version: 66.06
glider: 523
mission: 4
dive: 768
start: 7 22 113 0 35 1
data:
$ID,523
$MISSION,4
$DIVE,768
$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,-51548.074
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,002549,2107.174,-15753.705,20,1.8,20,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.1
$GPS2,003410,2107.120,-15753.820,42,0.8,42,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.253,-0.041
$KALMAN_X,-76977.2,-147.1,194.8,76357.4,-1299.3
$KALMAN_Y,7400.9,322.7,50.6,-11302.1,249.1
$MHEAD_RNG_PITCHd_Wd,89.5,18992,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,107,0.00,0.00,-86.40,0.000,6,0.000,0.000,51,1890,3395,0,0,0,0,0,0
$GC,111,-0.76,-146.0,3.4,-4.5,14,125,9.73,0.00,0.00,0.000,6,0.224,0.000,2384,1892,3396,0,0,0,0,0,0
$GC,287,-0.76,-146.0,28.0,-10.6,46,294,0.00,2.25,0.00,0.000,4,0.000,0.069,2384,544,3398,0,0,0,0,0,0
$GC,319,-0.76,-146.0,32.5,-12.7,51,325,0.00,2.17,0.00,0.000,6,0.000,0.042,2377,1923,3397,0,0,0,0,0,0
$GC,651,-0.76,-146.0,64.0,-7.8,112,659,0.00,2.33,0.00,0.000,4,0.000,0.069,2377,536,3399,0,0,0,0,0,0
$GC,907,-0.76,-146.0,86.8,-9.6,152,911,0.00,2.17,0.00,0.000,6,0.000,0.041,2368,1934,3399,0,0,0,0,0,0
$GC,1235,-0.76,-146.0,115.3,-10.0,182,1239,0.00,2.33,0.00,0.000,4,0.000,0.067,2368,531,3400,0,0,0,0,0,0
$GC,1344,-0.76,-146.0,127.4,-11.7,191,1351,0.10,2.20,0.00,0.000,6,0.135,0.042,2390,1925,3400,0,0,0,0,0,0
$GC,1672,-0.76,-146.0,158.5,-7.8,222,1676,0.00,2.30,0.00,0.000,4,0.000,0.067,2390,538,3400,0,0,0,0,0,0
$GC,1814,-0.76,-146.0,168.8,-6.7,234,1818,0.00,2.17,0.00,0.000,6,0.000,0.041,2382,1934,3400,0,0,0,0,0,0
$GC,2148,-0.76,-146.0,190.7,-7.0,265,2152,0.00,2.30,0.00,0.000,4,0.000,0.067,2383,540,3400,0,0,0,0,0,0
$GC,2294,-0.76,-146.0,202.1,-7.4,277,2299,0.00,2.15,0.00,0.000,6,0.000,0.041,2373,1931,3400,0,0,0,0,0,0
$GC,2612,-0.76,-146.0,223.2,-6.2,293,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1931,3400,0,0,0,0,0,0
$GC,2920,-0.76,-146.0,240.7,-5.6,308,2924,0.00,2.30,0.00,0.000,4,0.000,0.065,2374,541,3400,0,0,0,0,0,0
$GC,3088,-0.76,-146.0,252.4,-6.6,315,3093,0.12,2.17,0.00,0.000,6,0.156,0.040,2397,1937,3400,0,0,0,0,0,0
$GC,3406,-0.76,-146.0,269.8,-5.8,330,3411,0.00,2.28,0.00,0.000,4,0.000,0.064,2398,540,3400,0,0,0,0,0,0
$GC,3452,-0.76,-146.0,272.9,-6.7,332,3456,0.00,2.15,0.00,0.000,6,0.000,0.040,2390,1935,3400,0,0,0,0,0,0
$GC,3784,-0.76,-146.0,290.5,-4.4,348,3788,0.00,2.30,0.00,0.000,4,0.000,0.065,2390,531,3400,0,0,0,0,0,0
$GC,3991,-0.76,-146.0,301.3,-5.4,357,3995,0.00,2.15,0.00,0.000,6,0.000,0.039,2380,1927,3398,0,0,0,0,0,0
$GC,4323,-0.76,-146.0,318.7,-5.3,365,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1927,3398,0,0,0,0,0,0
$GC,4649,-0.76,-146.0,333.3,-4.8,373,4653,0.00,2.28,0.00,0.000,4,0.000,0.063,2380,537,3396,0,0,0,0,0,0
$GC,4785,-0.76,-146.0,340.8,-5.9,376,4789,0.00,2.17,0.00,0.000,6,0.000,0.040,2372,1934,3395,0,0,0,0,0,0
$GC,5107,-0.76,-146.0,360.8,-6.9,384,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1934,3394,0,0,0,0,0,0
$GC,5430,-0.76,-146.0,388.2,-8.1,392,5434,0.00,2.30,0.00,0.000,4,0.000,0.063,2372,540,3393,0,0,0,0,0,0
$GC,5537,-0.76,-146.0,396.3,-7.4,394,5542,0.12,2.17,0.00,0.000,6,0.153,0.041,2394,1927,3392,0,0,0,0,0,0
$GC,5882,-0.76,-146.0,415.5,-5.5,403,5886,0.00,2.30,0.00,0.000,4,0.000,0.064,2395,533,3390,0,0,0,0,0,0
$GC,5989,-0.76,-146.0,422.0,-6.0,405,5993,0.00,2.17,0.00,0.000,6,0.000,0.042,2387,1931,3389,0,0,0,0,0,0
$GC,6334,-0.76,-146.0,441.3,-5.9,414,6338,0.00,2.30,0.00,0.000,4,0.000,0.064,2387,541,3388,0,0,0,0,0,0
