version: 66.06
glider: 523
mission: 4
dive: 371
start: 6 3 113 6 15 18
data:
$ID,523
$MISSION,4
$DIVE,371
$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,-43198.375
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,060352,2059.166,-15750.842,47,1.0,47,9.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.2
$GPS2,061500,2059.235,-15750.836,19,1.2,19,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,301.2,25694,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-63.62,0.000,2,0.000,0.000,39,1941,3271,0,0,0,0,0,0
$GC,85,-0.74,-146.0,3.5,-4.8,10,105,9.57,2.25,-4.65,0.000,4,0.226,0.064,2402,3366,3497,0,0,0,0,0,0
$GC,207,-0.74,-146.0,31.9,-19.1,32,215,0.00,2.25,0.00,0.000,6,0.000,0.044,2402,1965,3498,0,0,0,0,0,0
$GC,548,-0.74,-146.0,91.0,-11.9,86,552,0.00,2.25,0.00,0.000,4,0.000,0.057,2402,544,3499,0,0,0,0,0,0
$GC,698,-0.74,-146.0,110.3,-14.2,99,702,0.00,2.15,0.00,0.000,6,0.000,0.035,2392,1968,3499,0,0,0,0,0,0
$GC,1030,-0.74,-146.0,155.0,-12.8,130,1037,0.10,2.28,0.00,0.000,4,0.180,0.052,2418,538,3499,0,0,0,0,0,0
$GC,1124,-0.74,-146.0,165.8,-11.7,138,1128,0.00,2.12,0.00,0.000,6,0.000,0.033,2410,1961,3500,0,0,0,0,0,0
$GC,1458,-0.74,-146.0,200.8,-10.7,169,1462,0.00,2.17,0.00,0.000,4,0.000,0.054,2399,3356,3500,0,0,0,0,0,0
$GC,1491,-0.74,-146.0,204.7,-10.8,170,1498,0.00,2.20,0.00,0.000,6,0.000,0.044,2399,1954,3500,0,0,0,0,0,0
$GC,1814,-0.74,-146.0,231.6,-6.8,186,1818,0.00,2.20,0.00,0.000,4,0.000,0.053,2399,545,3501,0,0,0,0,0,0
$GC,1880,-0.74,-146.0,237.2,-9.2,189,1885,0.12,2.12,0.00,0.000,6,0.160,0.034,2424,1955,3501,0,0,0,0,0,0
$GC,2202,-0.74,-146.0,262.0,-8.1,205,2206,0.00,2.28,0.00,0.000,4,0.000,0.054,2424,536,3501,0,0,0,0,0,0
$GC,2236,-0.74,-146.0,265.0,-9.4,206,2240,0.00,2.15,0.00,0.000,6,0.000,0.036,2416,1954,3500,0,0,0,0,0,0
$GC,2559,-0.74,-146.0,293.4,-8.5,222,2563,0.00,2.25,0.00,0.000,4,0.000,0.054,2416,547,3501,0,0,0,0,0,0
$GC,2666,-0.74,-146.0,304.1,-10.4,226,2671,0.00,2.15,0.00,0.000,6,0.000,0.037,2407,1959,3500,0,0,0,0,0,0
$GC,3013,-0.74,-146.0,335.5,-8.9,235,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1959,3500,0,0,0,0,0,0
$GC,3334,-0.74,-146.0,359.5,-6.8,243,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1959,3497,0,0,0,0,0,0
$GC,3659,-0.74,-146.0,383.9,-7.7,251,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1959,3495,0,0,0,0,0,0
$GC,3984,-0.74,-146.0,408.2,-7.5,259,3989,0.00,2.30,0.00,0.000,4,0.000,0.058,2407,548,3493,0,0,0,0,0,0
$GC,4093,-0.74,-146.0,417.3,-8.0,261,4097,0.00,2.17,0.00,0.000,6,0.000,0.040,2397,1955,3492,0,0,0,0,0,0
$GC,4438,-0.74,-146.0,445.4,-8.3,270,4442,0.00,2.30,0.00,0.000,4,0.000,0.059,2397,543,3490,0,0,0,0,0,0
$STATE,4486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4486,begin apogee
$GC,4495,-0.17,0.0,450.6,9.6,271,4617,0.68,0.00,118.53,0.765,6,0.122,0.000,2606,1988,2900,0,0,0,0,0,0
$STATE,4618,end apogee,CONTROL_FINISHED_OK
$STATE,4618,begin climb
$GC,4621,0.74,146.0,453.5,0.0,274,4755,0.80,2.33,125.05,0.742,4,0.069,0.057,2891,3382,2303,0,0,0,0,0,0
