version: 66.06
glider: 523
mission: 4
dive: 481
start: 6 15 113 17 22 23
data:
$ID,523
$MISSION,4
$DIVE,481
$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,-45612.688
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,171218,2106.021,-15801.946,28,0.7,28,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.0
$GPS2,172206,2106.059,-15802.009,16,0.8,16,9.8
$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,348.9,4214,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,101,0.00,0.00,-77.47,0.000,6,0.000,0.000,25,1975,3395,0,0,0,0,0,0
$GC,104,-0.74,-146.0,4.0,-6.3,13,119,9.60,2.20,0.00,0.000,4,0.225,0.045,2381,3368,3397,0,0,0,0,0,0
$GC,185,-0.74,-146.0,22.4,-16.0,27,192,0.00,2.25,0.00,0.000,6,0.000,0.041,2381,1966,3398,0,0,0,0,0,0
$GC,354,-0.74,-146.0,47.6,-15.1,58,361,0.00,2.33,0.00,0.000,4,0.000,0.059,2381,544,3399,0,0,0,0,0,0
$GC,539,-0.74,-146.0,77.3,-16.0,92,547,0.00,2.20,0.00,0.000,6,0.000,0.034,2372,1965,3399,0,0,0,0,0,0
$GC,870,-0.74,-146.0,117.3,-11.4,124,874,0.12,2.33,0.00,0.000,4,0.166,0.053,2404,538,3400,0,0,0,0,0,0
$GC,1015,-0.74,-146.0,131.1,-8.6,137,1019,0.00,2.15,0.00,0.000,6,0.000,0.033,2395,1963,3400,0,0,0,0,0,0
$GC,1348,-0.74,-146.0,157.7,-8.6,168,1352,0.00,2.25,0.00,0.000,4,0.000,0.051,2396,547,3401,0,0,0,0,0,0
$GC,1512,-0.74,-146.0,172.6,-8.7,182,1520,0.00,2.15,0.00,0.000,6,0.000,0.032,2386,1951,3401,0,0,0,0,0,0
$GC,1846,-0.74,-146.0,204.2,-9.3,212,1850,0.00,2.28,0.00,0.000,4,0.000,0.051,2386,538,3401,0,0,0,0,0,0
$GC,1954,-0.74,-146.0,214.8,-9.5,217,1961,0.00,2.17,0.00,0.000,6,0.000,0.033,2376,1971,3402,0,0,0,0,0,0
$GC,2290,-0.74,-146.0,244.0,-8.3,233,2294,0.00,2.28,0.00,0.000,4,0.000,0.051,2376,539,3401,0,0,0,0,0,0
$GC,2484,-0.74,-146.0,260.1,-7.8,241,2490,0.12,2.15,0.00,0.000,6,0.163,0.034,2398,1957,3401,0,0,0,0,0,0
$GC,2802,-0.74,-146.0,279.2,-6.7,257,2806,0.00,2.15,0.00,0.000,4,0.000,0.051,2390,3357,3401,0,0,0,0,0,0
$GC,3004,-0.74,-146.0,294.6,-7.2,266,3008,0.00,2.20,0.00,0.000,6,0.000,0.042,2389,1953,3401,0,0,0,0,0,0
$GC,3352,-0.74,-146.0,316.0,-6.0,277,3356,0.00,2.25,0.00,0.000,4,0.000,0.055,2390,540,3400,0,0,0,0,0,0
$GC,3610,-0.74,-146.0,339.0,-8.7,282,3615,0.00,2.17,0.00,0.000,6,0.000,0.035,2380,1964,3398,0,0,0,0,0,0
$GC,3942,-0.74,-146.0,361.6,-6.6,291,3946,0.00,2.28,0.00,0.000,4,0.000,0.055,2380,550,3397,0,0,0,0,0,0
$GC,4166,-0.74,-146.0,378.1,-7.3,296,4171,0.12,2.15,0.00,0.000,6,0.167,0.038,2403,1962,3395,0,0,0,0,0,0
$GC,4487,-0.74,-146.0,398.7,-6.4,304,4491,0.00,2.20,0.00,0.000,4,0.000,0.054,2394,3364,3394,0,0,0,0,0,0
$GC,4566,-0.74,-146.0,403.8,-6.2,305,4570,0.00,2.20,0.00,0.000,6,0.000,0.040,2394,1950,3393,0,0,0,0,0,0
$GC,4898,-0.74,-146.0,422.2,-5.4,313,4902,0.00,2.25,0.00,0.000,4,0.000,0.060,2394,545,3391,0,0,0,0,0,0
$GC,5100,-0.74,-146.0,433.1,-5.6,317,5104,0.00,2.17,0.00,0.000,6,0.000,0.040,2384,1960,3389,0,0,0,0,0,0
$STATE,5359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5359,begin apogee
$GC,5365,-0.17,0.0,450.1,7.0,324,5489,0.62,0.00,120.35,0.762,6,0.118,0.000,2583,1961,2800,0,0,0,0,0,0
