version: 66.06
glider: 523
mission: 4
dive: 751
start: 7 19 113 15 40 46
data:
$ID,523
$MISSION,4
$DIVE,751
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$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,157
$T_MISSION,300
$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,1
$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,-51203.059
$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,2642
$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,1925
$C_ROLL_CLIMB,1996
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,24
$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
$GPS1,152859,2107.593,-15755.794,40,0.9,40,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.1
$GPS2,153953,2107.585,-15755.900,15,1.3,15,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.244,-0.077
$KALMAN_X,-40177.8,-868.6,-630.1,37499.9,-337.7
$KALMAN_Y,4716.2,-100.4,-96.6,-7185.9,439.9
$MHEAD_RNG_PITCHd_Wd,97.7,22670,-17.6,-9.554
$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,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-81.43,0.000,6,0.000,0.000,35,1939,3397,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.0,-3.3,13,119,9.65,2.33,0.00,0.000,4,0.222,0.059,2383,511,3398,0,0,0,0,0,0
$GC,169,-0.76,-146.0,15.8,-12.7,24,177,0.00,2.25,0.00,0.000,6,0.000,0.042,2375,1918,3399,0,0,0,0,0,0
$GC,343,-0.76,-146.0,35.0,-10.7,55,348,0.00,2.33,0.00,0.000,4,0.000,0.064,2364,3343,3399,0,0,0,0,0,0
$GC,368,-0.76,-146.0,38.2,-11.1,59,375,0.12,2.28,0.00,0.000,6,0.150,0.052,2396,1922,3400,0,0,0,0,0,0
$GC,699,-0.76,-146.0,72.7,-10.9,120,706,0.00,2.33,0.00,0.000,4,0.000,0.060,2388,3335,3400,0,0,0,0,0,0
$GC,887,-0.76,-146.0,91.6,-8.5,143,891,0.00,2.25,0.00,0.000,6,0.000,0.050,2389,1915,3400,0,0,0,0,0,0
$GC,1215,-0.76,-146.0,118.9,-8.6,173,1219,0.00,2.28,0.00,0.000,4,0.000,0.067,2388,514,3401,0,0,0,0,0,0
$GC,1440,-0.76,-146.0,137.4,-7.7,193,1444,0.00,2.22,0.00,0.000,6,0.000,0.041,2379,1936,3401,0,0,0,0,0,0
$GC,1768,-0.76,-146.0,161.2,-7.9,223,1772,0.00,2.33,0.00,0.000,4,0.000,0.065,2379,515,3402,0,0,0,0,0,0
$GC,1968,-0.76,-146.0,177.8,-7.7,241,1972,0.00,2.22,0.00,0.000,6,0.000,0.042,2370,1935,3402,0,0,0,0,0,0
$GC,2293,-0.76,-146.0,201.4,-7.0,270,2297,0.00,2.30,0.00,0.000,4,0.000,0.064,2370,514,3402,0,0,0,0,0,0
$GC,2411,-0.76,-146.0,209.6,-5.8,275,2417,0.12,2.20,0.00,0.000,6,0.155,0.041,2393,1934,3402,0,0,0,0,0,0
$GC,2735,-0.76,-146.0,224.4,-4.6,291,2739,0.00,2.30,0.00,0.000,4,0.000,0.064,2394,513,3402,0,0,0,0,0,0
$GC,2836,-0.76,-146.0,229.5,-4.6,295,2841,0.00,2.20,0.00,0.000,6,0.000,0.041,2385,1935,3402,0,0,0,0,0,0
