version: 66.06
glider: 523
mission: 4
dive: 763
start: 7 21 113 7 47 46
data:
$ID,523
$MISSION,4
$DIVE,763
$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,-51434.844
$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,52
$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
$GPS1,073904,2106.883,-15754.550,35,0.9,35,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.7
$GPS2,074653,2106.811,-15754.612,16,1.1,16,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.256,-0.020
$KALMAN_X,-66889.5,169.8,-137.1,64912.4,-721.5
$KALMAN_Y,5816.2,281.8,-90.9,-10108.9,32.6
$MHEAD_RNG_PITCHd_Wd,84.6,20290,-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,-146.0,0.0,0.0,0,106,0.00,0.00,-85.72,0.000,6,0.000,0.000,30,1886,3393,0,0,0,0,0,0
$GC,110,-0.76,-146.0,3.5,-5.2,14,125,9.73,2.35,0.00,0.000,4,0.222,0.056,2372,3346,3394,0,0,0,0,0,0
$GC,133,-0.76,-146.0,11.0,-22.3,17,141,0.00,2.25,0.00,0.000,6,0.000,0.051,2373,1960,3396,0,0,0,0,0,0
$GC,305,-0.76,-146.0,33.9,-13.2,48,312,0.00,2.40,0.00,0.000,4,0.000,0.070,2373,515,3396,0,0,0,0,0,0
$GC,380,-0.76,-146.0,43.6,-12.6,61,387,0.12,2.22,0.00,0.000,6,0.163,0.045,2394,1933,3396,0,0,0,0,0,0
$GC,715,-0.76,-146.0,76.8,-8.7,122,722,0.00,2.38,0.00,0.000,4,0.000,0.067,2394,512,3397,0,0,0,0,0,0
$GC,960,-0.76,-146.0,100.9,-10.6,147,964,0.00,2.20,0.00,0.000,6,0.000,0.044,2387,1923,3398,0,0,0,0,0,0
$GC,1295,-0.76,-146.0,130.1,-7.2,178,1299,0.00,2.30,0.00,0.000,4,0.000,0.065,2387,512,3398,0,0,0,0,0,0
$GC,1549,-0.76,-146.0,149.9,-7.1,201,1554,0.00,2.20,0.00,0.000,6,0.000,0.043,2378,1928,3399,0,0,0,0,0,0
$GC,1881,-0.76,-146.0,173.2,-6.3,232,1885,0.00,2.22,0.00,0.000,4,0.000,0.061,2367,3335,3399,0,0,0,0,0,0
$GC,1912,-0.76,-146.0,175.2,-6.9,234,1916,0.00,2.28,0.00,0.000,6,0.000,0.050,2367,1922,3399,0,0,0,0,0,0
$GC,2236,-0.76,-146.0,202.1,-9.0,263,2240,0.00,2.30,0.00,0.000,4,0.000,0.067,2367,514,3399,0,0,0,0,0,0
$GC,2446,-0.76,-146.0,220.3,-7.3,272,2451,0.12,2.20,0.00,0.000,6,0.157,0.041,2390,1936,3399,0,0,0,0,0,0
$GC,2769,-0.76,-146.0,233.7,-3.4,288,2773,0.00,2.28,0.00,0.000,4,0.000,0.060,2382,3339,3399,0,0,0,0,0,0
$GC,2820,-0.76,-146.0,236.3,-5.1,290,2824,0.00,2.28,0.00,0.000,6,0.000,0.050,2382,1922,3399,0,0,0,0,0,0
$GC,3144,-0.76,-146.0,257.5,-7.0,306,3148,0.00,2.28,0.00,0.000,4,0.000,0.067,2382,514,3399,0,0,0,0,0,0
$GC,3334,-0.76,-146.0,269.1,-5.6,314,3340,0.00,2.20,0.00,0.000,6,0.000,0.040,2372,1940,3398,0,0,0,0,0,0
$GC,3655,-0.76,-146.0,285.5,-5.6,330,3659,0.00,2.35,0.00,0.000,4,0.000,0.061,2372,508,3398,0,0,0,0,0,0
