.000,6,0.000,0.036,2385,1962,3398,0,0,0,0,0,0
$GC,677,-0.74,-146.0,102.0,-13.0,104,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1963,3400,0,0,0,0,0,0
$GC,996,-0.74,-146.0,139.0,-11.3,134,1000,0.00,2.25,0.00,0.000,4,0.000,0.053,2385,551,3401,0,0,0,0,0,0
$GC,1176,-0.74,-146.0,159.6,-11.3,150,1180,0.00,2.15,0.00,0.000,6,0.000,0.032,2376,1973,3402,0,0,0,0,0,0
$GC,1508,-0.74,-146.0,192.9,-9.4,181,1512,0.00,2.28,0.00,0.000,4,0.000,0.052,2376,551,3402,0,0,0,0,0,0
$GC,1763,-0.74,-146.0,221.4,-8.8,195,1769,0.12,2.10,0.00,0.000,6,0.164,0.033,2399,1962,3402,0,0,0,0,0,0
$GC,2081,-0.74,-146.0,242.2,-6.8,211,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1962,3403,0,0,0,0,0,0
$GC,2388,-0.74,-146.0,263.3,-6.9,226,2392,0.00,2.25,0.00,0.000,4,0.000,0.052,2399,546,3403,0,0,0,0,0,0
$GC,2533,-0.74,-146.0,274.1,-8.0,232,2539,0.00,2.15,0.00,0.000,6,0.000,0.035,2391,1963,3403,0,0,0,0,0,0
$GC,2851,-0.74,-146.0,297.2,-7.9,248,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1963,3403,0,0,0,0,0,0
$GC,3176,-0.74,-146.0,325.3,-8.9,257,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1963,3402,0,0,0,0,0,0
$GC,3502,-0.74,-146.0,353.1,-8.6,265,3506,0.00,2.28,0.00,0.000,4,0.000,0.055,2391,542,3400,0,0,0,0,0,0
$GC,3643,-0.74,-146.0,365.5,-8.0,268,3647,0.00,2.17,0.00,0.000,6,0.000,0.038,2381,1962,3399,0,0,0,0,0,0
$GC,3956,-0.74,-146.0,387.8,-7.0,276,3960,0.00,2.17,0.00,0.000,4,0.000,0.057,2371,3365,3397,0,0,0,0,0,0
$GC,4181,-0.74,-146.0,406.5,-8.1,281,4186,0.12,2.22,0.00,0.000,6,0.150,0.044,2404,1955,3395,0,0,0,0,0,0
$GC,4503,-0.74,-146.0,426.6,-6.0,289,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1955,3394,0,0,0,0,0,0
$GC,4827,-0.74,-146.0,447.1,-6.3,297,4831,0.00,2.25,0.00,0.000,4,0.000,0.060,2405,548,3392,0,0,0,0,0,0
$STATE,4869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4869,begin apogee
$GC,4878,-0.17,0.0,450.4,7.0,298,5001,0.55,0.00,119.18,0.778,6,0.121,0.000,2578,1973,2799,0,0,0,0,0,0
$STATE,5002,end apogee,CONTROL_FINISHED_OK
$STATE,5002,begin climb
$GC,5005,0.74,146.0,451.8,0.0,301,5139,0.88,2.35,126.50,0.748,4,0.097,0.053,2873,3375,2203,0,0,0,0,0,0
$GC,5186,0.74,146.0,433.1,13.5,305,5190,0.00,2.30,0.00,0.000,6,0.000,0.047,2882,1976,2200,0,0,0,0,0,0
$GC,5523,0.74,146.0,387.5,13.9,314,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1976,2196,0,0,0,0,0,0
$GC,5847,0.74,146.0,343.4,13.7,322,5851,0.00,2.28,0.00,0.000,4,0.000,0.060,2892,565,2193,0,0,0,0,0,0
$GC,5897,0.74,146.0,336.4,14.3,323,5901,0.00,2.17,0.00,0.000,6,0.000,0.039,2893,1982,2193,0,0,0,0,0,0
$GC,6211,0.74,146.0,291.5,14.4,332,6215,0.00,2.20,0.00,0.000,4,0.000,0.053,2893,3386,2192,0,0,0,0,0,0
$GC,6278,0.74,146.0,281.6,15.0,335,6283,0.00,2.28,0.00,0.000,6,0.000,0.051,2901,1964,2191,0,0,0,0,0,0
$GC,6600,0.74,146.0,237.7,13.3,351,6604,0.00,2.22,0.00,0.000,4,0.000,0.060,2911,565,2190,0,0,0,0,0,0
$GC,6711,0.74,146.0,221.2,14.7,356,6716,0.12,2.17,0.00,0.000,6,0.140,0.038,2877,1976,2189,0,0,0,0,0,0
$GC,7039,0.74,146.0,182.1,11.2,379,7043,0.00,2.30,0.00,0.000,4,0.000,0.063,2885,555,2189,0,0,0,0,0,0
$GC,7104,0.74,146.0,174.7,11.0,384,7111,0.00,2.22,0.00,0.000,6,0.000,0.039,2885,1981,2188,0,0,0,0,0,0
$GC,7431,0.74,146.0,137.0,11.9,415,7435,0.00,2.20,0.00,0.000,4,0.000,0.056,2885,3388,2188,0,0,0,0,0,0
$GC,7505,0.74,146.0,128.2,11.2,421,7509,0.00,2.22,0.00,0.000,6,0.000,0.039,2893,1965,2187,0,0,0,0,0,0
$GC,7833,0.74,146.0,93.8,10.8,451,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1965,2186,0,0,0,0,0,0
$GC,8163,0.74,146.0,59.9,9.7,500,8170,0.00,2.28,0.00,0.000,4,0.000,0.051,2893,3377,2187,0,0,0,0,0,0
$GC,8263,0.74,146.0,48.1,12.7,518,8270,0.00,2.20,0.00,0.000,6,0.000,0.038,2900,1980,2187,0,0,0,0,0,0
$GC,8593,0.74,152.6,16.2,8.8,579,8608,0.00,2.25,4.40,0.347,4,0.000,0.048,2900,3380,2177,0,0,0,0,0,0
$GC,8634,0.77,169.9,12.9,8.3,585,8655,0.00,2.22,16.27,0.447,6,0.000,0.042,2908,1969,2106,0,0,0,0,0,0
$STATE,8754,end climb,SURFACE_DEPTH_REACHED
$STATE,8754,begin surface coast
$FINISH,0.5,1.006167
$STATE,8787,end surface coast,CONTROL_FINISHED_OK
$STATE,8787,begin surface
$SM_CCo,8805,61.05,0.446,0,0,1575,300.24
$SM_GC,1.48,0.00,0.00,61.05,0.000,0.000,0.446,47,1962,1575,-8.11,0.06,300.24
$IRIDIUM_FIX,2101.76,-15810.63,220802,040448
$TT8_MAMPS,0.027612
$HUMID,63.90
$INTERNAL_PRESSURE,9.36285
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,24.6,25.835
$10V_AH,10.5,28.326
$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,18.675,66.775,266.350,61.050,0.000,24.953,35.034,138.984,19.250,0.000,18.468,1117.153,5247.638,388.123,2012.540,429.781,0.000,1078.205,0.000,1967.518,0.000,117.244,0.000
$DEVICE_MAMPS,232.401,62.894,777.738,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,417.200,355.622,1202.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,34963,613
$CAP_FILE_SIZE,92344,0
$CFSIZE,260165632,240214016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280513,093332,2105.467,-15743.138,20,1.1,20,9.8