version: 66.08
glider: 503
mission: 7
dive: 350
start: 12 21 110 23 45 0
data:
$ID,503
$MISSION,7
$DIVE,350
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,4
$T_DIVE,180
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.0099999998
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51780
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,-7700
$TGT_DEFAULT_LON,17100
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19929.848
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2780
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2960
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,134.3
$AH0_10V,102.9
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.009045
$PRESSURE_SLOPE,0.00011732637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,211210,234004,-7629.543,17851.191,9,2.5,28,119.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-74.9
$GPS2,211210,234432,-7629.534,17851.121,15,1.4,15,119.7
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,STATION_O
$TGT_LATLONG,-7630.000,17600.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,138.4,73988,-18.2,-13.333
$D_GRID,375
$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,15,-0.84,-219.0,0.0,0.0,0,106,0.00,0.00,-88.18,0.000,2,0.000,0.000,180,2804,3391,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.0,-6.1,15,135,8.88,1.52,-10.23,0.000,4,0.216,0.066,2517,3755,3853,0,0,0,0,0,0
$GC,209,-0.84,-219.0,28.3,-19.3,32,216,0.00,1.55,0.00,0.000,6,0.000,0.030,2517,2771,3855,0,0,0,0,0,0
$GC,350,-0.84,-219.0,55.8,-19.9,57,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3856,0,0,0,0,0,0
$GC,493,-0.84,-219.0,83.3,-19.4,82,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3856,0,0,0,0,0,0
$GC,637,-0.84,-219.0,110.2,-18.3,103,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3856,0,0,0,0,0,0
$GC,765,-0.84,-219.0,133.7,-18.2,115,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3856,0,0,0,0,0,0
$GC,892,-0.84,-219.0,155.9,-17.0,127,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3856,0,0,0,0,0,0
$GC,1020,-0.84,-219.0,178.5,-18.1,139,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3856,0,0,0,0,0,0
$GC,1147,-0.84,-219.0,201.7,-18.2,151,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3856,0,0,0,0,0,0
$GC,1275,-0.84,-219.0,224.1,-17.7,163,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3857,0,0,0,0,0,0
$GC,1402,-0.84,-219.0,247.1,-18.1,175,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3856,0,0,0,0,0,0
$GC,1529,-0.84,-219.0,269.2,-16.8,187,1533,0.00,1.58,0.00,0.000,4,0.000,0.050,2510,3736,3856,0,0,0,0,0,0
$GC,1598,-0.84,-219.0,282.8,-20.7,193,1601,0.00,1.48,0.00,0.000,6,0.000,0.031,2509,2791,3856,0,0,0,0,0,0
$STATE,1651,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1651,begin apogee
$GC,1656,-0.16,0.0,293.1,19.2,198,1835,0.70,0.00,171.20,0.918,4,0.129,0.000,2739,2692,2959,0,0,0,0,0,0
$STATE,1836,end apogee,CONTROL_FINISHED_OK
$STATE,1836,begin climb
$GC,1838,0.84,219.0,303.4,0.0,214,2039,1.02,2.38,187.48,0.865,4,0.083,0.033,3073,1306,2066,0,0,0,0,0,0
$GC,2220,0.90,268.7,273.4,11.3,248,2270,0.00,2.38,44.38,0.841,6,0.000,0.041,3073,2692,1864,0,0,0,0,0,0
$GC,2462,0.90,268.7,238.3,14.9,270,2466,0.00,2.33,0.00,0.000,4,0.000,0.033,3083,1303,1859,0,0,0,0,0,0
$GC,2651,0.90,273.2,211.6,13.2,286,2662,0.00,2.38,4.32,0.628,6,0.000,0.041,3083,2700,1846,0,0,0,0,0,0
$GC,2797,0.90,273.2,189.8,15.5,300,2801,0.00,1.75,0.00,0.000,4,0.000,0.050,3083,3765,1846,0,0,0,0,0,0
$GC,2865,0.90,273.2,177.9,18.8,306,2869,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2714,1845,0,0,0,0,0,0
$GC,3005,0.90,273.2,153.9,17.2,319,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2713,1845,0,0,0,0,0,0
$GC,3132,0.90,273.2,131.8,16.8,331,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2713,1844,0,0,0,0,0,0
$GC,3260,0.90,273.2,110.4,17.3,343,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2713,1844,0,0,0,0,0,0
$GC,3389,0.90,273.2,88.8,16.6,361,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2713,1844,0,0,0,0,0,0
$GC,3531,0.90,273.2,66.8,14.4,386,3538,0.00,1.73,0.00,0.000,4,0.000,0.050,3091,3762,1843,0,0,0,0,0,0
$GC,3573,0.90,273.2,60.0,16.6,393,3580,0.00,1.67,0.00,0.000,6,0.000,0.031,3099,2709,1843,0,0,0,0,0,0
$GC,3716,0.90,273.2,37.6,16.1,418,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2709,1843,0,0,0,0,0,0
$GC,3857,0.90,273.2,16.6,14.9,443,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2709,1843,0,0,0,0,0,0
$FREEZE,8.83,-0.487,-1.897,2,1,0
$FREEZE,8.01,-0.450,-1.896,2,1,0
$FREEZE,7.31,-0.440,-1.896,2,1,0
$FREEZE,6.47,-0.358,-1.895,2,1,0
$FREEZE,5.64,-0.349,-1.895,2,1,0
$FREEZE,4.83,-0.322,-1.894,2,1,0
$FREEZE,3.98,-0.324,-1.893,2,1,0
$FREEZE,3.20,-0.309,-1.893,2,1,0
$FREEZE,2.33,-0.269,-1.893,2,1,0
$STATE,3947,end climb,SURFACE_DEPTH_REACHED
$STATE,3947,begin surface coast
$FREEZE,1.47,-0.284,-1.892,2,1,0
$FREEZE,0.61,-0.266,-1.893,2,1,0
$FREEZE,-0.14,-0.224,-1.891,2,1,0
$FINISH,-0.1,1.027682
$STATE,3965,end surface coast,CONTROL_FINISHED_OK
$STATE,3965,begin surface
$SM_CCo,3981,22.17,0.103,0,0,1655,320.11
$SM_GC,1.06,0.00,0.00,22.17,0.000,0.000,0.103,184,2798,1655,-8.18,0.51,320.11
$IRIDIUM_FIX,-7545.40,17914.04,211210,222242
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.3
$ALTIM_BOTTOM_PING,250.8,55.6
$24V_AH,22.6,31.386
$10V_AH,10.0,12.458
$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,18.275,22.600,407.375,22.175,0.000,23.538,36.422,99.424,0.750,0.000,18.181,1123.978,1558.726,463.536,1018.065,123.672,0.000,965.727,0.000,797.925,0.000,7.183,0.000
$DEVICE_MAMPS,216.495,84.150,918.000,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.140,640.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267756
$DATA_FILE_SIZE,30432,463
$CAP_FILE_SIZE,62254,0
$CFSIZE,260165632,235192320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,258.2,1
$GPS,221210,005232,-7629.670,17847.006,9,1.9,9,119.8