version: 66.08
glider: 503
mission: 7
dive: 627
start: 1 8 111 5 49 43
data:
$ID,503
$MISSION,7
$DIVE,627
$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,-20300.902
$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,48
$R_STBD_OVSHOOT,39
$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
$GPS1,080111,054336,-7655.253,17613.426,37,0.9,42,125.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.8
$GPS2,080111,054914,-7655.275,17613.373,10,1.2,10,125.1
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_SE
$TGT_LATLONG,-7655.000,17700.000
$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,304.8,19554,-18.2,-13.333
$D_GRID,422
$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,-219.0,0.0,0.0,0,112,0.00,0.00,-92.05,0.000,2,0.000,0.000,186,2797,3497,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.5,-7.8,15,138,8.90,2.33,-7.20,0.000,4,0.208,0.044,2525,1364,3856,0,0,1,0,0,0
$GC,389,-0.84,-219.0,56.2,-15.8,63,396,0.00,2.30,0.00,0.000,6,0.000,0.044,2515,2771,3859,0,0,0,0,0,0
$GC,533,-0.84,-219.0,82.0,-18.6,88,540,0.00,2.20,0.00,0.000,4,0.000,0.033,2514,1374,3859,0,0,0,0,0,0
$GC,570,-0.84,-219.0,88.6,-17.2,94,577,0.00,2.30,0.00,0.000,6,0.000,0.044,2504,2785,3860,0,0,0,0,0,0
$GC,708,-0.84,-219.0,113.8,-18.3,112,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2785,3859,0,0,0,0,0,0
$GC,835,-0.84,-219.0,137.1,-18.4,124,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2785,3860,0,0,0,0,0,0
$GC,962,-0.84,-219.0,160.9,-19.0,136,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2785,3860,0,0,0,0,0,0
$GC,1091,-0.84,-219.0,185.1,-18.8,148,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2785,3860,0,0,0,0,0,0
$GC,1217,-0.84,-219.0,208.8,-18.5,160,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2784,3860,0,0,0,0,0,0
$GC,1345,-0.84,-219.0,232.3,-18.1,172,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2785,3860,0,0,0,0,0,0
$GC,1472,-0.84,-219.0,255.3,-18.3,184,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2785,3860,0,0,0,0,0,0
$GC,1664,-0.84,-219.0,289.2,-17.6,202,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2785,3860,0,0,0,0,0,0
$GC,1854,-0.84,-219.0,322.7,-18.0,220,1858,0.00,2.20,0.00,0.000,6,0.000,0.031,2504,1372,3860,0,0,0,0,0,0
$STATE,1859,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1859,begin apogee
$GC,1868,-0.16,0.0,324.0,18.1,220,2052,0.75,0.00,174.65,0.940,4,0.122,0.000,2742,2705,2958,0,0,0,0,0,0
$STATE,2053,end apogee,CONTROL_FINISHED_OK
$STATE,2053,begin climb
$GC,2056,0.84,219.0,334.5,0.0,237,2260,1.00,2.42,190.80,0.887,4,0.074,0.033,3073,1293,2066,0,0,1,0,0,0
$GC,2442,0.88,249.3,301.6,12.1,271,2477,0.00,2.40,27.92,0.851,6,0.000,0.041,3073,2698,1943,0,0,0,0,0,0
$GC,2668,0.88,256.8,272.4,13.0,292,2682,0.00,2.38,7.28,0.755,4,0.000,0.034,3083,1297,1913,0,0,1,0,0,0
$GC,2832,0.91,276.6,250.9,12.5,306,2863,0.00,2.33,19.55,0.847,6,0.000,0.041,3084,2702,1833,0,0,0,0,0,0
$GC,2991,0.91,276.6,228.7,14.5,321,2995,0.00,1.70,0.00,0.000,4,0.000,0.050,3083,3759,1831,0,0,0,0,0,0
$GC,3029,0.91,276.6,221.9,16.5,324,3037,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2712,1831,0,0,1,0,0,0
$GC,3165,0.91,276.6,201.7,14.6,337,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2713,1830,0,0,0,0,0,0
$GC,3292,0.91,276.6,182.7,14.9,349,3296,0.00,1.73,0.00,0.000,4,0.000,0.050,3092,3752,1830,0,0,0,0,0,0
$GC,3331,0.91,276.6,176.1,16.1,352,3339,0.00,1.65,0.00,0.000,6,0.000,0.030,3100,2711,1829,0,0,0,0,0,0
$GC,3466,0.91,276.6,155.2,15.5,365,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2711,1829,0,0,0,0,0,0
$GC,3593,0.91,276.6,135.6,15.2,377,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2711,1829,0,0,0,0,0,0
$GC,3721,0.91,276.6,116.0,15.2,389,3725,0.00,1.73,0.00,0.000,4,0.000,0.049,3100,3758,1828,0,0,0,0,0,0
$GC,3768,0.91,276.6,108.2,16.8,393,3772,0.00,1.62,0.00,0.000,6,0.000,0.031,3108,2732,1828,0,0,0,0,0,0
$GC,3907,0.91,276.6,86.2,15.5,413,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2730,1828,0,0,0,0,0,0
$GC,4048,0.91,276.6,63.8,16.4,438,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2730,1828,0,0,0,0,0,0
$GC,4190,0.91,276.6,41.6,15.4,463,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2729,1828,0,0,0,0,0,0
$GC,4332,0.91,276.6,19.8,15.3,488,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2729,1827,0,0,0,0,0,0
$FREEZE,8.77,0.054,-1.899,2,1,0
$FREEZE,8.01,0.048,-1.899,2,1,0
$FREEZE,7.04,0.048,-1.898,2,1,0
$FREEZE,6.24,0.031,-1.897,2,1,0
$FREEZE,5.38,0.033,-1.897,2,1,0
$FREEZE,4.60,0.043,-1.896,2,1,0
$FREEZE,3.77,0.048,-1.896,2,1,0
$FREEZE,3.04,0.051,-1.895,2,1,0
$FREEZE,2.16,0.052,-1.894,2,1,0
$STATE,4444,end climb,SURFACE_DEPTH_REACHED
$STATE,4444,begin surface coast
$FREEZE,0.95,0.054,-1.893,2,1,0
$FREEZE,0.09,0.054,-1.893,2,1,0
$FREEZE,-0.07,0.028,-1.894,2,1,0
$FINISH,-0.1,1.027705
$STATE,4462,end surface coast,CONTROL_FINISHED_OK
$STATE,4462,begin surface
$SM_CCo,4480,20.70,0.103,0,0,1655,320.11
$SM_GC,0.94,0.00,0.00,20.70,0.000,0.000,0.103,172,2788,1655,-8.21,0.20,320.11
$IRIDIUM_FIX,-7612.11,17621.87,080111,040418
$TT8_MAMPS,0.026215
$HUMID,52.67
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,300.3,38.2
$24V_AH,22.2,63.692
$10V_AH,9.9,24.853
$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,18.300,33.200,420.200,20.700,0.000,29.842,36.843,147.575,1.250,0.000,13.640,1239.948,1812.018,490.063,1116.730,193.347,0.000,1027.055,0.000,860.372,0.000,8.852,0.000
$DEVICE_MAMPS,208.080,112.455,940.185,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.785,682.408,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258184
$DATA_FILE_SIZE,33843,511
$CAP_FILE_SIZE,67774,0
$CFSIZE,260165632,223559680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.131,200.3,1
$GPS,080111,070552,-7655.379,17615.744,6,2.6,25,125.0