version: 66.06
glider: 523
mission: 4
dive: 325
start: 5 29 113 8 55 39
data:
$ID,523
$MISSION,4
$DIVE,325
$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,-42259.367
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,084223,2058.198,-15749.117,37,1.1,37,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.2
$GPS2,085523,2058.202,-15749.089,19,0.9,19,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,300.1,29232,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,102,0.00,0.00,-76.80,0.000,6,0.000,0.000,35,1973,3396,0,0,0,0,0,0
$GC,106,-0.74,-146.0,4.0,-6.0,13,121,9.48,2.17,0.00,0.000,4,0.226,0.044,2384,3366,3397,0,0,0,0,0,0
$GC,312,-0.74,-146.0,48.6,-17.7,51,318,0.00,2.22,0.00,0.000,6,0.000,0.041,2385,1957,3399,0,0,0,0,0,0
$GC,649,-0.74,-146.0,94.8,-12.6,102,656,0.00,2.25,0.00,0.000,4,0.000,0.050,2375,3368,3400,0,0,0,0,0,0
$GC,686,-0.74,-146.0,99.5,-12.9,105,693,0.00,2.22,0.00,0.000,6,0.000,0.042,2375,1950,3400,0,0,0,0,0,0
$GC,1021,-0.74,-146.0,144.2,-12.6,136,1026,0.00,2.20,0.00,0.000,4,0.000,0.054,2375,543,3401,0,0,0,0,0,0
$GC,1273,-0.74,-146.0,176.9,-10.7,159,1278,0.12,2.15,0.00,0.000,6,0.167,0.033,2397,1970,3401,0,0,0,0,0,0
$GC,1597,-0.74,-146.0,205.1,-7.6,186,1601,0.00,2.28,0.00,0.000,4,0.000,0.051,2397,548,3402,0,0,0,0,0,0
$GC,1854,-0.74,-146.0,229.7,-11.3,197,1863,0.00,2.15,0.00,0.000,6,0.000,0.035,2389,1967,3402,0,0,0,0,0,0
$GC,2173,-0.74,-146.0,255.1,-6.7,213,2177,0.00,2.30,0.00,0.000,4,0.000,0.052,2389,538,3402,0,0,0,0,0,0
$GC,2335,-0.74,-146.0,266.4,-7.3,220,2339,0.00,2.17,0.00,0.000,6,0.000,0.036,2379,1963,3401,0,0,0,0,0,0
$GC,2653,-0.74,-146.0,292.2,-8.6,235,2657,0.00,2.22,0.00,0.000,4,0.000,0.056,2369,3368,3401,0,0,0,0,0,0
$GC,2758,-0.74,-146.0,301.9,-8.3,239,2763,0.12,2.22,0.00,0.000,6,0.152,0.042,2403,1951,3401,0,0,0,0,0,0
$GC,3110,-0.74,-146.0,323.3,-5.9,248,3114,0.00,2.22,0.00,0.000,4,0.000,0.058,2403,548,3399,0,0,0,0,0,0
$GC,3313,-0.74,-146.0,338.9,-7.3,252,3317,0.00,2.17,0.00,0.000,6,0.000,0.039,2394,1966,3398,0,0,0,0,0,0
$GC,3649,-0.74,-146.0,364.4,-7.9,261,3656,0.00,2.30,0.00,0.000,4,0.000,0.058,2395,548,3395,0,0,0,0,0,0
$GC,3707,-0.74,-146.0,369.9,-9.2,262,3712,0.00,2.17,0.00,0.000,6,0.000,0.040,2385,1961,3395,0,0,0,0,0,0
$GC,4026,-0.74,-146.0,392.9,-7.0,270,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1960,3392,0,0,0,0,0,0
$GC,4353,-0.74,-146.0,417.2,-7.5,278,4357,0.00,2.22,0.00,0.000,4,0.000,0.060,2375,3365,3391,0,0,0,0,0,0
$GC,4610,-0.74,-146.0,437.8,-7.9,283,4616,0.00,2.25,0.00,0.000,6,0.000,0.045,2375,1951,3389,0,0,0,0,0,0
$STATE,4776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4776,begin apogee
$GC,4783,-0.17,0.0,450.2,7.4,288,4905,0.65,0.00,118.70,0.773,6,0.123,0.000,2582,1951,2800,0,0,0,0,0,0
$STATE,4906,end apogee,CONTROL_FINISHED_OK
$STATE,4906,begin climb
$GC,4909,0.74,146.0,450.9,0.0,291,5043,0.85,2.45,126.25,0.744,4,0.074,0.058,2874,3375,2202,0,0,0,0,0,0