$GC,3688,-0.76,-146.0,287.9,-6.2,331,3694,0.12,2.20,0.00,0.000,6,0.154,0.041,2395,1927,3398,0,0,0,0,0,0
$GC,4005,-0.76,-146.0,307.7,-6.3,344,4009,0.00,2.30,0.00,0.000,4,0.000,0.061,2396,512,3397,0,0,0,0,0,0
$GC,4167,-0.76,-146.0,318.1,-5.7,347,4171,0.00,2.20,0.00,0.000,6,0.000,0.042,2388,1925,3396,0,0,0,0,0,0
$GC,4501,-0.76,-146.0,334.8,-4.8,355,4505,0.00,2.33,0.00,0.000,4,0.000,0.062,2388,511,3394,0,0,0,0,0,0
$GC,4650,-0.76,-146.0,343.4,-6.2,358,4654,0.00,2.22,0.00,0.000,6,0.000,0.043,2378,1924,3394,0,0,0,0,0,0
$GC,4965,-0.76,-146.0,362.0,-5.7,366,4969,0.00,2.28,0.00,0.000,4,0.000,0.064,2368,3343,3392,0,0,0,0,0,0
$GC,5026,-0.76,-146.0,366.9,-7.7,367,5030,0.00,2.28,0.00,0.000,6,0.000,0.050,2368,1921,3392,0,0,0,0,0,0
$GC,5377,-0.76,-146.0,390.3,-6.7,376,5381,0.00,2.30,0.00,0.000,4,0.000,0.067,2368,512,3390,0,0,0,0,0,0
$GC,5634,-0.76,-146.0,404.0,-4.9,381,5640,0.12,2.25,0.00,0.000,6,0.153,0.044,2391,1937,3388,0,0,0,0,0,0
$GC,5968,-0.76,-146.0,419.5,-4.9,390,5972,0.00,2.30,0.00,0.000,4,0.000,0.065,2382,3336,3387,0,0,0,0,0,0
$GC,5998,-0.76,-146.0,421.1,-5.1,390,6002,0.00,2.28,0.00,0.000,6,0.000,0.054,2382,1923,3387,0,0,0,0,0,0
$GC,6329,-0.76,-146.0,439.5,-6.1,398,6333,0.00,2.28,0.00,0.000,4,0.000,0.059,2382,506,3386,0,0,0,0,0,0
$GC,6444,-0.76,-146.0,448.0,-8.0,400,6448,0.00,2.22,0.00,0.000,6,0.000,0.038,2373,1943,3385,0,0,0,0,0,0
$STATE,6500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6500,begin apogee
$GC,6507,-0.17,0.0,452.9,8.2,402,6634,0.68,0.00,123.35,0.757,6,0.115,0.000,2587,2001,2800,0,0,0,0,0,0
$STATE,6635,end apogee,CONTROL_FINISHED_OK
$STATE,6635,begin climb
$GC,6638,0.76,146.0,456.9,0.0,405,6775,0.85,2.30,129.48,0.734,4,0.069,0.054,2886,3398,2203,0,0,0,0,0,0
$GC,6793,0.76,146.0,444.8,10.2,408,6799,0.00,2.33,0.00,0.000,6,0.000,0.049,2896,1991,2201,0,0,0,0,0,0
$GC,7126,0.76,146.0,405.9,12.5,417,7130,0.00,2.25,0.00,0.000,4,0.000,0.054,2896,3399,2197,0,0,0,0,0,0
$GC,7210,0.76,146.0,393.0,15.1,419,7215,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,1984,2196,0,0,0,0,0,0
$GC,7535,0.76,146.0,350.8,12.5,427,7539,0.00,2.28,0.00,0.000,4,0.000,0.054,2905,3408,2194,0,0,0,0,0,0
$GC,7636,0.76,146.0,337.5,13.8,429,7640,0.00,2.20,0.00,0.000,6,0.000,0.044,2915,1995,2194,0,0,0,0,0,0
$GC,7949,0.76,146.0,300.3,11.4,437,7953,0.00,2.25,0.00,0.000,4,0.000,0.054,2916,3399,2193,0,0,0,0,0,0
$GC,7976,0.76,146.0,297.0,12.0,437,7981,0.12,2.20,0.00,0.000,6,0.148,0.041,2890,1993,2193,0,0,0,0,0,0
$GC,8293,0.78,160.0,266.7,8.9,452,8309,0.00,2.30,11.52,0.605,4,0.000,0.053,2890,3401,2149,0,0,0,0,0,0
