version: 66.06
glider: 523
mission: 4
dive: 346
start: 5 31 113 13 56 58
data:
$ID,523
$MISSION,4
$DIVE,346
$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,-42689.223
$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,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
$GPS1,135111,2109.693,-15755.072,12,2.0,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.9
$GPS2,135641,2109.722,-15755.046,15,1.1,15,9.8
$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,99.3,22170,-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,-69.95,0.000,2,0.000,0.000,45,1976,3379,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.2,-4.3,11,113,9.55,2.38,-2.47,0.000,4,0.228,0.073,2413,550,3497,0,0,0,0,0,0
$GC,138,-0.74,-146.0,17.9,-29.2,18,145,0.00,2.20,0.00,0.000,6,0.000,0.038,2405,1957,3498,0,0,0,0,0,0
$GC,309,-0.74,-146.0,50.3,-18.4,49,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1957,3499,0,0,0,0,0,0
$GC,638,-0.74,-146.0,98.4,-12.6,97,642,0.00,2.22,0.00,0.000,4,0.000,0.056,2394,3362,3500,0,0,0,0,0,0
$GC,701,-0.74,-146.0,105.7,-12.2,102,705,0.00,2.22,0.00,0.000,6,0.000,0.046,2394,1952,3501,0,0,0,0,0,0
$GC,1033,-0.74,-146.0,144.0,-10.7,133,1037,0.00,2.20,0.00,0.000,4,0.000,0.052,2394,544,3502,0,0,0,0,0,0
$GC,1241,-0.74,-146.0,171.6,-14.4,151,1246,0.12,2.12,0.00,0.000,6,0.166,0.034,2418,1962,3502,0,0,0,0,0,0
$GC,1581,-0.74,-146.0,205.9,-9.3,180,1585,0.00,2.25,0.00,0.000,4,0.000,0.050,2418,546,3503,0,0,0,0,0,0
$GC,1794,-0.74,-146.0,227.8,-8.5,189,1800,0.00,2.12,0.00,0.000,6,0.000,0.034,2410,1966,3503,0,0,0,0,0,0
$GC,2112,-0.74,-146.0,252.3,-7.8,205,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1966,3503,0,0,0,0,0,0
$GC,2422,-0.74,-146.0,281.8,-9.0,220,2427,0.00,2.30,0.00,0.000,4,0.000,0.054,2410,536,3503,0,0,0,0,0,0
$GC,2636,-0.74,-146.0,302.2,-8.7,229,2641,0.00,2.15,0.00,0.000,6,0.000,0.036,2400,1959,3503,0,0,0,0,0,0
$GC,2969,-0.74,-146.0,329.6,-8.3,238,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,1959,3503,0,0,0,0,0,0
$GC,3292,-0.74,-146.0,353.6,-7.1,246,3296,0.00,2.20,0.00,0.000,4,0.000,0.056,2391,3362,3502,0,0,0,0,0,0
$GC,3326,-0.74,-146.0,356.3,-7.7,246,3332,0.12,2.20,0.00,0.000,6,0.143,0.042,2426,1953,3502,0,0,0,0,0,0
$GC,3658,-0.74,-146.0,379.5,-7.0,255,3662,0.00,2.22,0.00,0.000,4,0.000,0.059,2426,548,3500,0,0,0,0,0,0
$GC,3899,-0.74,-146.0,395.9,-6.5,260,3903,0.00,2.17,0.00,0.000,6,0.000,0.038,2418,1966,3497,0,0,0,0,0,0
$GC,4242,-0.74,-146.0,416.2,-6.2,269,4246,0.00,2.22,0.00,0.000,4,0.000,0.057,2408,3364,3496,0,0,0,0,0,0
$GC,4315,-0.74,-146.0,420.9,-6.7,270,4319,0.00,2.20,0.00,0.000,6,0.000,0.042,2408,1946,3495,0,0,0,0,0,0
$GC,4646,-0.74,-146.0,444.2,-6.9,278,4650,0.00,2.22,0.00,0.000,4,0.000,0.061,2408,550,3493,0,0,0,0,0,0
$STATE,4716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4716,begin apogee
