version: 66.06
glider: 523
mission: 4
dive: 341
start: 5 31 113 1 17 58
data:
$ID,523
$MISSION,4
$DIVE,341
$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,-42598.438
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,011135,2109.058,-15759.128,30,1.1,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.3
$GPS2,011742,2109.085,-15759.138,30,0.9,30,9.8
$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,92.4,28672,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-73.88,0.000,6,0.000,0.000,36,1978,3497,0,0,0,0,0,0
$GC,97,-0.74,-146.0,4.2,-6.9,12,111,9.60,0.00,0.00,0.000,6,0.229,0.000,2411,1978,3498,0,0,0,0,0,0
$GC,272,-0.74,-146.0,44.0,-15.6,44,279,0.00,2.28,0.00,0.000,4,0.000,0.053,2403,3364,3501,0,0,0,0,0,0
$GC,315,-0.74,-146.0,50.2,-14.1,51,320,0.00,2.25,0.00,0.000,6,0.000,0.046,2403,1957,3501,0,0,0,0,0,0
$GC,650,-0.74,-146.0,93.6,-12.4,103,654,0.00,2.28,0.00,0.000,4,0.000,0.058,2403,536,3502,0,0,0,0,0,0
$GC,820,-0.74,-146.0,119.6,-15.6,118,825,0.00,2.15,0.00,0.000,6,0.000,0.035,2394,1962,3502,0,0,0,0,0,0
$GC,1154,-0.74,-146.0,166.1,-13.0,149,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1963,3503,0,0,0,0,0,0
$GC,1489,-0.74,-146.0,203.1,-11.5,180,1492,0.00,2.25,0.00,0.000,4,0.000,0.051,2394,543,3504,0,0,0,0,0,0
$GC,1657,-0.74,-146.0,220.3,-8.7,187,1662,0.12,2.12,0.00,0.000,6,0.156,0.035,2418,1962,3505,0,0,0,0,0,0
$GC,1975,-0.74,-146.0,243.9,-7.8,202,1979,0.00,2.28,0.00,0.000,4,0.000,0.052,2418,541,3504,0,0,0,0,0,0
$GC,2199,-0.74,-146.0,264.8,-9.1,212,2203,0.00,2.15,0.00,0.000,6,0.000,0.035,2411,1956,3504,0,0,0,0,0,0
$GC,2525,-0.74,-146.0,292.0,-7.7,228,2529,0.00,2.20,0.00,0.000,4,0.000,0.055,2400,3369,3504,0,0,0,0,0,0
$GC,2610,-0.74,-146.0,300.0,-9.5,232,2614,0.00,2.20,0.00,0.000,6,0.000,0.043,2400,1954,3504,0,0,0,0,0,0
$GC,2937,-0.74,-146.0,326.6,-7.6,240,2941,0.00,2.25,0.00,0.000,4,0.000,0.059,2400,546,3504,0,0,0,0,0,0
$GC,3079,-0.74,-146.0,338.3,-8.4,243,3084,0.12,2.12,0.00,0.000,6,0.158,0.037,2425,1957,3502,0,0,0,0,0,0
$GC,3396,-0.74,-146.0,359.6,-6.7,251,3400,0.00,2.20,0.00,0.000,4,0.000,0.056,2417,3361,3501,0,0,0,0,0,0
$GC,3463,-0.74,-146.0,364.3,-7.0,252,3467,0.00,2.20,0.00,0.000,6,0.000,0.043,2417,1955,3501,0,0,0,0,0,0
$GC,3806,-0.74,-146.0,386.1,-6.0,261,3810,0.00,2.22,0.00,0.000,4,0.000,0.061,2417,547,3498,0,0,0,0,0,0
$GC,3907,-0.74,-146.0,393.8,-8.4,263,3911,0.00,2.17,0.00,0.000,6,0.000,0.040,2408,1959,3497,0,0,0,0,0,0
$GC,4258,-0.74,-146.0,420.0,-6.7,272,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1960,3494,0,0,0,0,0,0
$GC,4583,-0.74,-146.0,442.8,-6.6,280,4587,0.00,2.22,0.00,0.000,4,0.000,0.057,2397,3362,3492,0,0,0,0,0,0
$GC,4650,-0.74,-146.0,447.7,-6.8,281,4654,0.00,2.20,0.00,0.000,6,0.000,0.044,2397,1954,3492,0,0,0,0,0,0
$STATE,4700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4700,begin apogee
$GC,4706,-0.17,0.0,451.1,6.8,283,4828,0.62,0.00,118.68,0.775,6,0.112,0.000,2601,1954,2899,0,0,0,0,0,0
