version: 66.06
glider: 523
mission: 4
dive: 783
start: 7 24 113 2 58 27
data:
$ID,523
$MISSION,4
$DIVE,783
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,0
$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,-51889.137
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,024957,2103.271,-15755.673,33,1.7,35,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.0
$GPS2,025809,2103.260,-15755.802,28,0.8,28,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,2114.059,-15755.802
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.251,0.050
$KALMAN_X,-103965.5,-1081.0,-691.7,103499.1,-1313.7
$KALMAN_Y,1854.6,-557.9,-459.8,-10758.5,-270.1
$MHEAD_RNG_PITCHd_Wd,350.2,20000,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,96,0.00,0.00,-75.53,0.000,2,0.000,0.000,25,1911,3339,0,0,0,0,0,0
$GC,100,-0.76,-146.0,3.3,-4.3,12,122,9.65,2.35,-1.33,0.000,4,0.218,0.074,2378,3317,3398,0,0,0,0,0,0
$GC,179,-0.76,-146.0,15.6,-11.1,25,186,0.00,2.28,0.00,0.000,6,0.000,0.051,2378,1935,3399,0,0,0,0,0,0
$GC,346,-0.76,-146.0,33.8,-12.5,56,354,0.00,2.40,0.00,0.000,4,0.000,0.071,2378,505,3399,0,0,0,0,0,0
$GC,598,-0.76,-146.0,60.3,-9.5,102,606,0.00,2.25,0.00,0.000,6,0.000,0.042,2369,1916,3399,0,0,0,0,0,0
$GC,937,-0.76,-146.0,89.1,-6.9,153,941,0.00,2.35,0.00,0.000,4,0.000,0.065,2369,499,3401,0,0,0,0,0,0
$GC,1190,-0.76,-146.0,111.4,-10.4,175,1197,0.10,2.25,0.00,0.000,6,0.133,0.041,2391,1917,3402,0,0,0,0,0,0
$GC,1517,-0.76,-146.0,142.9,-8.1,206,1521,0.00,2.35,0.00,0.000,4,0.000,0.065,2391,501,3402,0,0,0,0,0,0
$GC,1764,-0.76,-146.0,164.9,-8.2,228,1771,0.00,2.22,0.00,0.000,6,0.000,0.041,2383,1931,3403,0,0,0,0,0,0
$GC,2100,-0.76,-146.0,190.7,-7.6,259,2104,0.00,2.33,0.00,0.000,4,0.000,0.064,2383,508,3403,0,0,0,0,0,0
$GC,2263,-0.76,-146.0,204.5,-9.2,272,2267,0.00,2.20,0.00,0.000,6,0.000,0.041,2375,1927,3403,0,0,0,0,0,0
$GC,2584,-0.76,-146.0,231.3,-8.9,287,2588,0.00,2.28,0.00,0.000,4,0.000,0.064,2364,3334,3403,0,0,0,0,0,0
$GC,2737,-0.76,-146.0,243.4,-6.7,294,2742,0.12,2.28,0.00,0.000,6,0.141,0.049,2397,1915,3403,0,0,0,0,0,0
$GC,3064,-0.76,-146.0,256.1,-3.8,310,3068,0.00,2.30,0.00,0.000,4,0.000,0.061,2390,3329,3403,0,0,0,0,0,0
$GC,3181,-0.76,-146.0,261.9,-5.6,315,3186,0.00,2.22,0.00,0.000,6,0.000,0.049,2389,1919,3403,0,0,0,0,0,0
$GC,3499,-0.76,-146.0,278.2,-4.3,330,3503,0.00,2.28,0.00,0.000,4,0.000,0.066,2389,508,3403,0,0,0,0,0,0
$GC,3658,-0.76,-146.0,285.2,-4.7,337,3662,0.00,2.20,0.00,0.000,6,0.000,0.039,2380,1932,3403,0,0,0,0,0,0
