version: 66.06
glider: 523
mission: 4
dive: 358
start: 6 1 113 20 22 12
data:
$ID,523
$MISSION,4
$DIVE,358
$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,-42914.801
$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,25
$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,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
$GPS1,201606,2106.117,-15743.113,18,1.6,18,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.8
$GPS2,202156,2106.146,-15743.096,20,1.1,20,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,207.7,19211,-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,-69.72,0.000,2,0.000,0.000,33,1967,3384,0,0,0,0,0,0
$GC,91,-0.74,-146.0,3.3,-4.4,11,113,9.60,2.30,-2.42,0.000,4,0.230,0.071,2413,553,3498,0,0,0,0,0,0
$GC,281,-0.74,-146.0,41.3,-13.4,45,286,0.00,2.15,0.00,0.000,6,0.000,0.036,2405,1960,3500,0,0,0,0,0,0
$GC,613,-0.74,-146.0,86.6,-12.1,101,617,0.00,2.22,0.00,0.000,4,0.000,0.056,2394,3365,3501,0,0,0,0,0,0
$GC,664,-0.74,-146.0,93.6,-13.6,105,668,0.00,2.22,0.00,0.000,6,0.000,0.045,2394,1952,3501,0,0,0,0,0,0
$GC,991,-0.74,-146.0,138.5,-13.0,135,995,0.00,2.20,0.00,0.000,4,0.000,0.054,2395,544,3502,0,0,0,0,0,0
$GC,1208,-0.74,-146.0,167.9,-12.0,154,1214,0.10,2.17,0.00,0.000,6,0.139,0.035,2418,1964,3503,0,0,0,0,0,0
$GC,1536,-0.74,-146.0,196.2,-7.2,185,1540,0.00,2.25,0.00,0.000,4,0.000,0.052,2418,535,3503,0,0,0,0,0,0
$GC,1577,-0.74,-146.0,199.6,-8.4,188,1581,0.00,2.17,0.00,0.000,6,0.000,0.035,2410,1968,3504,0,0,0,0,0,0
$GC,1900,-0.74,-146.0,227.5,-8.6,204,1904,0.00,2.28,0.00,0.000,4,0.000,0.051,2410,542,3504,0,0,0,0,0,0
$GC,2158,-0.74,-146.0,252.7,-8.4,215,2164,0.00,2.15,0.00,0.000,6,0.000,0.035,2401,1955,3504,0,0,0,0,0,0
$GC,2476,-0.74,-146.0,280.0,-8.1,231,2483,0.00,2.28,0.00,0.000,4,0.000,0.054,2401,540,3505,0,0,0,0,0,0
$GC,2735,-0.74,-146.0,303.8,-9.7,241,2740,0.12,2.17,0.00,0.000,6,0.159,0.037,2426,1965,3504,0,0,0,0,0,0
$GC,3071,-0.74,-146.0,330.2,-8.1,249,3075,0.00,2.28,0.00,0.000,4,0.000,0.057,2427,543,3504,0,0,0,0,0,0
$GC,3113,-0.74,-146.0,334.0,-8.9,250,3117,0.00,2.17,0.00,0.000,6,0.000,0.038,2418,1962,3503,0,0,0,0,0,0
$GC,3439,-0.74,-146.0,359.1,-7.4,258,3443,0.00,2.30,0.00,0.000,4,0.000,0.057,2418,548,3502,0,0,0,0,0,0
$GC,3513,-0.74,-146.0,365.0,-8.0,259,3518,0.00,2.15,0.00,0.000,6,0.000,0.039,2409,1955,3501,0,0,0,0,0,0
$GC,3846,-0.74,-146.0,390.2,-7.6,267,3850,0.00,2.30,0.00,0.000,4,0.000,0.059,2409,548,3500,0,0,0,0,0,0
$GC,3946,-0.74,-146.0,398.8,-9.0,269,3950,0.00,2.17,0.00,0.000,6,0.000,0.041,2399,1957,3499,0,0,0,0,0,0
$GC,4298,-0.74,-146.0,426.1,-7.6,278,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1957,3497,0,0,0,0,0,0
$GC,4620,-0.74,-146.0,449.7,-7.2,286,4625,0.00,2.25,0.00,0.000,4,0.000,0.064,2391,3360,3494,0,0,0,0,0,0
$STATE,4628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4628,begin apogee
$GC,4636,-0.17,0.0,450.6,7.2,286,4759,0.62,0.00,119.15,0.770,6,0.120,0.000,2597,1974,2900,0,0,0,0,0,0
$STATE,4759,end apogee,CONTROL_FINISHED_OK
$STATE,4760,begin climb
