version: 66.06
glider: 523
mission: 4
dive: 332
start: 5 30 113 2 49 33
data:
$ID,523
$MISSION,4
$DIVE,332
$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,275
$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,-42411.488
$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,2650
$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,1957
$C_ROLL_CLIMB,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,2950
$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
$GPS1,024334,2104.037,-15755.445,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.6
$GPS2,024917,2104.104,-15755.447,20,1.0,20,9.8
$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,294.6,13858,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-70.15,0.000,2,0.000,0.000,28,1979,3528,0,0,0,0,0,0
$GC,91,-0.74,-146.0,4.1,-6.6,11,106,9.60,2.17,-0.28,0.000,4,0.229,0.063,2396,3368,3544,0,0,0,0,0,0
$GC,310,-0.74,-146.0,53.2,-14.6,51,316,0.00,2.22,0.00,0.000,6,0.000,0.044,2396,1962,3547,0,0,0,0,0,0
$GC,640,-0.74,-146.0,103.5,-14.3,97,644,0.00,2.28,0.00,0.000,4,0.000,0.056,2396,543,3548,0,0,0,0,0,0
$GC,805,-0.74,-146.0,127.0,-14.7,111,809,0.00,2.15,0.00,0.000,6,0.000,0.035,2386,1968,3548,0,0,0,0,0,0
$GC,1136,-0.74,-146.0,169.8,-11.7,142,1143,0.00,2.30,0.00,0.000,4,0.000,0.053,2386,533,3550,0,0,0,0,0,0
$GC,1179,-0.74,-146.0,175.1,-12.5,145,1185,0.10,2.20,0.00,0.000,6,0.135,0.035,2409,1961,3550,0,0,0,0,0,0
$GC,1501,-0.74,-146.0,208.4,-9.8,172,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1961,3550,0,0,0,0,0,0
$GC,1810,-0.74,-146.0,237.5,-9.5,187,1815,0.00,2.30,0.00,0.000,4,0.000,0.053,2410,533,3550,0,0,0,0,0,0
$GC,1911,-0.74,-146.0,247.5,-9.3,191,1917,0.00,2.17,0.00,0.000,6,0.000,0.035,2402,1961,3550,0,0,0,0,0,0
$GC,2230,-0.74,-146.0,276.5,-9.7,207,2234,0.00,2.20,0.00,0.000,4,0.000,0.058,2391,3358,3550,0,0,0,0,0,0
$GC,2337,-0.74,-146.0,287.0,-10.3,212,2341,0.00,2.22,0.00,0.000,6,0.000,0.043,2391,1943,3550,0,0,0,0,0,0
$GC,2685,-0.74,-146.0,323.9,-11.0,224,2689,0.00,2.22,0.00,0.000,4,0.000,0.056,2391,542,3550,0,0,0,0,0,0
$GC,2943,-0.74,-146.0,352.0,-9.5,229,2949,0.10,2.17,0.00,0.000,6,0.169,0.040,2409,1955,3549,0,0,0,0,0,0
$GC,3279,-0.74,-146.0,376.7,-7.0,238,3283,0.00,2.28,0.00,0.000,4,0.000,0.059,2409,550,3548,0,0,0,0,0,0
$GC,3346,-0.74,-146.0,382.6,-8.6,239,3350,0.00,2.17,0.00,0.000,6,0.000,0.041,2401,1956,3547,0,0,0,0,0,0
$GC,3683,-0.74,-146.0,410.8,-8.4,248,3687,0.00,2.25,0.00,0.000,4,0.000,0.057,2391,3370,3545,0,0,0,0,0,0
$GC,3724,-0.74,-146.0,414.2,-8.5,249,3728,0.00,2.25,0.00,0.000,6,0.000,0.044,2391,1947,3545,0,0,0,0,0,0
$GC,4050,-0.74,-146.0,439.9,-7.5,257,4055,0.00,2.25,0.00,0.000,4,0.000,0.061,2391,540,3542,0,0,0,0,0,0
$STATE,4174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4175,begin apogee
$GC,4184,-0.17,0.0,450.5,9.0,259,4305,0.62,0.00,118.22,0.772,6,0.116,0.000,2589,1984,2950,0,0,0,0,0,0
