version: 66.06
glider: 523
mission: 4
dive: 767
start: 7 21 113 21 13 34
data:
$ID,523
$MISSION,4
$DIVE,767
$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,-51504.84
$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,22
$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
$GPS1,210105,2107.341,-15754.062,31,0.9,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-72.5
$GPS2,211241,2107.204,-15754.122,16,0.9,16,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.242,-0.084
$KALMAN_X,-74946.7,-694.6,341.9,74192.6,-8.1
$KALMAN_Y,7068.0,-14.6,90.9,-10521.7,488.7
$MHEAD_RNG_PITCHd_Wd,99.3,19530,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-80.32,0.000,6,0.000,0.000,46,1914,3396,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.0,-3.1,13,119,9.73,2.28,0.00,0.000,4,0.223,0.059,2385,515,3398,0,0,0,0,0,0
$GC,253,-0.76,-146.0,25.4,-13.3,40,261,0.00,2.25,0.00,0.000,6,0.000,0.043,2377,1928,3400,0,0,0,0,0,0
$GC,427,-0.76,-146.0,45.4,-10.3,71,432,0.00,2.33,0.00,0.000,4,0.000,0.065,2377,518,3400,0,0,0,0,0,0
$GC,615,-0.76,-146.0,62.7,-7.9,105,620,0.00,2.20,0.00,0.000,6,0.000,0.041,2367,1932,3400,0,0,0,0,0,0
$GC,955,-0.76,-146.0,92.7,-9.3,154,959,0.00,2.33,0.00,0.000,4,0.000,0.067,2367,517,3401,0,0,0,0,0,0
$GC,1185,-0.76,-146.0,114.0,-9.8,174,1189,0.12,2.22,0.00,0.000,6,0.157,0.041,2390,1936,3401,0,0,0,0,0,0
$GC,1513,-0.76,-146.0,136.4,-6.1,204,1517,0.00,2.35,0.00,0.000,4,0.000,0.066,2391,516,3403,0,0,0,0,0,0
$GC,1726,-0.76,-146.0,153.1,-7.7,223,1730,0.00,2.22,0.00,0.000,6,0.000,0.041,2383,1937,3402,0,0,0,0,0,0
$GC,2054,-0.76,-146.0,180.7,-8.6,253,2058,0.00,2.33,0.00,0.000,4,0.000,0.067,2383,518,3402,0,0,0,0,0,0
$GC,2116,-0.76,-146.0,185.9,-8.3,258,2121,0.00,2.20,0.00,0.000,6,0.000,0.041,2374,1935,3403,0,0,0,0,0,0
$GC,2454,-0.76,-146.0,208.3,-6.5,284,2458,0.00,2.33,0.00,0.000,4,0.000,0.066,2374,517,3403,0,0,0,0,0,0
$GC,2505,-0.76,-146.0,212.0,-7.4,286,2510,0.12,2.20,0.00,0.000,6,0.157,0.041,2397,1926,3403,0,0,0,0,0,0
$GC,2826,-0.76,-146.0,230.3,-5.8,301,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1926,3403,0,0,0,0,0,0
$GC,3133,-0.76,-146.0,247.9,-5.6,316,3137,0.00,2.33,0.00,0.000,4,0.000,0.064,2397,511,3402,0,0,0,0,0,0
$GC,3391,-0.76,-146.0,261.0,-3.7,327,3397,0.00,2.20,0.00,0.000,6,0.000,0.039,2389,1928,3402,0,0,0,0,0,0
$GC,3708,-0.76,-146.0,275.1,-5.6,343,3712,0.00,2.30,0.00,0.000,4,0.000,0.061,2389,517,3402,0,0,0,0,0,0