$GC,3986,-0.76,-146.0,306.4,-7.1,351,3990,0.00,2.33,0.00,0.000,4,0.000,0.061,2380,509,3402,0,0,0,0,0,0
$GC,4094,-0.76,-146.0,313.5,-5.1,353,4098,0.00,2.20,0.00,0.000,6,0.000,0.041,2371,1928,3402,0,0,0,0,0,0
$GC,4436,-0.76,-146.0,329.7,-4.7,362,4441,0.00,2.30,0.00,0.000,4,0.000,0.061,2370,510,3401,0,0,0,0,0,0
$GC,4568,-0.76,-146.0,336.1,-4.5,364,4574,0.12,2.20,0.00,0.000,6,0.153,0.041,2393,1925,3401,0,0,0,0,0,0
$GC,4899,-0.76,-146.0,349.7,-4.2,373,4904,0.00,2.33,0.00,0.000,4,0.000,0.062,2394,509,3399,0,0,0,0,0,0
$GC,5100,-0.76,-146.0,361.7,-6.8,377,5104,0.00,2.22,0.00,0.000,6,0.000,0.041,2386,1923,3399,0,0,0,0,0,0
$GC,5443,-0.76,-146.0,383.6,-5.9,386,5447,0.00,2.33,0.00,0.000,4,0.000,0.062,2386,508,3398,0,0,0,0,0,0
$GC,5528,-0.76,-146.0,388.9,-5.6,387,5534,0.00,2.22,0.00,0.000,6,0.000,0.042,2377,1931,3397,0,0,0,0,0,0
$GC,5862,-0.76,-146.0,405.1,-4.8,396,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1930,3394,0,0,0,0,0,0
$GC,6187,-0.76,-146.0,421.8,-5.4,404,6191,0.00,2.33,0.00,0.000,4,0.000,0.063,2377,508,3393,0,0,0,0,0,0
$GC,6254,-0.76,-146.0,426.1,-6.9,405,6258,0.00,2.22,0.00,0.000,6,0.000,0.043,2368,1926,3393,0,0,0,0,0,0
$GC,6591,-0.76,-146.0,448.7,-7.0,414,6595,0.00,2.35,0.00,0.000,4,0.000,0.064,2367,509,3392,0,0,0,0,0,0
$STATE,6610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6610,begin apogee
$GC,6619,-0.17,0.0,450.3,7.4,414,6748,0.70,0.00,125.00,0.750,6,0.119,0.000,2582,2007,2800,0,0,0,0,0,0
$STATE,6748,end apogee,CONTROL_FINISHED_OK
$STATE,6749,begin climb
$GC,6751,0.76,146.0,452.1,0.0,417,6890,0.85,2.33,129.40,0.726,4,0.065,0.066,2890,3408,2202,0,0,0,0,0,0
$GC,6980,0.76,146.0,429.7,11.3,422,6984,0.00,2.30,0.00,0.000,6,0.000,0.050,2898,1995,2198,0,0,0,0,0,0
$GC,7327,0.76,146.0,395.7,9.8,431,7331,0.00,2.33,0.00,0.000,4,0.000,0.062,2898,3408,2195,0,0,0,0,0,0
$GC,7378,0.76,146.0,390.5,10.0,432,7382,0.00,2.28,0.00,0.000,6,0.000,0.051,2907,2002,2194,0,0,0,0,0,0
$GC,7691,0.76,146.0,360.6,9.8,440,7695,0.00,2.33,0.00,0.000,4,0.000,0.063,2907,3415,2193,0,0,0,0,0,0
$GC,7741,0.76,146.0,354.8,11.6,441,7745,0.00,2.28,0.00,0.000,6,0.000,0.051,2915,1993,2193,0,0,0,0,0,0
$GC,8054,0.76,146.0,322.5,10.1,449,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1993,2192,0,0,0,0,0,0
$GC,8360,0.79,163.4,292.7,8.8,458,8381,0.00,2.35,14.68,0.627,4,0.000,0.064,2916,3415,2133,0,0,0,0,0,0
$GC,8490,0.81,182.0,281.1,8.7,463,8516,0.00,2.28,18.23,0.627,6,0.000,0.050,2926,1992,2055,0,0,0,0,0,0