$STATE,4306,end apogee,CONTROL_FINISHED_OK
$STATE,4306,begin climb
$GC,4309,0.74,146.0,454.2,0.0,262,4443,0.82,2.30,124.20,0.746,4,0.065,0.051,2887,3382,2353,0,0,0,0,0,0
$GC,4454,0.74,146.0,442.1,13.7,265,4458,0.00,2.33,0.00,0.000,6,0.000,0.046,2896,1983,2350,0,0,0,0,0,0
$GC,4790,0.74,146.0,394.3,13.7,274,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1983,2344,0,0,0,0,0,0
$GC,5115,0.74,146.0,346.1,15.2,282,5119,0.00,2.28,0.00,0.000,4,0.000,0.061,2907,562,2341,0,0,0,0,0,0
$GC,5200,0.74,146.0,333.1,14.7,284,5204,0.00,2.20,0.00,0.000,6,0.000,0.044,2907,1980,2340,0,0,0,0,0,0
$GC,5524,0.74,146.0,291.0,11.6,293,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1980,2339,0,0,0,0,0,0
$GC,5834,0.74,146.0,252.3,11.9,308,5838,0.00,2.20,0.00,0.000,4,0.000,0.053,2907,3384,2338,0,0,0,0,0,0
$GC,6018,0.74,146.0,227.7,13.2,316,6023,0.00,2.22,0.00,0.000,6,0.000,0.041,2917,1968,2337,0,0,0,0,0,0
$GC,6339,0.74,146.0,187.2,11.7,336,6343,0.00,2.22,0.00,0.000,4,0.000,0.051,2916,3394,2336,0,0,0,0,0,0
$GC,6361,0.74,146.0,184.2,12.1,337,6368,0.10,2.25,0.00,0.000,6,0.133,0.041,2893,1978,2336,0,0,0,0,0,0
$GC,6688,0.75,155.1,152.1,8.7,368,6697,0.00,0.00,5.95,0.492,6,0.000,0.000,2893,1978,2316,0,0,0,0,0,0
$GC,7018,0.75,155.1,119.0,10.7,399,7022,0.00,2.20,0.00,0.000,4,0.000,0.055,2902,569,2314,0,0,0,0,0,0
$GC,7059,0.75,155.1,114.7,10.0,402,7063,0.00,2.17,0.00,0.000,6,0.000,0.036,2902,1991,2314,0,0,0,0,0,0
$GC,7386,0.75,155.1,83.9,9.6,432,7390,0.00,2.20,0.00,0.000,4,0.000,0.051,2902,3389,2314,0,0,0,0,0,0
$GC,7449,0.75,155.1,76.7,12.1,439,7454,0.00,2.17,0.00,0.000,6,0.000,0.038,2912,1971,2315,0,0,0,0,0,0
$GC,7778,0.80,199.1,46.2,7.2,500,7820,0.00,0.00,38.03,0.491,6,0.000,0.000,2912,1971,2137,0,0,0,0,0,0
$GC,8142,0.86,246.5,17.2,7.1,567,8189,0.00,2.25,40.03,0.456,4,0.000,0.053,2922,568,1943,0,0,0,0,0,0
$STATE,8295,end climb,SURFACE_DEPTH_REACHED
$STATE,8295,begin surface coast
$FINISH,2.5,1.022895
$STATE,8302,end surface coast,CONTROL_FINISHED_OK
$STATE,8302,begin surface
$SM_CCo,8323,21.38,0.431,0,0,1828,275.22
$SM_GC,1.46,0.00,0.00,21.38,0.000,0.000,0.431,25,1957,1828,-8.21,0.00,275.22
$IRIDIUM_FIX,2052.52,-15802.06,240802,000057
$TT8_MAMPS,0.028379
$HUMID,64.01
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.7,27.216
$10V_AH,10.4,29.859
$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,19.050,71.275,326.425,21.375,0.000,26.237,34.265,149.431,19.000,0.000,21.156,1080.527,4829.051,364.324,1974.714,437.880,0.000,1061.723,0.000,1923.119,0.000,119.184,0.000
$DEVICE_MAMPS,228.566,62.894,772.369,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,403.840,339.145,1180.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,31846,595
$CAP_FILE_SIZE,90791,0
$CFSIZE,260165632,239403008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300513,050938,2104.981,-15756.444,21,0.9,21,9.8