version: 66.06
glider: 523
mission: 4
dive: 770
start: 7 22 113 7 10 58
data:
$ID,523
$MISSION,4
$DIVE,770
$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,-51584.242
$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,1920
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,30
$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
$GPS1,070253,2107.105,-15753.188,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.9
$GPS2,071005,2107.032,-15753.183,17,1.0,17,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.254,-0.032
$KALMAN_X,-80264.9,349.7,-581.8,81015.5,59.6
$KALMAN_Y,7878.8,336.6,-9.9,-11898.1,-11.8
$MHEAD_RNG_PITCHd_Wd,87.3,17879,-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,-82.03,0.000,2,0.000,0.000,24,1907,3379,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.1,-4.0,13,119,9.73,0.00,-0.38,0.000,6,0.221,0.000,2387,1907,3397,0,0,0,0,0,0
$GC,282,-0.76,-146.0,28.1,-12.8,45,289,0.00,2.33,0.00,0.000,4,0.000,0.069,2388,513,3398,0,0,0,0,0,0
$GC,427,-0.76,-146.0,47.6,-12.8,71,433,0.00,2.20,0.00,0.000,6,0.000,0.043,2380,1909,3398,0,0,0,0,0,0
$GC,758,-0.76,-146.0,79.3,-8.2,132,765,0.00,2.33,0.00,0.000,4,0.000,0.068,2380,519,3400,0,0,0,0,0,0
$GC,1014,-0.76,-146.0,99.7,-7.7,156,1021,0.00,2.20,0.00,0.000,6,0.000,0.041,2371,1923,3400,0,0,0,0,0,0
$GC,1349,-0.76,-146.0,123.1,-7.8,187,1353,0.00,2.33,0.00,0.000,4,0.000,0.066,2371,512,3401,0,0,0,0,0,0
$GC,1601,-0.76,-146.0,145.2,-8.7,209,1610,0.10,2.22,0.00,0.000,6,0.133,0.041,2393,1913,3402,0,0,0,0,0,0
$GC,1929,-0.76,-146.0,167.3,-7.4,240,1933,0.00,2.28,0.00,0.000,4,0.000,0.064,2393,517,3402,0,0,0,0,0,0
$GC,2039,-0.76,-146.0,175.1,-6.3,249,2046,0.00,2.25,0.00,0.000,6,0.000,0.043,2386,1933,3402,0,0,0,0,0,0
$GC,2365,-0.76,-146.0,196.3,-6.0,280,2369,0.00,2.33,0.00,0.000,4,0.000,0.065,2386,516,3402,0,0,0,0,0,0
$GC,2396,-0.76,-146.0,198.4,-6.9,282,2400,0.00,2.22,0.00,0.000,6,0.000,0.043,2377,1931,3402,0,0,0,0,0,0
$GC,2715,-0.76,-146.0,217.0,-5.7,298,2720,0.00,2.35,0.00,0.000,4,0.000,0.064,2376,511,3402,0,0,0,0,0,0
$GC,2773,-0.76,-146.0,220.8,-6.4,300,2779,0.00,2.22,0.00,0.000,6,0.000,0.042,2367,1928,3402,0,0,0,0,0,0
$GC,3090,-0.76,-146.0,238.8,-6.1,316,3094,0.00,2.33,0.00,0.000,4,0.000,0.064,2368,514,3402,0,0,0,0,0,0
$GC,3215,-0.76,-146.0,247.7,-7.7,321,3221,0.12,2.17,0.00,0.000,6,0.151,0.041,2391,1922,3402,0,0,0,0,0,0
$GC,3533,-0.76,-146.0,268.6,-5.9,337,3537,0.00,2.30,0.00,0.000,4,0.000,0.061,2391,512,3402,0,0,0,0,0,0
