version: 66.06
glider: 523
mission: 4
dive: 340
start: 5 30 113 22 55 10
data:
$ID,523
$MISSION,4
$DIVE,340
$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,285
$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,-42566.555
$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,2660
$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,26
$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,2900
$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
$GPS1,224857,2108.720,-15759.990,28,1.1,28,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-76.0
$GPS2,225453,2108.754,-15800.017,13,1.7,13,9.8
$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,90.6,30041,-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,14,begin dive
$GC,17,-0.74,-146.0,0.0,0.0,0,89,0.00,0.00,-68.93,0.000,2,0.000,0.000,46,1944,3478,0,0,0,0,0,0
$GC,92,-0.74,-146.0,3.7,-5.8,11,107,9.65,2.30,-0.32,0.000,4,0.231,0.070,2418,549,3497,0,0,0,0,0,0
$GC,136,-0.74,-146.0,20.1,-32.8,18,144,0.00,2.20,0.00,0.000,6,0.000,0.038,2409,1959,3499,0,0,0,0,0,0
$GC,309,-0.74,-146.0,49.4,-16.0,49,314,0.00,2.20,0.00,0.000,4,0.000,0.055,2399,3365,3499,0,0,0,0,0,0
$GC,337,-0.74,-146.0,54.4,-15.6,54,344,0.00,2.28,0.00,0.000,6,0.000,0.048,2399,1965,3499,0,0,0,0,0,0
$GC,675,-0.74,-146.0,100.7,-12.9,101,679,0.00,2.25,0.00,0.000,4,0.000,0.058,2399,543,3501,0,0,0,0,0,0
$GC,889,-0.74,-146.0,129.9,-13.8,120,897,0.12,2.15,0.00,0.000,6,0.166,0.035,2422,1975,3502,0,0,0,0,0,0
$GC,1224,-0.74,-146.0,167.0,-12.0,151,1228,0.00,2.30,0.00,0.000,4,0.000,0.051,2422,539,3502,0,0,0,0,0,0
$GC,1277,-0.74,-146.0,173.9,-12.8,155,1285,0.00,2.17,0.00,0.000,6,0.000,0.035,2414,1958,3502,0,0,0,0,0,0
$GC,1611,-0.74,-146.0,208.5,-10.3,183,1615,0.00,2.30,0.00,0.000,4,0.000,0.052,2414,540,3503,0,0,0,0,0,0
$GC,1762,-0.74,-146.0,224.1,-9.3,190,1766,0.00,2.15,0.00,0.000,6,0.000,0.035,2404,1961,3503,0,0,0,0,0,0
$GC,2090,-0.74,-146.0,251.5,-8.6,206,2094,0.00,2.28,0.00,0.000,4,0.000,0.053,2404,541,3503,0,0,0,0,0,0
$GC,2293,-0.74,-146.0,270.8,-9.4,215,2297,0.00,2.12,0.00,0.000,6,0.000,0.035,2395,1958,3503,0,0,0,0,0,0
$GC,2618,-0.74,-146.0,298.4,-7.5,231,2622,0.00,2.20,0.00,0.000,4,0.000,0.053,2384,3359,3503,0,0,0,0,0,0
$GC,2750,-0.74,-146.0,308.0,-6.6,235,2755,0.12,2.22,0.00,0.000,6,0.143,0.043,2420,1946,3503,0,0,0,0,0,0
$GC,3077,-0.74,-146.0,326.6,-5.7,243,3081,0.00,2.22,0.00,0.000,4,0.000,0.058,2420,545,3502,0,0,0,0,0,0
$GC,3198,-0.74,-146.0,335.6,-7.2,245,3202,0.00,2.15,0.00,0.000,6,0.000,0.037,2412,1955,3501,0,0,0,0,0,0
$GC,3530,-0.74,-146.0,356.4,-6.1,253,3534,0.00,2.22,0.00,0.000,4,0.000,0.054,2402,3366,3500,0,0,0,0,0,0
$GC,3571,-0.74,-146.0,359.0,-6.2,254,3575,0.00,2.20,0.00,0.000,6,0.000,0.041,2402,1949,3500,0,0,0,0,0,0
$GC,3894,-0.74,-146.0,385.6,-9.2,262,3898,0.00,2.22,0.00,0.000,4,0.000,0.060,2402,548,3498,0,0,0,0,0,0
$GC,3950,-0.74,-146.0,390.8,-9.0,263,3954,0.00,2.17,0.00,0.000,6,0.000,0.039,2393,1963,3497,0,0,0,0,0,0
$GC,4298,-0.74,-146.0,411.5,-3.2,272,4302,0.10,2.20,0.00,0.000,4,0.129,0.058,2430,3360,3495,0,0,0,0,0,0