$GC,8828,0.81,182.0,247.8,11.7,480,8832,0.00,2.33,0.00,0.000,4,0.000,0.053,2925,3422,2052,0,0,0,0,0,0
$GC,8923,0.81,182.0,236.6,10.6,484,8928,0.12,2.22,0.00,0.000,6,0.143,0.042,2900,1998,2052,0,0,0,0,0,0
$GC,9239,0.84,206.1,208.9,8.5,499,9268,0.00,2.33,21.92,0.594,4,0.000,0.052,2899,3414,1958,0,0,0,0,0,0
$GC,9296,0.84,206.1,203.4,9.7,501,9302,0.00,2.25,0.00,0.000,6,0.000,0.043,2906,1996,1957,0,0,0,0,0,0
$GC,9625,0.85,213.9,171.5,9.2,530,9639,0.00,2.28,8.02,0.508,4,0.000,0.051,2906,3414,1928,0,0,0,0,0,0
$GC,9677,0.86,220.2,166.4,9.3,534,9689,0.00,2.25,7.70,0.495,6,0.000,0.043,2913,1999,1901,0,0,0,0,0,0
$GC,10012,0.87,230.7,136.3,9.1,565,10025,0.00,0.00,10.57,0.505,6,0.000,0.000,2913,1999,1859,0,0,0,0,0,0
$GC,10344,0.89,246.6,106.1,8.9,596,10369,0.00,2.33,15.88,0.504,4,0.000,0.052,2913,3417,1792,0,0,0,0,0,0
$GC,10463,0.89,246.6,94.9,9.9,606,10471,0.00,2.28,0.00,0.000,6,0.000,0.041,2922,1996,1791,0,0,0,0,0,0
$GC,10795,0.95,293.2,68.4,7.5,651,10842,0.00,2.22,41.08,0.492,4,0.000,0.051,2922,3414,1604,0,0,0,0,0,0
$GC,10922,0.95,296.6,57.9,9.4,673,10935,0.00,2.25,4.72,0.358,6,0.000,0.040,2930,1992,1589,0,0,0,0,0,0
$GC,11267,1.01,342.4,28.4,7.5,735,11314,0.10,2.30,39.03,0.455,4,0.088,0.058,3015,587,1404,0,0,0,0,0,0
$GC,11377,1.01,343.5,17.7,9.5,753,11385,0.12,2.28,0.00,0.000,6,0.096,0.041,2970,2006,1403,0,0,0,0,0,0
$STATE,11527,end climb,SURFACE_DEPTH_REACHED
$STATE,11527,begin surface coast
$FINISH,0.6,1.023308
$STATE,11565,end surface coast,CONTROL_FINISHED_OK
$STATE,11565,begin surface
$SM_CCo,11644,0.00,0.000,0,0,1400,343.41
$SM_GC,1.52,7.53,0.00,0.00,0.025,0.000,0.000,38,1898,1400,-8.00,-0.59,343.41
$IRIDIUM_FIX,2057.14,-15744.48,171002,232354
$TT8_MAMPS,0.028379
$HUMID,69.84
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,22.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,411.0,56.3
$24V_AH,24.2,68.726
$10V_AH,9.9,76.328
$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,19.425,109.875,436.225,0.000,0.000,26.905,39.544,234.987,17.250,0.000,29.303,1443.715,6914.423,450.385,2659.124,658.821,0.000,1431.798,0.000,2595.389,0.000,115.250,0.000
$DEVICE_MAMPS,217.828,73.632,750.126,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,535.711,447.439,1493.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,44453,788
$CAP_FILE_SIZE,126130,0
$CFSIZE,260165632,215031808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240713,061332,2103.446,-15756.724,24,0.8,25,9.8