$GC,3151,-0.76,-146.0,242.7,-4.8,311,3155,0.00,2.35,0.00,0.000,4,0.000,0.064,2386,506,3402,0,0,0,0,0,0
$GC,3253,-0.76,-146.0,249.0,-6.0,315,3257,0.00,2.20,0.00,0.000,6,0.000,0.041,2377,1926,3402,0,0,0,0,0,0
$GC,3571,-0.76,-146.0,266.0,-4.8,330,3575,0.00,2.35,0.00,0.000,4,0.000,0.064,2376,507,3402,0,0,0,0,0,0
$GC,3662,-0.76,-146.0,270.5,-4.2,334,3666,0.00,2.20,0.00,0.000,6,0.000,0.041,2367,1926,3401,0,0,0,0,0,0
$GC,3985,-0.76,-146.0,288.3,-5.9,350,3989,0.00,2.33,0.00,0.000,4,0.000,0.063,2367,514,3401,0,0,0,0,0,0
$GC,4143,-0.76,-146.0,298.3,-6.1,357,4147,0.12,2.20,0.00,0.000,6,0.157,0.041,2390,1932,3400,0,0,0,0,0,0
$GC,4483,-0.76,-146.0,317.5,-6.2,367,4487,0.00,2.35,0.00,0.000,4,0.000,0.062,2391,508,3399,0,0,0,0,0,0
$GC,4563,-0.76,-146.0,323.4,-8.0,368,4568,0.00,2.22,0.00,0.000,6,0.000,0.041,2383,1928,3398,0,0,0,0,0,0
$GC,4894,-0.76,-146.0,343.9,-5.3,377,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1928,3396,0,0,0,0,0,0
$GC,5220,-0.76,-146.0,355.7,-3.6,385,5224,0.00,2.25,0.00,0.000,4,0.000,0.064,2372,3331,3395,0,0,0,0,0,0
$GC,5293,-0.76,-146.0,359.2,-5.1,386,5297,0.00,2.28,0.00,0.000,6,0.000,0.049,2372,1921,3395,0,0,0,0,0,0
$GC,5626,-0.76,-146.0,376.8,-5.4,394,5630,0.00,2.30,0.00,0.000,4,0.000,0.067,2372,506,3394,0,0,0,0,0,0
$GC,5839,-0.76,-146.0,392.0,-7.0,398,5845,0.12,2.25,0.00,0.000,6,0.152,0.042,2396,1935,3392,0,0,0,0,0,0
$GC,6174,-0.76,-146.0,415.6,-7.1,407,6178,0.00,2.35,0.00,0.000,4,0.000,0.064,2396,512,3390,0,0,0,0,0,0
$GC,6349,-0.76,-146.0,427.8,-6.1,411,6353,0.00,2.22,0.00,0.000,6,0.000,0.043,2388,1924,3389,0,0,0,0,0,0
$GC,6674,-0.76,-146.0,443.6,-4.3,419,6678,0.00,2.30,0.00,0.000,4,0.000,0.065,2388,513,3388,0,0,0,0,0,0
$GC,6735,-0.76,-146.0,446.6,-4.6,420,6739,0.00,2.22,0.00,0.000,6,0.000,0.044,2379,1934,3388,0,0,0,0,0,0
$STATE,6832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6832,begin apogee
$GC,6839,-0.17,0.0,450.9,4.4,423,6966,0.65,0.00,123.57,0.753,6,0.115,0.000,2586,2000,2799,0,0,0,0,0,0
$STATE,6967,end apogee,CONTROL_FINISHED_OK
$STATE,6967,begin climb
$GC,6970,0.76,146.0,450.6,0.0,426,7103,0.85,0.00,129.07,0.729,6,0.069,0.000,2885,2000,2203,0,0,0,0,0,0
$GC,7417,0.76,146.0,402.1,11.3,437,7421,0.00,2.28,0.00,0.000,4,0.000,0.065,2885,3408,2195,0,0,0,0,0,0
$GC,7646,0.76,146.0,372.0,12.8,442,7650,0.00,2.25,0.00,0.000,6,0.000,0.047,2894,1990,2193,0,0,0,0,0,0
$GC,7959,0.76,146.0,336.5,11.0,450,7963,0.00,2.30,0.00,0.000,4,0.000,0.061,2894,3411,2192,0,0,0,0,0,0
$GC,8098,0.76,146.0,320.8,11.3,453,8103,0.00,2.25,0.00,0.000,6,0.000,0.046,2904,1991,2191,0,0,0,0,0,0