$GC,4314,-0.74,-146.0,411.5,-0.1,272,4318,0.00,2.22,0.00,0.000,6,0.000,0.044,2430,1946,3495,0,0,0,0,0,0
$STATE,4451,end dive,NO_VERTICAL_VELOCITY
$STATE,4451,begin apogee
$GC,4457,-0.17,0.0,411.4,0.0,276,4579,0.50,0.00,118.28,0.739,6,0.064,0.000,2618,1946,2900,0,0,0,0,0,0
$STATE,4579,end apogee,CONTROL_FINISHED_OK
$STATE,4579,begin climb
$GC,4582,0.74,146.0,411.1,0.0,279,4717,0.75,2.40,124.53,0.714,4,0.060,0.054,2896,3377,2302,0,0,0,0,0,0
$GC,4971,0.74,146.0,360.4,15.2,288,4975,0.00,2.28,0.00,0.000,6,0.000,0.050,2906,1979,2295,0,0,0,0,0,0
$GC,5295,0.74,146.0,311.4,14.7,296,5299,0.00,2.28,0.00,0.000,4,0.000,0.059,2906,3381,2292,0,0,0,0,0,0
$GC,5311,0.74,146.0,308.6,15.3,296,5315,0.00,2.22,0.00,0.000,6,0.000,0.042,2916,1963,2292,0,0,0,0,0,0
$GC,5642,0.74,146.0,263.4,13.2,311,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1962,2291,0,0,0,0,0,0
$GC,5951,0.74,146.0,222.2,14.0,326,5955,0.00,2.22,0.00,0.000,4,0.000,0.059,2927,571,2289,0,0,0,0,0,0
$GC,6001,0.74,146.0,215.0,13.8,328,6006,0.00,2.20,0.00,0.000,6,0.000,0.042,2926,1980,2288,0,0,0,0,0,0
$GC,6327,0.74,146.0,168.2,15.3,353,6331,0.00,2.20,0.00,0.000,4,0.000,0.051,2926,3389,2287,0,0,0,0,0,0
$GC,6368,0.74,146.0,161.3,16.2,356,6373,0.15,2.22,0.00,0.000,6,0.156,0.041,2895,1979,2287,0,0,0,0,0,0
$GC,6697,0.74,147.6,126.8,9.0,386,6701,0.00,2.22,0.00,0.000,4,0.000,0.058,2902,573,2286,0,0,0,0,0,0
$GC,6727,0.76,167.4,124.2,8.2,388,6751,0.00,2.15,16.20,0.543,6,0.000,0.038,2902,1987,2216,0,0,0,0,0,0
$GC,7070,0.76,167.4,92.7,9.3,420,7074,0.00,2.28,0.00,0.000,4,0.000,0.062,2912,575,2214,0,0,0,0,0,0
$GC,7121,0.76,167.4,87.8,10.0,424,7125,0.00,2.15,0.00,0.000,6,0.000,0.039,2912,1978,2214,0,0,0,0,0,0
$GC,7454,0.76,167.4,54.4,9.7,477,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1979,2214,0,0,0,0,0,0
$GC,7785,0.80,196.3,26.1,7.8,538,7819,0.00,2.25,25.45,0.459,4,0.000,0.050,2912,3385,2098,0,0,0,0,0,0
$GC,7931,0.80,196.3,12.9,9.9,564,7939,0.00,2.22,0.00,0.000,6,0.000,0.041,2921,1985,2097,0,0,0,0,0,0
$STATE,8028,end climb,SURFACE_DEPTH_REACHED
$STATE,8028,begin surface coast
$FINISH,0.5,1.022935
$STATE,8059,end surface coast,CONTROL_FINISHED_OK
$STATE,8059,begin surface
$SM_CCo,8076,38.65,0.431,0,0,1737,285.03
$SM_GC,1.23,0.00,0.00,38.65,0.000,0.000,0.431,35,1978,1737,-8.20,0.59,285.03
$IRIDIUM_FIX,2059.45,-15803.33,240802,202025
$TT8_MAMPS,0.028379
$HUMID,63.66
$INTERNAL_PRESSURE,9.42144
$TCM_TEMP,24.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,367.4,43.6
$24V_AH,24.7,27.851
$10V_AH,10.5,30.576
$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,18.650,80.050,284.450,38.650,0.000,26.146,38.582,163.666,15.250,0.000,14.333,1091.439,4557.613,365.400,1986.026,470.759,0.000,1076.113,0.000,1946.878,0.000,96.797,0.000
$DEVICE_MAMPS,230.867,69.797,739.388,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,398.643,336.458,1166.689,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,31763,587
$CAP_FILE_SIZE,93471,0
$CFSIZE,260165632,239026176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310513,011135,2109.058,-15759.128,30,1.1,30,9.8