version: 66.06
glider: 523
mission: 4
dive: 473
start: 6 14 113 18 36 23
data:
$ID,523
$MISSION,4
$DIVE,473
$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,300
$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,-45455.117
$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,2640
$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,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$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
$GPS1,182704,2059.888,-15753.880,56,0.8,56,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.4
$GPS2,183606,2059.900,-15753.988,16,1.0,16,9.8
$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,308.4,20942,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.74,-146.0,0.0,0.0,0,97,0.00,0.00,-76.32,0.000,2,0.000,0.000,30,1975,3387,0,0,0,0,0,0
$GC,100,-0.74,-146.0,3.1,-4.2,12,115,9.52,2.20,0.00,0.000,4,0.225,0.048,2381,3371,3389,0,0,0,0,0,0
$GC,292,-0.74,-146.0,42.8,-18.7,47,298,0.00,2.28,0.00,0.000,6,0.000,0.044,2381,1957,3390,0,0,0,0,0,0
$GC,628,-0.74,-146.0,89.1,-14.4,103,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1957,3392,0,0,0,0,0,0
$GC,946,-0.74,-146.0,130.2,-11.2,133,950,0.00,2.28,0.00,0.000,4,0.000,0.054,2381,537,3392,0,0,0,0,0,0
$GC,1197,-0.74,-146.0,160.8,-11.2,155,1205,0.08,2.17,0.00,0.000,6,0.154,0.032,2395,1965,3393,0,0,0,0,0,0
$GC,1525,-0.74,-146.0,191.2,-8.9,186,1529,0.00,2.28,0.00,0.000,4,0.000,0.050,2396,537,3392,0,0,0,0,0,0
$GC,1782,-0.74,-146.0,215.1,-8.9,201,1788,0.00,2.15,0.00,0.000,6,0.000,0.033,2387,1952,3393,0,0,0,0,0,0
$GC,2101,-0.74,-146.0,240.5,-7.9,217,2105,0.00,2.25,0.00,0.000,4,0.000,0.050,2387,546,3393,0,0,0,0,0,0
$GC,2359,-0.74,-146.0,262.8,-9.5,228,2363,0.00,2.15,0.00,0.000,6,0.000,0.034,2378,1962,3393,0,0,0,0,0,0
$GC,2679,-0.74,-146.0,290.3,-7.4,243,2683,0.00,2.30,0.00,0.000,4,0.000,0.052,2378,539,3393,0,0,0,0,0,0
$GC,2938,-0.74,-146.0,309.1,-6.9,252,2944,0.12,2.17,0.00,0.000,6,0.167,0.035,2400,1966,3392,0,0,0,0,0,0
$GC,3270,-0.74,-146.0,329.8,-6.5,261,3275,0.00,2.30,0.00,0.000,4,0.000,0.056,2400,547,3391,0,0,0,0,0,0
$GC,3361,-0.74,-146.0,336.5,-7.4,263,3365,0.00,2.15,0.00,0.000,6,0.000,0.036,2392,1954,3390,0,0,0,0,0,0
$GC,3694,-0.74,-146.0,356.3,-5.7,271,3698,0.00,2.30,0.00,0.000,4,0.000,0.058,2392,548,3389,0,0,0,0,0,0
$GC,3900,-0.74,-146.0,372.5,-7.8,275,3904,0.00,2.17,0.00,0.000,6,0.000,0.038,2382,1957,3387,0,0,0,0,0,0
$GC,4233,-0.74,-146.0,393.0,-5.3,283,4237,0.00,2.20,0.00,0.000,4,0.000,0.056,2372,3362,3386,0,0,0,0,0,0
$GC,4295,-0.74,-146.0,396.6,-5.8,284,4300,0.10,2.22,0.00,0.000,6,0.158,0.042,2396,1951,3385,0,0,0,0,0,0
$GC,4641,-0.74,-146.0,418.3,-6.4,293,4645,0.00,2.25,0.00,0.000,4,0.000,0.059,2397,547,3383,0,0,0,0,0,0
$GC,4898,-0.74,-146.0,434.5,-5.5,298,4904,0.00,2.17,0.00,0.000,6,0.000,0.039,2389,1957,3381,0,0,0,0,0,0
$STATE,5187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5187,begin apogee
$GC,5194,-0.17,0.0,451.8,6.4,306,5316,0.60,0.00,118.80,0.765,6,0.119,0.000,2580,1956,2799,0,0,0,0,0,0
$STATE,5316,end apogee,CONTROL_FINISHED_OK
$STATE,5316,begin climb
$GC,5319,0.74,146.0,453.2,0.0,309,5457,0.82,2.42,126.60,0.738,4,0.074,0.054,2867,3392,2202,0,0,0,0,0,0