$GC,8349,0.79,166.4,261.4,9.3,453,8363,0.00,2.20,7.85,0.561,6,0.000,0.041,2897,1993,2121,0,0,0,0,0,0
$GC,8688,0.83,200.6,232.8,8.1,470,8725,0.00,2.28,30.73,0.624,4,0.000,0.060,2907,582,1982,0,0,0,0,0,0
$GC,8749,0.84,204.3,227.1,9.4,473,8759,0.00,2.25,4.95,0.461,6,0.000,0.041,2906,2005,1967,0,0,0,0,0,0
$GC,9082,0.84,210.4,193.6,9.3,492,9095,0.00,2.30,6.95,0.507,4,0.000,0.058,2913,591,1943,0,0,0,0,0,0
$GC,9175,0.86,224.3,185.0,8.9,500,9200,0.00,2.20,14.25,0.561,6,0.000,0.039,2913,1996,1883,0,0,0,0,0,0
$GC,9520,0.87,230.8,154.5,9.3,532,9533,0.00,2.30,6.38,0.471,4,0.000,0.056,2920,583,1860,0,0,0,0,0,0
$GC,9569,0.87,230.8,149.6,10.2,536,9573,0.00,2.20,0.00,0.000,6,0.000,0.039,2920,1997,1860,0,0,0,0,0,0
$GC,9897,0.87,230.8,119.6,9.7,566,9901,0.00,2.30,0.00,0.000,4,0.000,0.059,2923,583,1860,0,0,0,0,0,0
$GC,9927,0.87,230.8,116.6,10.4,568,9931,0.00,2.22,0.00,0.000,6,0.000,0.040,2923,2006,1860,0,0,0,0,0,0
$GC,10255,0.89,244.4,86.7,9.0,598,10279,0.00,2.22,14.30,0.486,4,0.000,0.053,2923,3396,1802,0,0,0,0,0,0
$GC,10365,0.89,244.4,75.0,11.2,611,10370,0.00,2.20,0.00,0.000,6,0.000,0.042,2931,1998,1801,0,0,0,0,0,0
$GC,10698,0.91,264.3,41.4,8.7,672,10722,0.00,2.25,18.88,0.459,4,0.000,0.053,2931,3411,1720,0,0,0,0,0,0
$GC,10764,0.93,284.1,36.5,8.7,683,10788,0.00,2.22,18.45,0.456,6,0.000,0.041,2936,1994,1640,0,0,0,0,0,0
$GC,11113,0.93,284.1,4.7,11.6,747,11121,0.00,2.28,0.00,0.000,4,0.000,0.060,2946,590,1639,0,0,0,0,0,0
$STATE,11127,end climb,SURFACE_DEPTH_REACHED
$STATE,11127,begin surface coast
$FINISH,1.4,1.023345
$STATE,11145,end surface coast,CONTROL_FINISHED_OK
$STATE,11145,begin surface
$SM_CCo,11165,9.38,0.393,0,0,1575,300.24
$SM_GC,1.41,0.00,0.00,9.38,0.000,0.000,0.393,30,1940,1575,-8.16,0.42,300.24
$IRIDIUM_FIX,2101.76,-15753.03,151002,040420
$TT8_MAMPS,0.028379
$HUMID,71.93
$INTERNAL_PRESSURE,9.32378
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,24.2,66.691
$10V_AH,9.9,74.009
$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,19.275,122.050,387.075,9.375,0.000,31.502,35.226,241.077,19.000,0.000,17.108,1415.055,6537.853,472.384,2554.297,659.650,33.353,1394.170,0.000,2509.541,0.000,120.004,0.000
$DEVICE_MAMPS,221.663,119.652,757.029,392.704,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,512.018,433.491,1443.645,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,41182,752
$CAP_FILE_SIZE,126500,0
$CFSIZE,260165632,216326144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210713,105504,2106.681,-15754.825,24,1.0,24,9.8