$GC,4762,0.74,146.0,451.8,0.0,289,4897,0.85,2.38,124.80,0.743,4,0.068,0.064,2908,573,2303,0,0,0,0,0,0
$GC,4914,0.74,146.0,435.0,14.4,292,4918,0.00,2.28,0.00,0.000,6,0.000,0.041,2908,1977,2302,0,0,0,0,0,0
$GC,5245,0.74,146.0,384.2,14.6,300,5249,0.00,2.28,0.00,0.000,4,0.000,0.064,2908,3383,2296,0,0,0,0,0,0
$GC,5380,0.74,146.0,363.4,15.0,303,5384,0.00,2.28,0.00,0.000,6,0.000,0.052,2918,1983,2295,0,0,0,0,0,0
$GC,5698,0.74,146.0,315.0,14.9,311,5702,0.00,2.25,0.00,0.000,4,0.000,0.062,2918,3383,2292,0,0,0,0,0,0
$GC,5732,0.74,146.0,309.9,15.0,311,5737,0.00,2.28,0.00,0.000,6,0.000,0.054,2927,1976,2292,0,0,0,0,0,0
$GC,6046,0.74,146.0,263.0,15.4,325,6050,0.00,2.28,0.00,0.000,4,0.000,0.069,2938,564,2291,0,0,0,0,0,0
$GC,6078,0.74,146.0,257.9,15.2,326,6083,0.15,2.17,0.00,0.000,6,0.153,0.039,2897,1984,2290,0,0,0,0,0,0
$GC,6394,0.74,146.0,221.5,10.8,341,6398,0.00,2.20,0.00,0.000,4,0.000,0.052,2897,3394,2290,0,0,0,0,0,0
$GC,6439,0.74,146.0,216.0,12.8,343,6443,0.00,2.25,0.00,0.000,6,0.000,0.051,2905,1979,2289,0,0,0,0,0,0
$GC,6771,0.74,146.0,176.2,11.8,368,6775,0.00,2.22,0.00,0.000,4,0.000,0.059,2915,557,2289,0,0,0,0,0,0
$GC,6876,0.74,146.0,164.7,10.1,377,6880,0.00,2.20,0.00,0.000,6,0.000,0.039,2915,1981,2288,0,0,0,0,0,0
$GC,7203,0.74,146.0,129.1,11.7,407,7207,0.00,2.17,0.00,0.000,4,0.000,0.054,2916,3392,2288,0,0,0,0,0,0
$GC,7254,0.74,146.0,122.6,12.7,411,7259,0.00,2.25,0.00,0.000,6,0.000,0.048,2925,1965,2288,0,0,0,0,0,0
$GC,7581,0.74,146.0,86.6,11.4,441,7585,0.00,2.20,0.00,0.000,4,0.000,0.058,2935,571,2288,0,0,0,0,0,0
$GC,7652,0.74,146.0,78.8,10.4,448,7658,0.10,2.20,0.00,0.000,6,0.123,0.041,2900,1979,2288,0,0,0,0,0,0
$GC,7987,0.76,164.1,49.7,8.3,509,8011,0.00,2.25,13.85,0.472,4,0.000,0.051,2900,3394,2230,0,0,0,0,0,0
$GC,8256,0.80,200.9,26.2,7.5,558,8296,0.00,2.22,32.20,0.468,6,0.000,0.043,2907,1979,2078,0,0,0,0,0,0
$GC,8458,0.87,251.4,10.0,6.9,594,8511,0.00,2.30,42.80,0.451,4,0.000,0.052,2907,3387,1873,0,0,0,0,0,0
$GC,8531,0.87,255.0,3.4,8.9,605,8539,0.00,2.22,3.22,0.270,6,0.000,0.038,2907,1980,1859,0,0,0,0,0,0
$STATE,8545,end climb,SURFACE_DEPTH_REACHED
$STATE,8545,begin surface coast
$FINISH,0.5,1.020621
$STATE,8577,end surface coast,CONTROL_FINISHED_OK
$STATE,8578,begin surface
$SM_CCo,8595,15.68,0.416,0,0,1737,285.03
$SM_GC,0.92,0.00,0.00,15.68,0.000,0.000,0.416,37,1978,1737,-8.20,0.57,285.03
$IRIDIUM_FIX,2057.14,-15743.60,260802,181823
$TT8_MAMPS,0.028379
$HUMID,64.21
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.6,29.318
$10V_AH,10.5,32.194
$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,18.950,89.325,336.025,15.675,0.000,27.097,40.715,150.530,19.250,0.000,20.963,1125.669,4949.044,367.553,2063.997,456.073,0.000,1128.180,0.000,2007.507,0.000,117.266,0.000
$DEVICE_MAMPS,230.100,71.331,770.068,416.481,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.418,350.563,1213.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,35050,613
$CAP_FILE_SIZE,99723,0
$CFSIZE,260165632,238161920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010613,224704,2105.104,-15743.319,41,0.9,41,9.8