$GC,5079,0.74,146.0,431.9,14.4,295,5083,0.00,2.33,0.00,0.000,6,0.000,0.048,2883,1981,2199,0,0,0,0,0,0
$GC,5426,0.74,146.0,384.4,12.8,304,5431,0.00,2.30,0.00,0.000,4,0.000,0.061,2883,3381,2196,0,0,0,0,0,0
$GC,5476,0.74,146.0,377.9,12.9,305,5481,0.00,2.25,0.00,0.000,6,0.000,0.040,2893,1955,2194,0,0,0,0,0,0
$GC,5790,0.74,146.0,336.2,13.9,313,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1955,2193,0,0,0,0,0,0
$GC,6095,0.74,146.0,294.1,13.1,321,6098,0.00,2.20,0.00,0.000,4,0.000,0.054,2902,568,2191,0,0,0,0,0,0
$GC,6184,0.74,146.0,281.5,15.3,325,6188,0.00,2.17,0.00,0.000,6,0.000,0.036,2902,1985,2191,0,0,0,0,0,0
$GC,6505,0.74,146.0,238.0,13.8,341,6509,0.00,2.17,0.00,0.000,4,0.000,0.051,2902,3387,2190,0,0,0,0,0,0
$GC,6610,0.74,146.0,223.4,12.8,345,6617,0.12,2.20,0.00,0.000,6,0.158,0.038,2879,1963,2188,0,0,0,0,0,0
$GC,6935,0.74,146.0,186.2,12.0,366,6939,0.00,2.20,0.00,0.000,4,0.000,0.055,2888,562,2187,0,0,0,0,0,0
$GC,6988,0.74,146.0,179.1,12.3,370,6996,0.00,2.17,0.00,0.000,6,0.000,0.036,2888,1971,2187,0,0,0,0,0,0
$GC,7315,0.74,146.0,141.7,9.8,401,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1972,2187,0,0,0,0,0,0
$GC,7635,0.74,146.0,105.7,10.6,431,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1972,2186,0,0,0,0,0,0
$GC,7962,0.74,146.0,75.5,9.0,466,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1972,2186,0,0,0,0,0,0
$GC,8297,0.76,164.4,47.2,8.3,527,8322,0.00,2.22,14.10,0.472,4,0.000,0.051,2887,3374,2128,0,0,0,0,0,0
$GC,8491,0.76,164.4,29.4,9.2,562,8499,0.00,2.22,0.00,0.000,6,0.000,0.046,2894,1992,2127,0,0,0,0,0,0
$GC,8659,0.79,192.9,16.1,7.9,593,8693,0.00,2.33,24.83,0.456,4,0.000,0.056,2899,557,2011,0,0,0,0,0,0
$GC,8734,0.79,192.9,9.9,9.1,605,8741,0.00,2.20,0.00,0.000,6,0.000,0.035,2898,1974,2010,0,0,0,0,0,0
$STATE,8814,end climb,SURFACE_DEPTH_REACHED
$STATE,8814,begin surface coast
$FINISH,0.5,1.023014
$STATE,8849,end surface coast,CONTROL_FINISHED_OK
$STATE,8849,begin surface
$SM_CCo,8866,50.05,0.438,0,0,1575,300.24
$SM_GC,1.31,0.00,0.00,50.05,0.000,0.000,0.438,49,1975,1575,-8.10,0.42,300.24
$IRIDIUM_FIX,2052.52,-15749.62,230802,080803
$TT8_MAMPS,0.028379
$HUMID,62.71
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,435.2,59.7
$24V_AH,24.7,26.661
$10V_AH,10.4,29.239
$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,18.625,71.350,283.875,50.050,0.000,89.515,118.243,303.067,19.250,0.000,20.133,1146.427,5262.129,410.425,2109.045,766.874,0.000,1145.040,0.000,2057.542,0.000,121.709,0.000
$DEVICE_MAMPS,226.265,61.360,773.136,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,425.525,350.936,1229.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,35004,626
$CAP_FILE_SIZE,101499,0
$CFSIZE,260165632,239718400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290513,112528,2059.027,-15749.850,33,0.7,33,9.8