$GC,3658,-0.76,-146.0,276.5,-6.4,342,3664,0.00,2.20,0.00,0.000,6,0.000,0.041,2383,1919,3402,0,0,0,0,0,0
$GC,3975,-0.76,-146.0,294.3,-6.1,358,3979,0.00,2.28,0.00,0.000,4,0.000,0.062,2383,514,3401,0,0,0,0,0,0
$GC,4064,-0.76,-146.0,301.0,-8.1,362,4068,0.00,2.17,0.00,0.000,6,0.000,0.041,2374,1920,3401,0,0,0,0,0,0
$GC,4383,-0.76,-146.0,324.7,-7.4,370,4388,0.00,2.30,0.00,0.000,4,0.000,0.062,2374,512,3399,0,0,0,0,0,0
$GC,4467,-0.76,-146.0,330.6,-6.5,371,4473,0.12,2.17,0.00,0.000,6,0.153,0.041,2397,1920,3399,0,0,0,0,0,0
$GC,4800,-0.76,-146.0,346.1,-4.2,380,4803,0.00,2.35,0.00,0.000,4,0.000,0.062,2398,506,3398,0,0,0,0,0,0
$GC,4901,-0.76,-146.0,351.4,-4.9,382,4904,0.00,2.22,0.00,0.000,6,0.000,0.041,2390,1927,3397,0,0,0,0,0,0
$GC,5220,-0.76,-146.0,367.8,-5.4,390,5224,0.00,2.33,0.00,0.000,4,0.000,0.062,2390,508,3395,0,0,0,0,0,0
$GC,5406,-0.76,-146.0,379.4,-6.3,394,5410,0.00,2.22,0.00,0.000,6,0.000,0.041,2380,1922,3394,0,0,0,0,0,0
$GC,5722,-0.76,-146.0,397.3,-5.7,402,5726,0.00,2.33,0.00,0.000,4,0.000,0.063,2380,508,3392,0,0,0,0,0,0
$GC,5861,-0.76,-146.0,406.0,-5.7,405,5865,0.00,2.20,0.00,0.000,6,0.000,0.041,2371,1919,3391,0,0,0,0,0,0
$GC,6181,-0.76,-146.0,427.1,-7.0,413,6185,0.00,2.33,0.00,0.000,4,0.000,0.064,2371,508,3390,0,0,0,0,0,0
$GC,6271,-0.76,-146.0,433.7,-7.1,415,6276,0.12,2.22,0.00,0.000,6,0.157,0.042,2394,1920,3389,0,0,0,0,0,0
$GC,6598,-0.76,-146.0,449.0,-4.1,423,6602,0.00,2.35,0.00,0.000,4,0.000,0.065,2394,514,3388,0,0,0,0,0,0
$STATE,6618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6618,begin apogee
$GC,6628,-0.17,0.0,450.1,4.4,423,6755,0.60,0.00,123.80,0.752,6,0.116,0.000,2581,2000,2799,0,0,0,0,0,0
$STATE,6755,end apogee,CONTROL_FINISHED_OK
$STATE,6755,begin climb
$GC,6759,0.76,146.0,449.9,0.0,426,6897,0.85,2.35,128.65,0.727,4,0.068,0.067,2883,3424,2201,0,0,0,0,0,0
$GC,6982,0.76,146.0,423.7,12.2,431,6986,0.00,2.30,0.00,0.000,6,0.000,0.049,2893,2004,2197,0,0,0,0,0,0
$GC,7295,0.76,146.0,392.1,9.6,439,7299,0.00,2.28,0.00,0.000,4,0.000,0.060,2893,3406,2195,0,0,0,0,0,0
$GC,7418,0.78,160.6,379.7,8.9,441,7437,0.00,2.25,12.88,0.650,6,0.000,0.048,2902,1990,2144,0,0,0,0,0,0
$GC,7751,0.78,160.6,345.1,11.5,450,7755,0.00,2.30,0.00,0.000,4,0.000,0.062,2902,3406,2142,0,0,0,0,0,0
$GC,7836,0.78,160.6,334.5,12.4,452,7840,0.00,2.25,0.00,0.000,6,0.000,0.050,2911,1992,2141,0,0,0,0,0,0
$GC,8162,0.78,160.6,293.9,12.6,461,8166,0.00,2.35,0.00,0.000,4,0.000,0.064,2911,3406,2140,0,0,0,0,0,0
$GC,8217,0.78,160.6,286.6,12.8,463,8222,0.00,2.25,0.00,0.000,6,0.000,0.051,2921,1994,2140,0,0,0,0,0,0
