version: 66.08
glider: 503
mission: 7
dive: 537
start: 1 2 111 12 47 1
data:
$ID,503
$MISSION,7
$DIVE,537
$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,-20178.174
$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,42
$R_STBD_OVSHOOT,40
$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
$GPS1,020111,124055,-7615.510,17626.930,14,1.1,19,122.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-73.8
$GPS2,020111,124632,-7615.492,17627.012,14,1.8,14,122.2
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_SW
$TGT_LATLONG,-7655.000,17500.000
$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,102.8,81757,-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,17,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-88.43,0.000,2,0.000,0.000,168,2800,3412,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.1,-6.2,15,133,8.93,0.00,-9.48,0.000,6,0.208,0.000,2526,2800,3855,0,0,0,0,0,0
$GC,268,-0.84,-219.0,37.8,-16.8,42,275,0.00,2.28,0.00,0.000,4,0.000,0.032,2526,1368,3859,0,0,0,0,0,0
$GC,320,-0.84,-219.0,46.5,-15.7,51,327,0.00,2.30,0.00,0.000,6,0.000,0.045,2516,2769,3859,0,0,0,0,0,0
$GC,462,-0.84,-219.0,70.9,-17.6,76,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2769,3859,0,0,0,0,0,0
$GC,603,-0.84,-219.0,96.1,-17.3,101,611,0.00,1.62,0.00,0.000,4,0.000,0.050,2508,3763,3860,0,0,0,0,0,0
$GC,645,-0.84,-219.0,104.2,-18.6,106,652,0.00,1.55,0.00,0.000,6,0.000,0.030,2508,2779,3860,0,0,0,0,0,0
$GC,779,-0.84,-219.0,128.4,-18.2,119,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3860,0,0,0,0,0,0
$GC,906,-0.84,-219.0,151.6,-18.8,131,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3859,0,0,0,0,0,0
$GC,1034,-0.84,-219.0,175.1,-18.5,143,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3860,0,0,0,0,0,0
$GC,1161,-0.84,-219.0,197.8,-17.5,155,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3861,0,0,0,0,0,0
$GC,1289,-0.84,-219.0,220.1,-17.5,167,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3860,0,0,0,0,0,0
$GC,1417,-0.84,-219.0,242.3,-17.6,179,1420,0.00,1.62,0.00,0.000,4,0.000,0.050,2500,3793,3860,0,0,0,0,0,0
$GC,1463,-0.84,-219.0,250.6,-18.7,183,1467,0.00,1.58,0.00,0.000,6,0.000,0.030,2500,2783,3860,0,0,0,0,0,0
$GC,1666,-0.84,-219.0,287.0,-17.7,202,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2783,3860,0,0,0,0,0,0
$GC,1857,-0.84,-219.0,320.1,-16.9,220,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2783,3860,0,0,0,0,0,0
$GC,2048,-0.84,-219.0,352.9,-17.0,238,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2783,3860,0,0,0,0,0,0
$STATE,2175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2175,begin apogee
$GC,2181,-0.16,0.0,375.2,17.4,250,2362,0.75,0.00,174.38,0.971,4,0.122,0.000,2746,2683,2960,0,0,0,0,0,0
$STATE,2362,end apogee,CONTROL_FINISHED_OK
$STATE,2362,begin climb
$GC,2365,0.84,219.0,385.2,0.0,266,2566,0.98,2.40,191.32,0.918,4,0.073,0.033,3070,1308,2066,0,0,0,0,0,0
$GC,2666,0.87,243.5,360.4,12.3,293,2697,0.00,2.40,23.02,0.864,6,0.000,0.042,3070,2700,1967,0,0,1,0,0,0
$GC,2889,0.87,243.5,329.8,13.7,314,2893,0.00,2.35,0.00,0.000,4,0.000,0.035,3081,1306,1962,0,0,1,0,0,0
$GC,3067,0.87,243.5,305.4,13.6,329,3075,0.00,2.33,0.00,0.000,6,0.000,0.043,3081,2703,1960,0,0,0,0,0,0
