version: 66.08
glider: 503
mission: 7
dive: 440
start: 12 27 110 3 33 24
data:
$ID,503
$MISSION,7
$DIVE,440
$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,-2
$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,1
$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,-20044.42
$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,43
$R_STBD_OVSHOOT,36
$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
$GPS1,271210,032736,-7618.856,17536.832,39,0.8,40,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-73.2
$GPS2,271210,033255,-7618.904,17536.730,9,1.3,14,123.6
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$TGT_RADIUS,4000.000
$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,230.6,30507,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-91.68,0.000,2,0.000,0.000,183,2791,3496,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.6,-8.1,15,135,8.88,1.62,-7.35,0.000,4,0.213,0.077,2514,3764,3857,0,0,0,0,0,0
$GC,359,-0.84,-219.0,59.8,-20.0,58,366,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2775,3859,0,0,0,0,0,0
$GC,502,-0.84,-219.0,86.9,-18.7,83,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3859,0,0,0,0,0,0
$GC,640,-0.84,-219.0,113.2,-18.7,102,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,768,-0.84,-219.0,137.1,-18.8,114,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3861,0,0,0,0,0,0
$GC,895,-0.84,-219.0,161.2,-18.6,126,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3861,0,0,0,0,0,0
$GC,1022,-0.84,-219.0,184.5,-18.4,138,1026,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3752,3861,0,0,0,0,0,0
$GC,1060,-0.84,-219.0,192.3,-18.9,141,1069,0.00,1.50,0.00,0.000,6,0.000,0.030,2506,2791,3860,0,0,0,0,0,0
$GC,1196,-0.84,-219.0,217.7,-19.2,154,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2791,3861,0,0,0,0,0,0
$GC,1323,-0.84,-219.0,241.3,-18.3,166,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2791,3861,0,0,0,0,0,0
$GC,1450,-0.84,-219.0,265.3,-18.4,178,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2791,3861,0,0,0,0,0,0
$GC,1642,-0.84,-219.0,299.2,-17.3,196,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2791,3861,0,0,0,0,0,0
$GC,1834,-0.84,-219.0,331.7,-16.5,214,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2791,3860,0,0,0,0,0,0
$GC,2023,-0.84,-219.0,363.6,-16.8,232,2027,0.00,1.58,0.00,0.000,4,0.000,0.050,2498,3757,3861,0,0,0,0,0,0
$GC,2061,-0.84,-219.0,370.8,-17.7,235,2069,0.08,1.52,0.00,0.000,6,0.145,0.031,2524,2776,3861,0,0,0,0,0,0
$STATE,2088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2088,begin apogee
$GC,2094,-0.16,0.0,375.1,16.8,238,2275,0.65,0.00,174.23,0.968,4,0.122,0.000,2742,2700,2959,0,0,0,0,0,0
$STATE,2275,end apogee,CONTROL_FINISHED_OK
$STATE,2276,begin climb
$GC,2278,0.84,219.0,383.5,0.0,254,2480,1.00,2.40,190.20,0.915,4,0.076,0.034,3071,1304,2066,0,0,0,0,0,0
$GC,2643,0.84,219.0,346.7,13.4,286,2650,0.00,2.40,0.00,0.000,6,0.000,0.042,3071,2693,2059,0,0,0,0,0,0
$GC,2841,0.84,219.0,318.4,14.1,305,2845,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1302,2055,0,0,0,0,0,0
$GC,3019,0.84,219.0,293.5,14.0,320,3026,0.00,2.33,0.00,0.000,6,0.000,0.043,3081,2701,2055,0,0,0,0,0,0
