version: 66.06
glider: 523
mission: 4
dive: 347
start: 5 31 113 16 29 27
data:
$ID,523
$MISSION,4
$DIVE,347
$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,-42709.336
$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,27
$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
$GPS1,162334,2109.732,-15754.119,23,0.8,23,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.8
$GPS2,162911,2109.760,-15754.134,19,0.8,19,9.8
$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,100.9,20712,-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,-75.47,0.000,6,0.000,0.000,24,1993,3496,0,0,0,0,0,0
$GC,97,-0.74,-146.0,4.1,-7.1,12,112,9.75,2.33,0.00,0.000,4,0.232,0.050,2413,549,3498,0,0,0,0,0,0
$GC,352,-0.74,-146.0,60.1,-17.3,59,357,0.00,2.17,0.00,0.000,6,0.000,0.035,2404,1966,3500,0,0,0,0,0,0
$GC,686,-0.74,-146.0,107.2,-11.3,102,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1966,3501,0,0,0,0,0,0
$GC,1005,-0.74,-146.0,145.0,-11.4,132,1009,0.00,2.30,0.00,0.000,4,0.000,0.052,2405,540,3502,0,0,0,0,0,0
$GC,1083,-0.74,-146.0,154.7,-12.3,139,1090,0.00,2.12,0.00,0.000,6,0.000,0.033,2395,1961,3502,0,0,0,0,0,0
$GC,1417,-0.74,-146.0,189.3,-10.6,170,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1962,3503,0,0,0,0,0,0
$GC,1727,-0.74,-146.0,225.9,-12.0,190,1732,0.00,2.25,0.00,0.000,4,0.000,0.050,2395,547,3504,0,0,0,0,0,0
$GC,1879,-0.74,-146.0,242.1,-10.6,197,1884,0.12,2.15,0.00,0.000,6,0.153,0.036,2421,1956,3503,0,0,0,0,0,0
$GC,2206,-0.74,-146.0,267.4,-7.7,213,2210,0.00,2.20,0.00,0.000,4,0.000,0.055,2412,3359,3504,0,0,0,0,0,0
$GC,2250,-0.74,-146.0,271.0,-8.4,215,2254,0.00,2.17,0.00,0.000,6,0.000,0.042,2412,1954,3504,0,0,0,0,0,0
$GC,2573,-0.74,-146.0,297.4,-7.9,231,2577,0.00,2.25,0.00,0.000,4,0.000,0.055,2412,540,3504,0,0,0,0,0,0
$GC,2830,-0.74,-146.0,320.8,-9.9,237,2836,0.00,2.15,0.00,0.000,6,0.000,0.035,2402,1958,3503,0,0,0,0,0,0
$GC,3165,-0.74,-146.0,348.0,-8.1,246,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1958,3501,0,0,0,0,0,0
$GC,3487,-0.74,-146.0,373.8,-7.6,254,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1958,3499,0,0,0,0,0,0
$GC,3815,-0.74,-146.0,395.8,-6.7,262,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1958,3497,0,0,0,0,0,0
$GC,4137,-0.74,-146.0,418.3,-7.3,270,4141,0.00,2.28,0.00,0.000,4,0.000,0.059,2402,545,3495,0,0,0,0,0,0
$GC,4215,-0.74,-146.0,424.9,-8.2,271,4222,0.00,2.15,0.00,0.000,6,0.000,0.040,2393,1956,3494,0,0,0,0,0,0
$STATE,4545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4545,begin apogee
$GC,4551,-0.17,0.0,450.8,7.6,280,4673,0.65,0.00,118.68,0.775,6,0.117,0.000,2602,1956,2899,0,0,0,0,0,0
$STATE,4674,end apogee,CONTROL_FINISHED_OK
$STATE,4674,begin climb
$GC,4677,0.74,146.0,451.7,0.0,283,4811,0.82,2.40,125.05,0.747,4,0.068,0.058,2895,3386,2303,0,0,0,0,0,0