$GC,5572,0.74,146.0,425.8,13.3,314,5577,0.00,2.30,0.00,0.000,6,0.000,0.045,2877,1980,2198,0,0,0,0,0,0
$GC,5903,0.74,146.0,380.7,13.7,323,5907,0.00,2.28,0.00,0.000,4,0.000,0.058,2877,3385,2195,0,0,0,0,0,0
$GC,5943,0.74,146.0,375.2,14.9,324,5947,0.00,2.25,0.00,0.000,6,0.000,0.049,2885,1980,2194,0,0,0,0,0,0
$GC,6267,0.74,146.0,331.5,13.4,332,6271,0.00,2.25,0.00,0.000,4,0.000,0.060,2895,565,2192,0,0,0,0,0,0
$GC,6311,0.74,146.0,325.4,13.3,333,6315,0.00,2.22,0.00,0.000,6,0.000,0.040,2896,1986,2192,0,0,0,0,0,0
$GC,6632,0.74,146.0,281.8,13.3,344,6636,0.00,2.22,0.00,0.000,4,0.000,0.054,2896,3393,2191,0,0,0,0,0,0
$GC,6787,0.74,146.0,261.6,13.0,351,6792,0.00,2.25,0.00,0.000,6,0.000,0.049,2905,1974,2190,0,0,0,0,0,0
$GC,7115,0.74,146.0,224.1,10.0,367,7119,0.00,2.25,0.00,0.000,4,0.000,0.060,2915,570,2189,0,0,0,0,0,0
$GC,7159,0.74,146.0,219.0,11.5,369,7164,0.12,2.17,0.00,0.000,6,0.138,0.040,2880,1981,2188,0,0,0,0,0,0
$GC,7487,0.74,146.2,188.7,9.0,390,7491,0.00,2.22,0.00,0.000,4,0.000,0.054,2880,3393,2188,0,0,0,0,0,0
$GC,7700,0.74,146.2,168.3,9.8,409,7704,0.00,2.22,0.00,0.000,6,0.000,0.045,2887,1971,2187,0,0,0,0,0,0
$GC,8027,0.76,167.5,140.0,8.2,439,8052,0.00,2.25,16.73,0.548,4,0.000,0.058,2897,575,2117,0,0,0,0,0,0
$GC,8122,0.76,167.5,131.3,9.3,447,8130,0.00,2.20,0.00,0.000,6,0.000,0.038,2897,1976,2115,0,0,0,0,0,0
$GC,8450,0.78,178.3,101.2,8.6,478,8465,0.00,2.22,10.77,0.487,4,0.000,0.053,2898,3380,2071,0,0,0,0,0,0
$GC,8528,0.78,178.3,93.4,10.3,485,8532,0.00,2.20,0.00,0.000,6,0.000,0.042,2906,1980,2071,0,0,0,0,0,0
$GC,8857,0.78,178.3,62.4,9.4,532,8865,0.00,2.28,0.00,0.000,4,0.000,0.053,2906,3387,2070,0,0,0,0,0,0
$GC,8903,0.78,178.3,57.9,10.3,540,8910,0.00,2.22,0.00,0.000,6,0.000,0.041,2914,1980,2071,0,0,0,0,0,0
$GC,9239,0.78,178.3,29.0,9.6,601,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1980,2071,0,0,0,0,0,0
$GC,9409,0.82,214.5,14.3,7.5,632,9449,0.00,2.25,31.65,0.448,4,0.000,0.051,2914,3380,1923,0,0,0,0,0,0
$GC,9504,0.82,214.5,6.4,10.3,648,9512,0.00,2.22,0.00,0.000,6,0.000,0.041,2922,1976,1922,0,0,0,0,0,0
$STATE,9538,end climb,SURFACE_DEPTH_REACHED
$STATE,9538,begin surface coast
$FINISH,0.7,0.998801
$STATE,9566,end surface coast,CONTROL_FINISHED_OK
$STATE,9566,begin surface
$SM_CCo,9584,39.58,0.429,0,0,1575,300.24
$SM_GC,1.32,0.00,0.00,39.58,0.000,0.000,0.429,40,1967,1575,-8.13,0.28,300.24
$IRIDIUM_FIX,2047.91,-15752.63,080902,181853
$TT8_MAMPS,0.028379
$HUMID,64.60
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,24.5,39.204
$10V_AH,10.3,43.134
$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,18.725,84.925,304.550,39.575,0.000,50.716,68.237,212.035,19.250,0.000,17.270,1244.747,5570.561,389.332,2347.252,612.014,0.000,1235.381,0.000,2294.771,0.000,119.640,0.000
$DEVICE_MAMPS,224.731,59.826,765.466,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,448.098,375.872,1288.534,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38102,659
$CAP_FILE_SIZE,108913,0
$CFSIZE,260165632,232456192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,211753,2100.427,-15755.083,26,0.8,26,9.8