$GC,3267,0.87,243.5,277.4,14.4,348,3270,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3764,1960,0,0,0,0,0,0
$GC,3324,0.87,243.5,268.0,16.2,353,3328,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2709,1959,0,0,0,0,0,0
$GC,3528,0.87,243.5,238.0,14.5,372,3531,0.00,1.70,0.00,0.000,4,0.000,0.049,3089,3764,1959,0,0,0,0,0,0
$GC,3577,0.87,243.5,229.8,16.5,376,3584,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2721,1958,0,0,1,0,0,0
$GC,3712,0.87,243.5,209.1,15.5,389,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2721,1958,0,0,0,0,0,0
$GC,3839,0.87,243.5,189.3,15.5,401,3842,0.00,1.67,0.00,0.000,4,0.000,0.048,3097,3767,1958,0,0,0,0,0,0
$GC,3888,0.87,243.5,180.6,17.7,405,3897,0.00,1.65,0.00,0.000,6,0.000,0.031,3105,2730,1958,0,0,0,0,0,0
$GC,4024,0.87,243.5,159.4,15.6,418,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2729,1958,0,0,0,0,0,0
$GC,4151,0.87,243.5,138.9,16.1,430,4154,0.00,1.67,0.00,0.000,4,0.000,0.050,3106,3772,1957,0,0,0,0,0,0
$GC,4189,0.87,243.5,131.8,18.7,433,4198,0.10,1.65,0.00,0.000,6,0.143,0.031,3080,2738,1957,0,0,0,0,0,0
$GC,4325,0.87,243.5,112.6,13.6,446,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2739,1957,0,0,0,0,0,0
$GC,4453,0.87,243.5,94.0,13.9,461,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2738,1957,0,0,0,0,0,0
$GC,4596,0.87,246.1,74.1,13.2,486,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2739,1957,0,0,0,0,0,0
$GC,4737,0.87,246.1,54.8,14.2,511,4744,0.00,1.67,0.00,0.000,4,0.000,0.049,3079,3761,1957,0,0,0,0,0,0
$GC,4773,0.87,246.1,49.2,15.5,517,4781,0.00,1.60,0.00,0.000,6,0.000,0.031,3087,2749,1957,0,0,0,0,0,0
$GC,4920,0.87,246.1,28.6,14.2,542,4927,0.00,2.30,0.00,0.000,4,0.000,0.036,3098,1297,1957,0,0,0,0,0,0
$GC,4962,0.88,255.5,22.3,12.9,549,4977,0.00,2.33,10.00,0.754,6,0.000,0.044,3098,2733,1918,0,0,0,0,0,0
$FREEZE,8.90,-0.621,-1.896,2,1,0
$FREEZE,8.16,-0.622,-1.895,2,1,0
$FREEZE,7.34,-0.625,-1.895,2,1,0
$FREEZE,6.21,-0.632,-1.894,2,1,0
$FREEZE,5.36,-0.628,-1.893,2,1,0
$FREEZE,4.47,-0.627,-1.893,2,1,0
$FREEZE,3.90,-0.630,-1.892,2,1,0
$FREEZE,2.88,-0.628,-1.891,2,1,0
$STATE,5088,end climb,SURFACE_DEPTH_REACHED
$STATE,5088,begin surface coast
$FREEZE,2.04,-0.630,-1.891,2,1,0
$FREEZE,1.24,-0.626,-1.890,2,1,0
$FREEZE,0.43,-0.628,-1.890,2,1,0
$FINISH,0.4,1.027671
$STATE,5105,end surface coast,CONTROL_FINISHED_OK
$STATE,5105,begin surface
$SM_CCo,5122,31.77,0.102,0,0,1655,320.11
$SM_GC,1.08,0.00,0.00,31.77,0.000,0.000,0.102,176,2796,1655,-8.20,0.48,320.11
$IRIDIUM_FIX,-7528.04,17632.18,020111,111153
$TT8_MAMPS,0.027713
$HUMID,53.07
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.9
$24V_AH,22.3,53.008
$10V_AH,9.9,20.753
$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,18.425,41.850,398.725,31.775,0.000,27.493,41.730,147.011,1.000,0.000,16.669,1405.158,2188.861,493.397,1226.401,189.800,0.000,1082.207,0.000,956.387,0.000,7.757,0.000
$DEVICE_MAMPS,208.080,112.455,970.785,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.504,736.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37042,574
$CAP_FILE_SIZE,76969,0
$CFSIZE,260165632,227323904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.121, 69.6,1
$GPS,020111,141425,-7615.970,17625.711,48,1.1,48,122.2