$GC,4811,0.74,146.0,433.6,15.7,278,4815,0.00,2.30,0.00,0.000,6,0.000,0.046,2900,1976,2299,0,0,0,0,0,0
$GC,5154,0.74,146.0,382.8,14.6,287,5158,0.00,2.30,0.00,0.000,4,0.000,0.068,2910,569,2295,0,0,0,0,0,0
$GC,5210,0.74,146.0,374.1,14.6,288,5214,0.00,2.22,0.00,0.000,6,0.000,0.044,2911,1983,2294,0,0,0,0,0,0
$GC,5523,0.74,146.0,329.7,13.6,296,5527,0.00,2.17,0.00,0.000,4,0.000,0.053,2911,3390,2292,0,0,0,0,0,0
$GC,5624,0.74,146.0,315.1,14.2,298,5628,0.00,2.28,0.00,0.000,6,0.000,0.051,2920,1970,2291,0,0,0,0,0,0
$GC,5940,0.74,146.0,269.2,13.4,311,5944,0.00,2.20,0.00,0.000,4,0.000,0.059,2931,568,2289,0,0,0,0,0,0
$GC,5973,0.74,146.0,264.6,13.4,312,5979,0.12,2.22,0.00,0.000,6,0.155,0.046,2897,1991,2288,0,0,0,0,0,0
$GC,6289,0.74,146.0,225.4,13.0,328,6293,0.00,2.17,0.00,0.000,4,0.000,0.053,2897,3386,2287,0,0,0,0,0,0
$GC,6423,0.74,146.0,208.9,11.9,334,6427,0.00,2.20,0.00,0.000,6,0.000,0.041,2906,1965,2287,0,0,0,0,0,0
$GC,6750,0.74,146.0,175.0,9.3,360,6754,0.00,2.28,0.00,0.000,4,0.000,0.059,2906,3387,2286,0,0,0,0,0,0
$GC,6836,0.74,146.0,165.2,11.0,367,6844,0.00,2.20,0.00,0.000,6,0.000,0.038,2916,1979,2286,0,0,0,0,0,0
$GC,7163,0.74,146.0,129.0,10.5,398,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1979,2286,0,0,0,0,0,0
$GC,7484,0.74,146.0,97.6,10.2,428,7488,0.00,2.17,0.00,0.000,4,0.000,0.051,2926,567,2286,0,0,0,0,0,0
$GC,7503,0.74,146.0,95.5,9.7,429,7507,0.00,2.15,0.00,0.000,6,0.000,0.034,2926,1985,2286,0,0,0,0,0,0
$GC,7833,0.78,177.8,67.5,7.7,473,7868,0.00,2.30,24.90,0.496,4,0.000,0.050,2936,564,2173,0,0,0,0,0,0
$GC,7950,0.79,191.0,58.5,8.5,493,7967,0.00,2.15,12.55,0.459,6,0.000,0.032,2936,1980,2121,0,0,0,0,0,0
$GC,8292,0.79,191.0,28.2,10.9,556,8300,0.00,2.22,0.00,0.000,4,0.000,0.051,2936,3377,2117,0,0,0,0,0,0
$GC,8382,0.79,191.0,17.8,11.5,572,8391,0.08,2.22,0.00,0.000,6,0.124,0.046,2919,1986,2118,0,0,0,0,0,0
$GC,8552,0.82,216.9,3.4,8.0,603,8560,0.00,0.00,6.15,0.366,2,0.000,0.000,2919,1985,2082,0,0,0,0,0,0
$STATE,8561,end climb,SURFACE_DEPTH_REACHED
$STATE,8561,begin surface coast
$FINISH,0.6,1.023004
$STATE,8605,end surface coast,CONTROL_FINISHED_OK
$STATE,8606,begin surface
$SM_CCo,8624,37.92,0.430,0,0,1738,285.03
$SM_GC,1.47,0.00,0.00,37.92,0.000,0.000,0.430,33,1970,1738,-8.21,0.40,285.03
$IRIDIUM_FIX,2054.83,-15804.20,280802,060645
$TT8_MAMPS,0.027612
$HUMID,62.99
$INTERNAL_PRESSURE,9.42144
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.6,30.468
$10V_AH,10.4,33.398
$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,18.900,79.975,287.175,37.925,0.000,53.869,89.479,320.646,19.250,0.000,19.432,1112.793,5147.907,362.650,1986.019,719.388,0.000,1060.005,0.000,1934.587,0.000,119.225,0.000
$DEVICE_MAMPS,226.265,68.263,765.466,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,415.749,343.559,1197.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,34966,612
$CAP_FILE_SIZE,100144,0
$CFSIZE,260165632,237522944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030613,084058,2059.763,-15751.925,38,0.9,38,9.8