version: 66.06
glider: 523
mission: 4
dive: 609
start: 7 1 113 2 51 48
data:
$ID,523
$MISSION,4
$DIVE,609
$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,-48198.57
$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,17
$R_STBD_OVSHOOT,22
$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
$GPS1,024112,2058.101,-15745.467,16,1.3,16,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.5
$GPS2,025130,2058.125,-15745.513,23,0.9,23,9.8
$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,257.3,7529,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-79.40,0.000,6,0.000,0.000,27,1950,3396,0,0,0,0,0,0
$GC,103,-0.74,-146.0,3.8,-6.4,13,118,9.62,2.25,0.00,0.000,4,0.221,0.047,2384,3378,3397,0,0,0,0,0,0
$GC,249,-0.74,-146.0,31.7,-14.6,40,256,0.00,2.30,0.00,0.000,6,0.000,0.044,2384,1949,3398,0,0,0,0,0,0
$GC,584,-0.74,-146.0,79.3,-11.7,101,593,0.00,2.25,0.00,0.000,4,0.000,0.057,2384,542,3399,0,0,0,0,0,0
$GC,807,-0.74,-146.0,104.6,-11.9,122,814,0.00,2.20,0.00,0.000,6,0.000,0.038,2375,1966,3400,0,0,0,0,0,0
$GC,1143,-0.74,-146.0,140.4,-9.5,153,1147,0.00,2.28,0.00,0.000,4,0.000,0.055,2374,546,3400,0,0,0,0,0,0
$GC,1392,-0.74,-146.0,163.0,-10.0,175,1400,0.10,2.20,0.00,0.000,6,0.137,0.037,2396,1964,3401,0,0,0,0,0,0
$GC,1719,-0.74,-146.0,192.3,-9.4,206,1723,0.00,2.28,0.00,0.000,4,0.000,0.055,2397,545,3401,0,0,0,0,0,0
$GC,1974,-0.74,-146.0,213.8,-7.5,221,1981,0.00,2.17,0.00,0.000,6,0.000,0.037,2389,1958,3401,0,0,0,0,0,0
$GC,2295,-0.74,-146.0,236.6,-8.3,237,2299,0.00,2.28,0.00,0.000,4,0.000,0.055,2389,539,3401,0,0,0,0,0,0
$GC,2317,-0.74,-146.0,239.1,-8.9,238,2322,0.00,2.20,0.00,0.000,6,0.000,0.038,2379,1963,3402,0,0,0,0,0,0
$GC,2642,-0.74,-146.0,265.8,-8.2,254,2646,0.00,2.28,0.00,0.000,4,0.000,0.056,2379,547,3401,0,0,0,0,0,0
$GC,2853,-0.74,-146.0,286.7,-10.7,263,2859,0.12,2.17,0.00,0.000,6,0.158,0.038,2403,1956,3402,0,0,0,0,0,0
$GC,3169,-0.74,-146.0,309.5,-6.7,276,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1957,3401,0,0,0,0,0,0
$GC,3494,-0.74,-146.0,330.7,-6.8,284,3498,0.00,2.33,0.00,0.000,4,0.000,0.057,2404,544,3399,0,0,0,0,0,0
$GC,3702,-0.74,-146.0,347.6,-8.1,288,3706,0.00,2.17,0.00,0.000,6,0.000,0.038,2395,1957,3398,0,0,0,0,0,0
$GC,4045,-0.74,-146.0,370.1,-6.6,297,4049,0.00,2.35,0.00,0.000,4,0.000,0.058,2396,536,3396,0,0,0,0,0,0
$GC,4305,-0.74,-146.0,387.6,-6.4,302,4310,0.00,2.17,0.00,0.000,6,0.000,0.039,2386,1955,3394,0,0,0,0,0,0
$GC,4636,-0.74,-146.0,408.1,-6.3,311,4640,0.00,2.30,0.00,0.000,4,0.000,0.058,2386,547,3393,0,0,0,0,0,0
$GC,4704,-0.74,-146.0,413.4,-8.1,312,4708,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1961,3392,0,0,0,0,0,0
$GC,5046,-0.74,-146.0,427.0,-0.3,321,5050,0.00,2.25,0.00,0.000,4,0.000,0.060,2376,3374,3390,0,0,0,0,0,0
$STATE,5167,end dive,NO_VERTICAL_VELOCITY
$STATE,5167,begin apogee
$GC,5176,-0.17,0.0,427.1,0.0,323,5301,0.55,0.00,121.62,0.732,6,0.064,0.000,2586,1979,2800,0,0,0,0,0,0
$STATE,5302,end apogee,CONTROL_FINISHED_OK