$STATE,5490,end apogee,CONTROL_FINISHED_OK
$STATE,5490,begin climb
$GC,5493,0.74,146.0,451.8,0.0,327,5630,0.85,2.40,126.80,0.736,4,0.080,0.055,2875,3379,2203,0,0,0,0,0,0
$GC,5675,0.74,146.0,432.2,15.3,331,5679,0.00,2.28,0.00,0.000,6,0.000,0.044,2883,1980,2200,0,0,0,0,0,0
$GC,6023,0.74,146.0,384.8,12.7,340,6027,0.00,2.30,0.00,0.000,4,0.000,0.064,2894,572,2197,0,0,0,0,0,0
$GC,6040,0.74,146.0,382.5,12.5,340,6044,0.00,2.20,0.00,0.000,6,0.000,0.040,2895,1977,2196,0,0,0,0,0,0
$GC,6382,0.74,146.0,336.3,12.7,349,6386,0.00,2.25,0.00,0.000,4,0.000,0.054,2895,3389,2194,0,0,0,0,0,0
$GC,6460,0.74,146.0,326.1,12.8,350,6466,0.00,2.25,0.00,0.000,6,0.000,0.045,2904,1976,2193,0,0,0,0,0,0
$GC,6773,0.74,146.0,284.6,13.0,361,6777,0.00,2.28,0.00,0.000,4,0.000,0.059,2913,571,2192,0,0,0,0,0,0
$GC,6836,0.74,146.0,276.6,12.2,364,6841,0.12,2.22,0.00,0.000,6,0.144,0.043,2880,1978,2192,0,0,0,0,0,0
$GC,7162,0.74,146.0,242.3,10.7,380,7166,0.00,2.20,0.00,0.000,4,0.000,0.053,2880,3389,2190,0,0,0,0,0,0
$GC,7360,0.74,146.0,221.3,10.2,389,7364,0.00,2.25,0.00,0.000,6,0.000,0.047,2888,1976,2189,0,0,0,0,0,0
$GC,7681,0.74,146.0,190.0,9.1,409,7685,0.00,2.25,0.00,0.000,4,0.000,0.058,2898,570,2189,0,0,0,0,0,0
$GC,7735,0.76,165.1,185.3,8.2,413,7754,0.00,2.22,15.27,0.584,6,0.000,0.040,2899,1980,2126,0,0,0,0,0,0
$GC,8073,0.76,165.1,154.1,9.5,445,8077,0.00,2.25,0.00,0.000,4,0.000,0.053,2898,3387,2122,0,0,0,0,0,0
$GC,8231,0.76,165.1,137.7,10.3,459,8236,0.00,2.20,0.00,0.000,6,0.000,0.040,2907,1978,2121,0,0,0,0,0,0
$GC,8560,0.76,165.1,103.2,11.4,489,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1978,2121,0,0,0,0,0,0
$GC,8890,0.76,165.1,67.0,10.8,531,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1978,2121,0,0,0,0,0,0
$GC,9222,0.82,211.0,42.4,7.1,592,9268,0.00,2.33,39.38,0.479,4,0.000,0.054,2907,3380,1937,0,0,0,0,0,0
$GC,9299,0.87,254.7,37.2,7.2,605,9347,0.00,2.22,38.05,0.466,6,0.000,0.040,2908,1966,1760,0,0,0,0,0,0
$GC,9667,0.88,265.4,7.9,8.6,673,9681,0.00,0.00,10.32,0.406,6,0.000,0.000,2908,1966,1716,0,0,0,0,0,0
$STATE,9724,end climb,SURFACE_DEPTH_REACHED
$STATE,9724,begin surface coast
$FINISH,0.6,1.023207
$STATE,9757,end surface coast,CONTROL_FINISHED_OK
$STATE,9757,begin surface
$SM_CCo,9774,18.38,0.415,0,0,1574,300.24
$SM_GC,1.50,0.00,0.00,18.38,0.000,0.000,0.415,41,1952,1574,-8.12,-0.14,300.24
$IRIDIUM_FIX,2054.83,-15802.06,090902,171711
$TT8_MAMPS,0.028379
$HUMID,66.02
$INTERNAL_PRESSURE,9.38238
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,24.5,39.924
$10V_AH,10.3,43.940
$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,18.950,84.850,350.175,18.375,0.000,52.914,70.913,254.045,19.250,0.000,17.184,1263.128,5653.846,409.171,2392.986,658.175,0.000,1260.423,0.000,2340.590,0.000,119.195,0.000
$DEVICE_MAMPS,225.498,63.661,761.631,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,467.599,392.505,1361.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38048,689
$CAP_FILE_SIZE,111038,0
$CFSIZE,260165632,232038400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,200752,2107.189,-15802.616,96,0.9,96,9.8