$GC,4726,-0.17,0.0,450.2,8.2,279,4848,0.60,0.00,118.95,0.774,6,0.114,0.000,2597,1983,2899,0,0,0,0,0,0
$STATE,4849,end apogee,CONTROL_FINISHED_OK
$STATE,4849,begin climb
$GC,4852,0.74,146.0,452.3,0.0,282,4987,0.82,2.30,125.00,0.745,4,0.068,0.053,2895,3385,2304,0,0,0,0,0,0
$GC,5071,0.74,146.0,427.4,14.9,287,5075,0.00,2.30,0.00,0.000,6,0.000,0.047,2904,1980,2298,0,0,0,0,0,0
$GC,5383,0.74,146.0,382.0,14.9,295,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1980,2295,0,0,0,0,0,0
$GC,5709,0.74,146.0,333.2,15.0,303,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1980,2293,0,0,0,0,0,0
$GC,6014,0.74,146.0,291.4,13.2,312,6018,0.00,2.30,0.00,0.000,4,0.000,0.064,2914,559,2292,0,0,0,0,0,0
$GC,6069,0.74,146.0,284.2,13.2,314,6075,0.00,2.22,0.00,0.000,6,0.000,0.041,2914,1982,2292,0,0,0,0,0,0
$GC,6385,0.74,146.0,242.2,12.7,330,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1982,2291,0,0,0,0,0,0
$GC,6694,0.74,146.0,201.9,12.4,345,6698,0.00,2.25,0.00,0.000,4,0.000,0.059,2914,3395,2289,0,0,0,0,0,0
$GC,6800,0.74,146.0,186.6,15.0,354,6804,0.00,2.28,0.00,0.000,6,0.000,0.048,2924,1967,2289,0,0,0,0,0,0
$GC,7127,0.74,146.0,148.1,11.0,384,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1968,2288,0,0,0,0,0,0
$GC,7447,0.74,146.0,112.6,12.6,414,7451,0.00,2.22,0.00,0.000,4,0.000,0.058,2934,566,2288,0,0,0,0,0,0
$GC,7597,0.74,146.0,93.8,12.5,427,7602,0.12,2.20,0.00,0.000,6,0.146,0.041,2900,1983,2287,0,0,0,0,0,0
$GC,7929,0.78,178.4,62.1,7.7,475,7965,0.00,2.22,25.60,0.505,4,0.000,0.051,2900,3382,2171,0,0,0,0,0,0
$GC,8186,0.79,185.4,40.2,8.7,521,8199,0.00,2.20,7.28,0.421,6,0.000,0.041,2907,1979,2144,0,0,0,0,0,0
$GC,8522,0.86,249.7,13.6,6.4,583,8582,0.00,2.28,53.92,0.460,4,0.000,0.054,2911,564,1882,0,0,0,0,0,0
$GC,8597,0.93,303.4,8.5,6.8,594,8644,0.10,2.22,41.40,0.445,2,0.035,0.035,2989,1979,1686,0,0,0,0,0,0
$STATE,8645,end climb,SURFACE_DEPTH_REACHED
$STATE,8645,begin surface coast
$FINISH,0.4,1.010092
$STATE,8659,end surface coast,CONTROL_FINISHED_OK
$STATE,8659,begin surface
$SM_CCo,8737,0.00,0.000,0,0,1680,299.02
$SM_GC,1.26,7.65,0.00,0.00,0.025,0.000,0.000,25,1995,1680,-8.07,1.05,299.02
$IRIDIUM_FIX,2104.07,-15755.17,250802,111115
$TT8_MAMPS,0.027612
$HUMID,62.95
$INTERNAL_PRESSURE,9.39215
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.6,28.330
$10V_AH,10.5,31.114
$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,19.100,66.875,372.150,0.000,0.000,32.102,31.292,136.622,19.000,0.000,15.425,1083.321,5194.485,364.581,1993.900,426.345,0.000,1100.020,0.000,1945.172,0.000,123.308,0.000
$DEVICE_MAMPS,227.799,72.865,773.903,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,408.275,333.438,1166.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,35045,603
$CAP_FILE_SIZE,92344,0
$CFSIZE,260165632,238739456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310513,162334,2109.732,-15754.119,23,0.8,23,9.8