$STATE,5302,begin climb
$GC,5305,0.74,146.0,426.9,0.0,326,5442,0.80,2.38,126.72,0.707,4,0.074,0.062,2880,573,2202,0,0,0,0,0,0
$GC,5611,0.74,146.0,392.5,12.2,333,5615,0.00,2.25,0.00,0.000,6,0.000,0.040,2880,1992,2197,0,0,0,0,0,0
$GC,5929,0.74,146.0,351.5,12.8,341,5933,0.00,2.25,0.00,0.000,4,0.000,0.063,2880,3386,2195,0,0,0,0,0,0
$GC,5985,0.74,146.0,345.0,11.5,342,5989,0.00,2.25,0.00,0.000,6,0.000,0.046,2889,1980,2194,0,0,0,0,0,0
$GC,6333,0.74,146.0,308.4,10.9,351,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1980,2193,0,0,0,0,0,0
$GC,6641,0.74,146.0,272.7,11.9,364,6645,0.00,2.28,0.00,0.000,4,0.000,0.059,2890,3386,2192,0,0,0,0,0,0
$GC,6702,0.74,146.0,264.8,13.1,366,6708,0.00,2.25,0.00,0.000,6,0.000,0.047,2897,1980,2192,0,0,0,0,0,0
$GC,7018,0.74,146.0,231.7,9.6,382,7022,0.00,2.28,0.00,0.000,4,0.000,0.059,2898,3386,2192,0,0,0,0,0,0
$GC,7091,0.74,146.0,224.1,11.0,385,7095,0.00,2.22,0.00,0.000,6,0.000,0.048,2906,1981,2191,0,0,0,0,0,0
$GC,7410,0.74,146.0,194.5,10.3,402,7414,0.00,2.25,0.00,0.000,4,0.000,0.059,2906,3386,2191,0,0,0,0,0,0
$GC,7493,0.74,146.0,184.5,12.8,409,7498,0.12,2.25,0.00,0.000,6,0.146,0.048,2874,1979,2190,0,0,0,0,0,0
$GC,7821,0.77,171.1,154.7,8.0,439,7850,0.00,0.00,20.67,0.552,6,0.000,0.000,2874,1979,2101,0,0,0,0,0,0
$GC,8169,0.83,222.7,131.1,6.9,472,8219,0.00,2.33,44.83,0.541,4,0.000,0.061,2873,3393,1891,0,0,0,0,0,0
$GC,8300,0.83,222.7,118.6,10.5,483,8304,0.00,2.30,0.00,0.000,6,0.000,0.048,2880,1978,1889,0,0,0,0,0,0
$GC,8628,0.88,264.0,90.8,7.3,513,8676,0.12,2.35,36.60,0.500,4,0.073,0.058,2965,3386,1722,0,0,0,0,0,0
$GC,8725,0.88,264.0,78.9,14.7,521,8731,0.17,2.28,0.00,0.000,6,0.130,0.046,2925,1974,1721,0,0,0,0,0,0
$GC,9058,0.90,276.3,43.5,8.5,582,9077,0.00,0.00,11.60,0.432,6,0.000,0.000,2925,1973,1673,0,0,0,0,0,0
$GC,9396,0.92,296.3,13.7,8.2,645,9416,0.00,0.00,18.90,0.426,6,0.000,0.000,2924,1973,1590,0,0,0,0,0,0
$STATE,9521,end climb,SURFACE_DEPTH_REACHED
$STATE,9521,begin surface coast
$FINISH,0.6,1.023030
$STATE,9566,end surface coast,CONTROL_FINISHED_OK
$STATE,9566,begin surface
$SM_CCo,9584,2.40,0.189,0,0,1575,300.24
$SM_GC,1.97,0.00,0.00,2.40,0.000,0.000,0.189,40,1966,1575,-8.12,0.28,300.24
$IRIDIUM_FIX,2052.52,-15749.62,250902,020206
$TT8_MAMPS,0.028379
$HUMID,66.89
$INTERNAL_PRESSURE,9.41168
$TCM_TEMP,24.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,380.1,44.2
$24V_AH,24.5,52.079
$10V_AH,10.2,57.083
$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,18.950,76.775,380.950,2.400,0.000,55.735,75.233,265.399,16.000,0.000,26.790,1233.570,5518.604,398.033,2371.127,681.735,0.000,1251.428,0.000,2317.008,0.000,101.481,0.000
$DEVICE_MAMPS,220.896,62.894,732.485,189.449,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,458.245,401.213,1367.783,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38178,676
$CAP_FILE_SIZE,105944,0
$CFSIZE,260165632,225423360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010713,053305,2057.202,-15746.607,50,0.9,50,9.8