$STATE,6481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6481,begin apogee
$GC,6490,-0.17,0.0,450.4,6.7,417,6618,0.62,0.00,123.80,0.753,6,0.117,0.000,2581,2004,2799,0,0,0,0,0,0
$STATE,6618,end apogee,CONTROL_FINISHED_OK
$STATE,6618,begin climb
$GC,6621,0.76,146.0,452.4,0.0,420,6760,0.88,2.33,128.60,0.730,4,0.070,0.064,2888,3397,2202,0,0,0,0,0,0
$GC,6839,0.76,146.0,430.8,11.3,425,6843,0.00,2.25,0.00,0.000,6,0.000,0.048,2897,2019,2197,0,0,0,0,0,0
$GC,7158,0.76,146.0,396.6,10.5,433,7162,0.00,2.28,0.00,0.000,4,0.000,0.061,2897,3410,2195,0,0,0,0,0,0
$GC,7280,0.76,146.0,382.7,11.5,435,7286,0.00,2.28,0.00,0.000,6,0.000,0.048,2907,1992,2194,0,0,0,0,0,0
$GC,7612,0.76,146.0,345.3,11.2,444,7616,0.00,2.30,0.00,0.000,4,0.000,0.062,2907,3408,2193,0,0,0,0,0,0
$GC,7782,0.76,146.0,325.8,11.3,447,7788,0.00,2.25,0.00,0.000,6,0.000,0.049,2914,1995,2191,0,0,0,0,0,0
$GC,8094,0.76,146.0,293.1,10.9,457,8098,0.00,2.33,0.00,0.000,4,0.000,0.064,2914,3409,2191,0,0,0,0,0,0
$GC,8151,0.76,146.0,286.3,12.4,459,8157,0.12,2.25,0.00,0.000,6,0.144,0.047,2889,1987,2191,0,0,0,0,0,0
$GC,8466,0.84,206.1,261.8,6.9,475,8527,0.00,2.38,51.28,0.647,4,0.000,0.053,2889,3412,1959,0,0,0,0,0,0
$GC,8594,0.84,206.1,250.5,9.7,481,8599,0.00,2.25,0.00,0.000,6,0.000,0.041,2896,1994,1956,0,0,0,0,0,0
$GC,8921,0.84,206.1,218.3,9.8,497,8925,0.00,2.30,0.00,0.000,4,0.000,0.062,2904,587,1955,0,0,0,0,0,0
$GC,9008,0.84,206.1,210.0,10.2,501,9012,0.00,2.20,0.00,0.000,6,0.000,0.041,2904,2004,1955,0,0,0,0,0,0
$GC,9337,0.86,222.7,182.5,8.8,526,9361,0.00,2.25,15.77,0.561,4,0.000,0.054,2904,3399,1890,0,0,0,0,0,0
$GC,9464,0.86,222.7,168.7,11.2,537,9468,0.00,2.20,0.00,0.000,6,0.000,0.043,2912,1992,1889,0,0,0,0,0,0
$GC,9796,0.86,222.7,133.7,10.8,568,9800,0.00,2.25,0.00,0.000,4,0.000,0.052,2911,3402,1889,0,0,0,0,0,0
$GC,9828,0.86,222.7,130.4,9.7,570,9835,0.00,2.22,0.00,0.000,6,0.000,0.042,2921,1994,1889,0,0,0,0,0,0
$GC,10155,0.88,241.2,100.2,8.7,601,10179,0.00,2.25,17.48,0.502,4,0.000,0.051,2921,3402,1815,0,0,0,0,0,0
$GC,10238,0.88,241.2,92.4,10.0,608,10242,0.00,2.22,0.00,0.000,6,0.000,0.042,2927,1988,1815,0,0,0,0,0,0
$GC,10567,0.93,284.4,66.5,7.7,655,10615,0.00,2.33,38.30,0.488,4,0.000,0.052,2927,3406,1638,0,0,0,0,0,0
$GC,10664,0.99,327.2,59.3,7.7,671,10712,0.00,2.22,37.17,0.475,6,0.000,0.041,2934,1995,1465,0,0,0,0,0,0
$GC,11041,1.04,366.9,25.4,7.8,739,11082,0.12,2.28,33.62,0.445,4,0.077,0.058,3026,585,1302,0,0,0,0,0,0
$GC,11130,1.04,366.9,14.7,11.9,753,11138,0.15,2.25,0.00,0.000,6,0.100,0.039,2974,1997,1300,0,0,0,0,0,0
$STATE,11247,end climb,SURFACE_DEPTH_REACHED
$STATE,11247,begin surface coast
$FINISH,0.7,1.023410
$STATE,11275,end surface coast,CONTROL_FINISHED_OK
$STATE,11275,begin surface
$SM_CCo,11354,0.00,0.000,0,0,1296,368.93
$SM_GC,1.55,7.62,0.00,0.00,0.030,0.000,0.000,44,1896,1296,-8.00,-0.79,368.93
$IRIDIUM_FIX,2101.76,-15753.03,151002,212135
$TT8_MAMPS,0.028379
$HUMID,68.62
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,24.2,67.206
$10V_AH,10.0,74.586
$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,19.600,103.750,446.025,0.000,0.000,22.923,50.422,232.217,19.250,0.000,42.605,1407.856,6701.700,453.552,2637.301,643.727,33.356,1429.236,0.000,2553.866,0.000,117.265,0.000
$DEVICE_MAMPS,223.964,70.564,753.194,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,529.338,442.890,1472.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,44399,780
$CAP_FILE_SIZE,123069,0
$CFSIZE,260165632,216002560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220713,034533,2106.987,-15753.812,38,1.1,41,9.8