$GC,3960,-0.76,-146.0,296.1,-8.0,354,3964,0.00,2.20,0.00,0.000,6,0.000,0.040,2380,1934,3402,0,0,0,0,0,0
$GC,4298,-0.76,-146.0,315.9,-4.7,364,4302,0.00,2.33,0.00,0.000,4,0.000,0.062,2380,512,3400,0,0,0,0,0,0
$GC,4441,-0.76,-146.0,322.7,-5.1,367,4445,0.00,2.20,0.00,0.000,6,0.000,0.040,2371,1925,3399,0,0,0,0,0,0
$GC,4756,-0.76,-146.0,340.2,-6.3,375,4759,0.00,2.30,0.00,0.000,4,0.000,0.063,2371,517,3397,0,0,0,0,0,0
$GC,4852,-0.76,-146.0,347.6,-7.6,377,4856,0.12,2.20,0.00,0.000,6,0.154,0.041,2394,1936,3397,0,0,0,0,0,0
$GC,5178,-0.76,-146.0,369.0,-6.6,385,5182,0.00,2.33,0.00,0.000,4,0.000,0.061,2394,509,3395,0,0,0,0,0,0
$GC,5251,-0.76,-146.0,374.5,-7.6,386,5255,0.00,2.20,0.00,0.000,6,0.000,0.041,2387,1926,3395,0,0,0,0,0,0
$GC,5589,-0.76,-146.0,399.4,-7.4,395,5593,0.00,2.33,0.00,0.000,4,0.000,0.063,2387,508,3394,0,0,0,0,0,0
$GC,5785,-0.76,-146.0,414.9,-7.1,399,5790,0.00,2.22,0.00,0.000,6,0.000,0.041,2377,1925,3393,0,0,0,0,0,0
$GC,6098,-0.76,-146.0,432.9,-5.3,407,6102,0.00,2.35,0.00,0.000,4,0.000,0.063,2378,511,3391,0,0,0,0,0,0
$GC,6358,-0.76,-146.0,446.2,-4.9,412,6364,0.00,2.25,0.00,0.000,6,0.000,0.043,2368,1935,3389,0,0,0,0,0,0
$STATE,6445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6445,begin apogee
$GC,6453,-0.17,0.0,451.0,5.6,415,6581,0.68,0.00,124.57,0.752,6,0.117,0.000,2581,2001,2800,0,0,0,0,0,0
$STATE,6582,end apogee,CONTROL_FINISHED_OK
$STATE,6582,begin climb
$GC,6585,0.76,146.0,452.4,0.0,418,6717,0.90,0.00,129.45,0.729,6,0.070,0.000,2893,2000,2204,0,0,0,0,0,0
$GC,7011,0.76,146.0,412.5,10.2,429,7015,0.00,2.28,0.00,0.000,4,0.000,0.066,2893,3409,2196,0,0,0,0,0,0
$GC,7141,0.76,146.0,397.8,11.9,432,7145,0.00,2.25,0.00,0.000,6,0.000,0.048,2902,1995,2195,0,0,0,0,0,0
$GC,7470,0.76,146.0,363.7,10.3,440,7474,0.00,2.30,0.00,0.000,4,0.000,0.061,2903,3404,2193,0,0,0,0,0,0
$GC,7583,0.76,146.0,351.7,11.2,442,7587,0.00,2.25,0.00,0.000,6,0.000,0.048,2912,1993,2192,0,0,0,0,0,0
$GC,7919,0.76,146.0,319.0,10.2,451,7923,0.00,2.30,0.00,0.000,4,0.000,0.063,2912,3411,2192,0,0,0,0,0,0
$GC,8031,0.76,146.0,304.9,12.1,453,8036,0.12,2.28,0.00,0.000,6,0.146,0.051,2887,1991,2191,0,0,0,0,0,0
$GC,8352,0.76,146.0,272.9,10.3,468,8356,0.00,2.25,0.00,0.000,4,0.000,0.055,2886,3407,2190,0,0,0,0,0,0
$GC,8424,0.76,146.0,264.4,11.6,471,8428,0.00,2.25,0.00,0.000,6,0.000,0.045,2894,1979,2190,0,0,0,0,0,0
$GC,8740,0.77,153.3,233.4,9.2,486,8751,0.00,2.28,5.38,0.492,4,0.000,0.051,2894,3409,2175,0,0,0,0,0,0
