version: 66.08
glider: 503
mission: 7
dive: 500
start: 12 31 110 2 14 42
data:
$ID,503
$MISSION,7
$DIVE,500
$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,-20125.18
$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,41
$R_STBD_OVSHOOT,26
$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
$GPS1,311210,020837,-7607.657,17612.537,43,0.8,43,122.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-72.6
$GPS2,311210,021413,-7607.662,17612.432,10,1.4,15,122.0
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NE
$TGT_LATLONG,-7605.000,17700.000
$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,304.0,21754,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-89.35,0.000,2,0.000,0.000,160,2784,3422,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.2,-6.3,15,139,9.02,1.62,-9.23,0.000,4,0.213,0.067,2513,3763,3857,0,0,0,0,0,0
$GC,257,-0.84,-219.0,37.8,-19.1,40,264,0.00,1.58,0.00,0.000,6,0.000,0.030,2513,2764,3859,0,0,0,0,0,0
$GC,399,-0.84,-219.0,64.6,-18.2,65,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3859,0,0,0,0,0,0
$GC,543,-0.84,-219.0,91.5,-18.4,90,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$GC,684,-0.84,-219.0,117.6,-17.6,107,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$GC,812,-0.84,-219.0,141.3,-18.2,119,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$GC,939,-0.84,-219.0,164.0,-17.7,131,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$GC,1066,-0.84,-219.0,187.1,-18.1,143,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2763,3860,0,0,0,0,0,0
$GC,1194,-0.84,-219.0,209.9,-17.9,155,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$GC,1321,-0.84,-219.0,232.2,-17.4,167,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$GC,1449,-0.84,-219.0,254.9,-18.2,179,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$GC,1641,-0.84,-219.0,288.6,-17.4,197,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$GC,1831,-0.84,-219.0,320.9,-16.2,215,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$GC,2022,-0.84,-219.0,351.9,-15.9,233,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$STATE,2171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2171,begin apogee
$GC,2177,-0.16,0.0,376.1,16.1,247,2358,0.70,0.00,174.40,0.972,4,0.123,0.000,2744,2698,2959,0,0,0,0,0,0
$STATE,2359,end apogee,CONTROL_FINISHED_OK
$STATE,2359,begin climb
$GC,2362,0.84,219.0,385.2,0.0,263,2561,1.00,2.40,191.27,0.918,4,0.075,0.031,3073,1301,2067,0,0,0,0,0,0
$GC,2740,0.85,229.7,348.9,12.9,297,2759,0.00,2.40,9.43,0.806,6,0.000,0.040,3073,2701,2024,0,0,0,0,0,0
$GC,2952,0.85,229.7,319.6,13.9,317,2956,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,1299,2023,0,0,1,0,0,0
$GC,3127,0.85,232.3,296.5,13.2,332,3131,0.00,2.35,0.00,0.000,6,0.000,0.041,3084,2710,2021,0,0,0,0,0,0
$GC,3325,0.85,232.3,268.9,14.3,350,3329,0.00,1.67,0.00,0.000,4,0.000,0.048,3085,3762,2020,0,0,0,0,0,0
$GC,3370,0.85,232.3,261.8,15.6,354,3374,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2716,2020,0,0,1,0,0,0
$GC,3574,0.85,232.3,231.6,15.0,373,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2715,2019,0,0,0,0,0,0
$GC,3702,0.85,232.3,212.6,15.3,385,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2715,2019,0,0,0,0,0,0
$GC,3828,0.85,232.3,193.6,14.8,397,3832,0.00,1.67,0.00,0.000,4,0.000,0.049,3093,3763,2019,0,0,0,0,0,0
$GC,3864,0.85,232.3,188.0,16.3,400,3867,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2694,2018,0,0,0,0,0,0
$GC,4004,0.85,232.3,166.4,15.0,413,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2694,2019,0,0,0,0,0,0
$GC,4131,0.85,232.3,147.4,15.1,425,4134,0.00,1.70,0.00,0.000,4,0.000,0.048,3101,3761,2018,0,0,0,0,0,0
$GC,4166,0.85,232.3,141.7,17.1,428,4170,0.12,1.62,0.00,0.000,6,0.167,0.031,3075,2694,2018,0,0,1,0,0,0
$GC,4306,0.87,243.9,122.8,12.9,441,4325,0.00,0.00,13.55,0.811,6,0.000,0.000,3075,2694,1965,0,0,0,0,0,0
$GC,4452,0.88,255.5,103.6,12.9,455,4466,0.00,0.00,11.88,0.784,6,0.000,0.000,3075,2694,1917,0,0,0,0,0,0
$GC,4598,0.90,266.6,84.7,12.9,478,4617,0.00,1.77,11.27,0.767,4,0.000,0.049,3075,3754,1873,0,0,0,0,0,0
$GC,4658,0.90,266.6,75.3,16.1,488,4665,0.00,1.65,0.00,0.000,6,0.000,0.030,3082,2719,1873,0,0,0,0,0,0
$GC,4803,0.90,269.2,55.2,13.2,513,4810,0.00,0.00,4.15,0.597,6,0.000,0.000,3082,2719,1862,0,0,0,0,0,0
$GC,4944,0.90,269.2,35.1,13.6,538,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2719,1862,0,0,0,0,0,0
$GC,5084,0.90,269.2,15.6,13.6,563,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2719,1861,0,0,0,0,0,0
$FREEZE,8.87,-0.723,-1.893,2,1,0
$FREEZE,7.98,-0.718,-1.893,2,1,0
$FREEZE,7.22,-0.721,-1.892,2,1,0
$FREEZE,6.42,-0.720,-1.891,2,1,0
$FREEZE,5.71,-0.729,-1.891,2,1,0
$FREEZE,4.93,-0.725,-1.890,2,1,0
$FREEZE,4.19,-0.732,-1.890,2,1,0
$FREEZE,3.45,-0.743,-1.889,2,1,0
$FREEZE,2.66,-0.731,-1.888,2,1,0
$STATE,5179,end climb,SURFACE_DEPTH_REACHED
$STATE,5179,begin surface coast
$FREEZE,1.68,-0.726,-1.888,2,1,0
$FREEZE,0.82,-0.725,-1.887,2,1,0
$FREEZE,0.11,-0.729,-1.887,2,1,0
$FINISH,0.1,1.027636
$STATE,5196,end surface coast,CONTROL_FINISHED_OK
$STATE,5197,begin surface
$SM_CCo,5213,24.12,0.101,0,0,1654,320.11
$SM_GC,1.16,0.00,0.00,24.12,0.000,0.000,0.101,180,2795,1654,-8.19,0.42,320.11
$IRIDIUM_FIX,-7528.04,17606.38,311210,000003
$TT8_MAMPS,0.027713
$HUMID,52.24
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.4
$24V_AH,22.4,48.545
$10V_AH,9.9,19.023
$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,18.525,26.200,415.950,24.125,0.000,27.478,39.931,149.884,1.000,0.000,18.059,1422.312,2275.438,477.723,1231.500,180.451,0.000,1057.829,0.000,958.092,0.000,7.758,0.000
$DEVICE_MAMPS,212.670,208.080,971.550,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.197,746.049,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258236
$DATA_FILE_SIZE,37034,583
$CAP_FILE_SIZE,74555,0
$CFSIZE,260165632,228921344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.170,224.1,1
$GPS,311210,034300,-7607.713,17614.305,15,1.1,19,122.0