$GC,8413,0.76,146.0,287.0,11.1,463,8417,0.00,2.33,0.00,0.000,4,0.000,0.062,2904,3406,2190,0,0,0,0,0,0
$GC,8567,0.76,146.0,266.9,13.7,470,8571,0.00,2.28,0.00,0.000,6,0.000,0.048,2913,1991,2190,0,0,0,0,0,0
$GC,8894,0.77,147.0,232.4,9.5,486,8899,0.00,2.30,0.00,0.000,4,0.000,0.064,2913,3402,2189,0,0,0,0,0,0
$GC,8962,0.77,147.0,225.0,11.3,489,8967,0.12,2.25,0.00,0.000,6,0.145,0.050,2888,1991,2188,0,0,0,0,0,0
$GC,9283,0.79,170.3,198.2,8.5,505,9308,0.00,2.38,20.23,0.592,4,0.000,0.064,2888,3408,2104,0,0,0,0,0,0
$GC,9423,0.81,180.4,185.5,9.1,517,9439,0.00,2.28,9.95,0.538,6,0.000,0.046,2896,1979,2064,0,0,0,0,0,0
$GC,9767,0.88,236.1,159.2,7.1,549,9825,0.00,2.30,49.67,0.573,4,0.000,0.057,2902,585,1836,0,0,0,0,0,0
$GC,9875,0.93,277.1,151.6,7.8,558,9923,0.10,2.20,37.25,0.551,6,0.084,0.035,2972,2007,1669,0,0,0,0,0,0
$GC,10240,0.93,277.1,110.7,10.8,592,10245,0.12,2.30,0.00,0.000,4,0.137,0.054,2944,585,1668,0,0,0,0,0,0
$GC,10326,0.93,277.1,102.2,10.2,599,10334,0.00,2.22,0.00,0.000,6,0.000,0.037,2944,1994,1668,0,0,0,0,0,0
$GC,10655,0.98,322.4,73.7,7.6,636,10701,0.00,2.33,39.25,0.494,4,0.000,0.055,2953,591,1484,0,0,0,0,0,0
$GC,10767,1.00,341.2,65.0,8.7,655,10792,0.00,2.20,17.25,0.465,6,0.000,0.035,2952,2003,1407,0,0,0,0,0,0
$GC,11124,1.02,351.8,31.3,9.1,719,11141,0.00,2.28,9.60,0.416,4,0.000,0.053,2953,3400,1364,0,0,0,0,0,0
$GC,11207,1.02,351.8,23.2,10.1,734,11214,0.00,2.28,0.00,0.000,6,0.000,0.044,2960,1991,1363,0,0,0,0,0,0
$GC,11375,1.02,351.8,6.0,10.1,765,11382,0.00,2.30,0.00,0.000,4,0.000,0.053,2960,3398,1363,0,0,0,0,0,0
$STATE,11408,end climb,SURFACE_DEPTH_REACHED
$STATE,11408,begin surface coast
$FINISH,2.0,1.023258
$STATE,11416,end surface coast,CONTROL_FINISHED_OK
$STATE,11416,begin surface
$SM_CCo,11497,0.00,0.000,0,0,1360,352.98
$SM_GC,1.65,7.47,0.00,0.00,0.026,0.000,0.000,50,1928,1360,-8.00,0.11,352.98
$IRIDIUM_FIX,2057.14,-15644.45,131002,151517
$TT8_MAMPS,0.027612
$HUMID,71.02
$INTERNAL_PRESSURE,9.32378
$TCM_TEMP,22.30
$XPDR_PINGS,3
$24V_AH,24.2,65.497
$10V_AH,9.9,72.635
$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,19.475,113.950,435.850,0.000,0.000,56.515,74.523,294.376,19.500,0.000,16.003,1426.746,6842.388,465.224,2639.403,769.273,33.352,1443.803,0.000,2588.249,0.000,117.268,0.000
$DEVICE_MAMPS,222.430,111.215,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,524.975,448.968,1463.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,44429,772
$CAP_FILE_SIZE,130576,0
$CFSIZE,260165632,217096192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190713,185334,2107.626,-15755.334,35,0.9,35,9.8