$GC,4907,0.74,146.0,422.7,16.3,288,4911,0.00,2.30,0.00,0.000,6,0.000,0.049,2904,1988,2298,0,0,0,0,0,0
$GC,5249,0.74,146.0,371.3,14.9,297,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1988,2295,0,0,0,0,0,0
$GC,5574,0.74,146.0,324.8,13.5,305,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1988,2292,0,0,0,0,0,0
$GC,5879,0.74,146.0,287.8,12.3,314,5883,0.00,2.30,0.00,0.000,4,0.000,0.061,2915,566,2291,0,0,0,0,0,0
$GC,5947,0.74,146.0,278.9,13.7,317,5951,0.00,2.20,0.00,0.000,6,0.000,0.041,2915,1978,2290,0,0,0,0,0,0
$GC,6267,0.74,146.0,233.0,15.3,333,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1978,2290,0,0,0,0,0,0
$GC,6582,0.74,146.0,191.1,13.4,351,6586,0.00,2.17,0.00,0.000,4,0.000,0.052,2915,3387,2288,0,0,0,0,0,0
$GC,6745,0.74,146.0,170.9,13.1,365,6752,0.00,2.22,0.00,0.000,6,0.000,0.041,2925,1979,2288,0,0,0,0,0,0
$GC,7072,0.74,146.0,134.6,9.9,396,7076,0.00,2.25,0.00,0.000,4,0.000,0.051,2925,3396,2287,0,0,0,0,0,0
$GC,7136,0.74,146.0,127.4,11.2,401,7144,0.10,2.22,0.00,0.000,6,0.140,0.040,2901,1982,2287,0,0,0,0,0,0
$GC,7463,0.74,146.0,96.7,9.4,432,7467,0.00,2.25,0.00,0.000,4,0.000,0.058,2910,561,2287,0,0,0,0,0,0
$GC,7536,0.74,146.0,89.1,10.8,438,7540,0.00,2.17,0.00,0.000,6,0.000,0.037,2910,1984,2287,0,0,0,0,0,0
$GC,7865,0.75,154.2,58.0,8.7,490,7877,0.00,2.20,5.30,0.399,4,0.000,0.051,2910,3380,2270,0,0,0,0,0,0
$GC,7985,0.77,175.5,47.9,8.2,511,8010,0.00,2.17,19.85,0.481,6,0.000,0.038,2920,1973,2184,0,0,0,0,0,0
$GC,8335,0.77,176.5,20.0,9.0,575,8342,0.00,2.22,0.00,0.000,4,0.000,0.056,2930,575,2181,0,0,0,0,0,0
$GC,8381,0.78,181.2,15.7,8.8,583,8396,0.00,2.20,5.95,0.377,6,0.000,0.043,2930,1972,2161,0,0,0,0,0,0
$STATE,8513,end climb,SURFACE_DEPTH_REACHED
$STATE,8513,begin surface coast
$FINISH,0.5,1.010861
$STATE,8546,end surface coast,CONTROL_FINISHED_OK
$STATE,8546,begin surface
$SM_CCo,8564,47.15,0.438,0,0,1737,285.03
$SM_GC,1.55,0.00,0.00,47.15,0.000,0.000,0.438,35,1974,1737,-8.21,0.48,285.03
$IRIDIUM_FIX,2059.45,-15728.14,250802,141403
$TT8_MAMPS,0.028379
$HUMID,63.34
$INTERNAL_PRESSURE,9.40191
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.6,28.406
$10V_AH,10.4,31.203
$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,18.950,57.825,274.825,47.150,0.000,23.772,39.031,142.318,19.250,0.000,19.484,1088.695,5115.390,364.976,1952.597,426.037,0.000,1024.550,0.000,1904.515,0.000,119.480,0.000
$DEVICE_MAMPS,232.401,61.360,774.670,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,416.962,344.556,1212.810,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35057,613
$CAP_FILE_SIZE,87130,0
$CFSIZE,260165632,238698496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310513,185404,2109.722,-15753.377,26,0.9,26,9.8