$GC,8532,0.78,160.6,250.3,11.7,479,8537,0.00,2.33,0.00,0.000,4,0.000,0.064,2921,3405,2139,0,0,0,0,0,0
$GC,8634,0.78,160.6,237.9,11.9,483,8640,0.12,2.25,0.00,0.000,6,0.139,0.051,2894,2001,2138,0,0,0,0,0,0
$GC,8950,0.83,201.0,212.6,7.8,499,8991,0.00,2.30,35.40,0.617,4,0.000,0.063,2902,580,1981,0,0,0,0,0,0
$GC,9068,0.86,219.9,203.1,8.7,504,9092,0.00,2.25,18.67,0.582,6,0.000,0.041,2902,2007,1902,0,0,0,0,0,0
$GC,9416,0.86,219.9,171.4,10.0,535,9420,0.00,2.35,0.00,0.000,4,0.000,0.067,2905,588,1899,0,0,0,0,0,0
$GC,9456,0.86,219.9,167.2,10.9,538,9460,0.00,2.22,0.00,0.000,6,0.000,0.040,2906,2005,1899,0,0,0,0,0,0
$GC,9784,0.88,237.6,136.0,8.8,568,9808,0.00,2.25,16.40,0.535,4,0.000,0.053,2905,3403,1830,0,0,0,0,0,0
$GC,9877,0.94,286.3,128.5,7.4,576,9927,0.00,2.20,43.38,0.544,6,0.000,0.042,2913,1991,1631,0,0,0,0,0,0
$GC,10256,0.96,307.0,97.4,8.6,611,10281,0.10,2.28,18.92,0.498,4,0.087,0.051,2982,3412,1547,0,0,0,0,0,0
$GC,10306,0.96,307.0,92.3,9.6,615,10311,0.15,2.20,0.00,0.000,6,0.136,0.041,2949,2001,1546,0,0,0,0,0,0
$GC,10633,0.96,307.0,63.3,10.2,662,10640,0.00,2.30,0.00,0.000,4,0.000,0.061,2957,592,1546,0,0,0,0,0,0
$GC,10697,0.96,307.0,57.1,9.7,673,10703,0.00,2.20,0.00,0.000,6,0.000,0.040,2958,2001,1546,0,0,0,0,0,0
$GC,11028,0.98,320.1,25.4,9.0,734,11049,0.00,2.38,12.35,0.422,4,0.000,0.069,2960,591,1494,0,0,0,0,0,0
$GC,11105,1.01,345.8,19.0,8.4,747,11139,0.00,2.25,23.02,0.439,6,0.000,0.044,2960,2002,1388,0,0,0,0,0,0
$STATE,11281,end climb,SURFACE_DEPTH_REACHED
$STATE,11281,begin surface coast
$FINISH,0.6,1.023123
$STATE,11310,end surface coast,CONTROL_FINISHED_OK
$STATE,11310,begin surface
$SM_CCo,11390,0.00,0.000,0,0,1385,347.09
$SM_GC,1.58,7.43,0.00,0.00,0.020,0.000,0.000,45,1894,1385,-7.99,-0.71,347.09
$IRIDIUM_FIX,2101.76,-15756.04,161002,030345
$TT8_MAMPS,0.027612
$HUMID,70.87
$INTERNAL_PRESSURE,9.33355
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,24.2,67.403
$10V_AH,10.0,74.816
$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,19.450,118.350,433.475,0.000,0.000,24.366,41.822,209.996,19.250,0.000,18.193,1450.888,6577.564,459.039,2726.556,599.516,33.356,1461.565,0.000,2669.846,0.000,119.931,0.000
$DEVICE_MAMPS,220.896,69.030,752.427,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,533.298,456.995,1548.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,44422,784
$CAP_FILE_SIZE,128818,0
$CFSIZE,260165632,215875584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220713,102204,2106.767,-15752.671,40,0.8,40,9.8