$GC,3219,0.84,219.0,264.5,14.8,339,3223,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3768,2054,0,0,0,0,0,0
$GC,3269,0.84,219.0,255.8,16.5,343,3276,0.00,1.67,0.00,0.000,6,0.000,0.030,3089,2705,2053,0,0,1,0,0,0
$GC,3468,0.84,219.0,225.8,15.2,362,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2705,2053,0,0,0,0,0,0
$GC,3595,0.84,219.0,206.8,14.2,374,3599,0.00,1.73,0.00,0.000,4,0.000,0.049,3089,3757,2053,0,0,0,0,0,0
$GC,3662,0.84,219.0,195.8,16.2,380,3666,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2690,2052,0,0,0,0,0,0
$GC,3802,0.84,219.0,174.2,15.3,393,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2689,2052,0,0,0,0,0,0
$GC,3929,0.84,219.0,155.3,14.7,405,3933,0.00,1.73,0.00,0.000,4,0.000,0.050,3098,3767,2052,0,0,0,0,0,0
$GC,3989,0.84,219.0,144.9,17.5,410,3997,0.10,1.62,0.00,0.000,6,0.143,0.031,3074,2726,2052,0,0,1,0,0,0
$GC,4125,0.85,225.5,126.8,13.1,423,4134,0.00,0.00,3.90,0.613,6,0.000,0.000,3074,2727,2042,0,0,0,0,0,0
$GC,4261,0.86,235.4,109.0,12.9,436,4278,0.00,1.70,11.35,0.793,4,0.000,0.050,3073,3761,1999,0,0,1,0,0,0
$GC,4311,0.86,235.4,101.7,14.6,440,4318,0.00,1.65,0.00,0.000,6,0.000,0.031,3081,2724,2000,0,0,0,0,0,0
$GC,4450,0.86,235.4,81.9,14.3,464,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2724,1999,0,0,0,0,0,0
$GC,4591,0.86,235.4,61.6,14.5,489,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2724,1998,0,0,0,0,0,0
$GC,4732,0.86,235.4,41.8,14.0,514,4739,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3760,1998,0,0,0,0,0,0
$GC,4802,0.86,235.4,30.8,17.2,526,4808,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2720,1998,0,0,0,0,0,0
$GC,4945,0.86,235.4,10.1,14.0,551,4952,0.00,2.28,0.00,0.000,4,0.000,0.036,3099,1292,1998,0,0,0,0,0,0
$FREEZE,7.86,-0.578,-1.894,2,1,0
$FREEZE,7.13,-0.582,-1.894,2,1,0
$FREEZE,6.37,-0.578,-1.893,2,1,0
$FREEZE,5.58,-0.571,-1.893,2,1,0
$FREEZE,4.93,-0.569,-1.892,2,1,0
$FREEZE,4.30,-0.568,-1.892,2,1,0
$GC,4986,0.86,235.4,4.3,14.3,558,4993,0.00,2.33,0.00,0.000,6,0.000,0.044,3099,2723,1997,0,0,0,0,0,0
$FREEZE,2.25,-0.546,-1.890,2,1,0
$STATE,4999,end climb,SURFACE_DEPTH_REACHED
$STATE,4999,begin surface coast
$FREEZE,1.53,-0.558,-1.890,2,1,0
$FREEZE,0.80,-0.557,-1.889,2,1,0
$FREEZE,-0.11,-0.552,-1.888,2,1,0
$FREEZE,0.09,-0.557,-1.889,2,1,0
$FINISH,0.1,1.027661
$STATE,5021,end surface coast,CONTROL_FINISHED_OK
$STATE,5021,begin surface
$SM_CCo,5038,41.35,0.101,0,0,1655,320.11
$SM_GC,0.78,0.00,0.00,41.35,0.000,0.000,0.101,173,2783,1655,-8.21,0.08,320.11
$IRIDIUM_FIX,-7536.68,17535.38,271210,020219
$TT8_MAMPS,0.027713
$HUMID,52.16
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.8
$24V_AH,22.5,41.527
$10V_AH,9.8,16.236
$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,18.375,40.350,379.675,41.350,0.000,22.938,42.182,141.565,1.250,0.000,17.168,1393.845,2144.839,492.943,1219.979,161.158,0.000,1075.411,0.000,952.631,0.000,7.756,0.000
$DEVICE_MAMPS,212.670,113.985,967.725,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.574,725.202,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258216
$DATA_FILE_SIZE,36908,564
$CAP_FILE_SIZE,76441,0
$CFSIZE,260165632,231501824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.204,194.8,1
$GPS,271210,045922,-7618.659,17536.236,19,2.1,38,123.6