$STATE,4829,end apogee,CONTROL_FINISHED_OK
$STATE,4829,begin climb
$GC,4832,0.74,146.0,453.0,0.0,286,4966,0.85,2.45,125.78,0.746,4,0.064,0.054,2902,3381,2303,0,0,0,0,0,0
$GC,5013,0.74,146.0,434.3,16.2,290,5017,0.00,2.30,0.00,0.000,6,0.000,0.049,2911,1984,2300,0,0,0,0,0,0
$GC,5349,0.74,146.0,378.2,16.1,299,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1984,2295,0,0,0,0,0,0
$GC,5674,0.74,146.0,322.9,17.6,307,5678,0.00,2.28,0.00,0.000,4,0.000,0.057,2911,3390,2292,0,0,0,0,0,0
$GC,5708,0.74,146.0,316.8,18.4,307,5713,0.00,2.28,0.00,0.000,6,0.000,0.048,2921,1968,2292,0,0,0,0,0,0
$GC,6021,0.74,146.0,264.6,16.0,320,6025,0.00,2.22,0.00,0.000,4,0.000,0.060,2932,571,2291,0,0,0,0,0,0
$GC,6054,0.74,146.0,259.5,15.3,321,6060,0.12,2.20,0.00,0.000,6,0.162,0.041,2899,1984,2290,0,0,0,0,0,0
$GC,6370,0.74,146.0,220.0,12.2,337,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1985,2289,0,0,0,0,0,0
$GC,6686,0.74,146.0,182.1,11.0,358,6690,0.00,2.20,0.00,0.000,4,0.000,0.052,2899,3392,2288,0,0,0,0,0,0
$GC,6858,0.74,146.0,161.7,13.1,373,6863,0.00,2.25,0.00,0.000,6,0.000,0.050,2907,1973,2288,0,0,0,0,0,0
$GC,7185,0.74,146.0,126.1,10.1,403,7189,0.00,2.22,0.00,0.000,4,0.000,0.058,2915,559,2287,0,0,0,0,0,0
$GC,7260,0.74,146.0,119.0,9.3,409,7267,0.00,2.22,0.00,0.000,6,0.000,0.041,2916,1978,2287,0,0,0,0,0,0
$GC,7588,0.74,146.0,87.5,10.8,440,7592,0.00,2.22,0.00,0.000,4,0.000,0.052,2916,3396,2287,0,0,0,0,0,0
$GC,7653,0.74,146.0,79.7,12.3,445,7660,0.00,2.28,0.00,0.000,6,0.000,0.046,2925,1973,2287,0,0,0,0,0,0
$GC,7985,0.74,146.0,41.0,10.4,506,7992,0.00,2.25,0.00,0.000,4,0.000,0.057,2936,567,2287,0,0,0,0,0,0
$GC,8081,0.74,146.0,31.5,10.3,523,8088,0.15,2.20,0.00,0.000,6,0.137,0.040,2893,1992,2287,0,0,0,0,0,0
$GC,8406,0.84,228.5,9.0,5.6,584,8466,0.12,0.00,56.62,0.457,2,0.076,0.000,2972,1992,2014,0,0,0,0,0,0
$STATE,8467,end climb,SURFACE_DEPTH_REACHED
$STATE,8467,begin surface coast
$FINISH,0.4,1.023053
$STATE,8496,end surface coast,CONTROL_FINISHED_OK
$STATE,8496,begin surface
$SM_CCo,8515,30.55,0.433,0,0,1737,285.03
$SM_GC,1.54,0.00,0.00,30.55,0.000,0.000,0.433,39,1908,1737,-8.19,-1.36,285.03
$IRIDIUM_FIX,2059.45,-15759.05,240802,232345
$TT8_MAMPS,0.028379
$HUMID,64.09
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,24.7,27.930
$10V_AH,10.5,30.665
$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,19.275,71.400,301.075,30.550,0.000,24.595,44.881,153.103,19.000,0.000,31.253,1094.055,4986.983,392.508,1975.846,461.989,0.000,1076.986,0.000,1918.734,0.000,117.262,0.000
$DEVICE_MAMPS,228.566,102.011,775.437,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,405.968,353.723,1186.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,31802,598
$CAP_FILE_SIZE,91884,0
$CFSIZE,260165632,238977024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310513,034134,2109.299,-15758.163,31,0.8,31,9.8