$GC,8813,0.77,153.3,226.2,9.8,489,8817,0.00,2.20,0.00,0.000,6,0.000,0.041,2901,1994,2174,0,0,0,0,0,0
$GC,9128,0.81,181.9,199.6,8.3,504,9164,0.00,2.30,26.73,0.599,4,0.000,0.053,2900,3398,2056,0,0,0,0,0,0
$GC,9224,0.81,181.9,190.8,10.4,512,9232,0.00,2.22,0.00,0.000,6,0.000,0.041,2909,1999,2054,0,0,0,0,0,0
$GC,9552,0.82,187.2,160.0,9.3,543,9565,0.00,2.28,5.85,0.463,4,0.000,0.052,2910,3399,2035,0,0,0,0,0,0
$GC,9591,0.82,187.2,156.2,9.8,546,9595,0.00,2.20,0.00,0.000,6,0.000,0.041,2919,1993,2034,0,0,0,0,0,0
$GC,9919,0.88,241.3,131.0,7.2,576,9977,0.00,2.33,48.38,0.545,4,0.000,0.054,2919,3404,1814,0,0,0,0,0,0
$GC,10003,0.90,257.6,123.4,8.8,583,10028,0.00,2.22,15.40,0.505,6,0.000,0.041,2929,1998,1750,0,0,0,0,0,0
$GC,10348,0.90,258.1,91.9,9.5,615,10352,0.00,2.25,0.00,0.000,4,0.000,0.054,2929,3408,1749,0,0,0,0,0,0
$GC,10411,0.90,258.1,84.8,11.7,620,10415,0.00,2.28,0.00,0.000,6,0.000,0.050,2937,1988,1748,0,0,0,0,0,0
$GC,10742,0.96,305.5,54.4,7.5,676,10795,0.00,2.35,42.58,0.477,4,0.000,0.055,2937,3405,1552,0,0,0,0,0,0
$GC,10810,1.02,352.6,49.6,7.5,687,10857,0.00,2.25,39.62,0.466,6,0.000,0.045,2944,1992,1363,0,0,0,0,0,0
$GC,11186,1.02,352.6,19.6,10.1,755,11193,0.00,2.28,0.00,0.000,4,0.000,0.059,2953,592,1360,0,0,0,0,0,0
$GC,11279,1.02,352.6,11.1,10.4,772,11286,0.00,2.22,0.00,0.000,6,0.000,0.038,2953,2005,1358,0,0,0,0,0,0
$STATE,11365,end climb,SURFACE_DEPTH_REACHED
$STATE,11365,begin surface coast
$FINISH,0.7,1.023543
$STATE,11401,end surface coast,CONTROL_FINISHED_OK
$STATE,11401,begin surface
$SM_CCo,11479,0.00,0.000,0,0,1357,353.96
$SM_GC,1.53,7.45,0.00,0.00,0.024,0.000,0.000,51,1897,1357,-7.99,-0.74,353.96
$IRIDIUM_FIX,2101.76,-15758.18,151002,212127
$TT8_MAMPS,0.027612
$HUMID,69.72
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,24.2,67.104
$10V_AH,10.0,74.472
$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,19.250,109.000,437.950,0.000,0.000,50.228,88.464,330.817,19.000,0.000,17.234,1463.875,6704.921,483.514,2709.687,805.246,33.355,1457.182,0.000,2658.011,0.000,127.471,0.000
$DEVICE_MAMPS,223.197,111.215,752.427,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,540.613,449.873,1532.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,44424,794
$CAP_FILE_SIZE,128698,0
$CFSIZE,260165632,216064000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220713,002549,2107.174,-15753.705,20,1.8,20,9.8