version: 66.08
glider: 503
mission: 7
dive: 682
start: 1 11 111 13 27 33
data:
$ID,503
$MISSION,7
$DIVE,682
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$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,220
$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,250
$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,-20381.65
$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,51
$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
$GPS1,110111,132036,-7625.235,17554.740,48,1.1,49,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-68.5
$GPS2,110111,132702,-7625.212,17554.650,13,1.1,13,123.6
$SPEED_LIMITS,0.197,0.325
$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,204.6,44652,-15.8,-11.364
$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,16,-0.76,-219.0,0.0,0.0,0,92,0.00,0.00,-74.35,0.000,2,0.000,0.000,135,2804,3413,0,0,0,0,0,0
$GC,96,-0.76,-219.0,3.4,-7.1,12,124,9.10,2.33,-9.00,0.000,4,0.201,0.044,2548,1373,3856,0,0,1,0,0,0
$GC,331,-0.76,-219.0,45.4,-14.3,53,338,0.00,2.25,0.00,0.000,6,0.000,0.043,2538,2757,3859,0,0,0,0,0,0
$GC,474,-0.76,-219.0,67.1,-15.4,78,481,0.00,1.65,0.00,0.000,4,0.000,0.049,2530,3766,3859,0,0,0,0,0,0
$GC,511,-0.76,-219.0,73.4,-16.6,84,518,0.00,1.55,0.00,0.000,6,0.000,0.030,2529,2778,3860,0,0,0,0,0,0
$GC,653,-0.76,-219.0,96.1,-16.4,109,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2778,3859,0,0,0,0,0,0
$GC,793,-0.76,-219.0,119.4,-16.5,124,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2778,3860,0,0,0,0,0,0
$GC,921,-0.76,-219.0,140.2,-16.5,136,924,0.00,1.62,0.00,0.000,4,0.000,0.049,2522,3793,3860,0,0,0,0,0,0
$GC,980,-0.76,-219.0,150.3,-17.2,141,984,0.08,1.58,0.00,0.000,6,0.131,0.029,2558,2787,3860,0,0,0,0,0,0
$GC,1121,-0.76,-219.0,171.0,-14.7,154,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2787,3860,0,0,0,0,0,0
$GC,1246,-0.76,-219.0,188.8,-14.1,166,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2787,3860,0,0,0,0,0,0
$GC,1375,-0.76,-219.0,206.2,-13.7,178,1378,0.00,1.60,0.00,0.000,4,0.000,0.049,2552,3763,3860,0,0,0,0,0,0
$GC,1435,-0.76,-219.0,215.1,-13.6,183,1442,0.00,1.50,0.00,0.000,6,0.000,0.028,2552,2800,3860,0,0,0,0,0,0
$GC,1570,-0.76,-219.0,233.2,-14.0,196,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2800,3860,0,0,0,0,0,0
$GC,1699,-0.76,-219.0,250.6,-13.5,208,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2800,3860,0,0,0,0,0,0
$GC,1887,-0.76,-219.0,276.2,-13.5,226,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2800,3860,0,0,0,0,0,0
$GC,2079,-0.76,-219.0,302.6,-14.4,244,2082,0.00,1.58,0.00,0.000,4,0.000,0.050,2547,3761,3860,0,0,0,0,0,0
$GC,2170,-0.76,-219.0,316.3,-15.0,252,2173,0.00,1.50,0.00,0.000,6,0.000,0.030,2547,2798,3860,0,0,0,0,0,0
$GC,2375,-0.76,-219.0,346.5,-15.0,271,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2798,3860,0,0,0,0,0,0
$GC,2565,-0.76,-219.0,373.7,-13.8,289,2568,0.00,1.58,0.00,0.000,4,0.000,0.050,2540,3763,3860,0,0,0,0,0,0
$STATE,2576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2576,begin apogee
$GC,2584,-0.16,0.0,375.6,14.1,290,2768,0.60,0.00,177.02,0.971,4,0.115,0.000,2743,2703,2960,0,0,0,0,0,0
$STATE,2768,end apogee,CONTROL_FINISHED_OK
$STATE,2768,begin climb
$GC,2771,0.76,219.0,385.6,0.0,306,2979,0.93,2.42,195.05,0.920,4,0.073,0.031,3047,1296,2067,0,0,0,0,0,0
$GC,3132,0.78,233.7,358.1,10.8,338,3151,0.00,2.42,13.85,0.853,6,0.000,0.041,3047,2699,2007,0,0,0,0,0,0
$GC,3343,0.78,233.7,334.0,11.5,358,3347,0.00,2.30,0.00,0.000,4,0.000,0.034,3057,1301,2004,0,0,0,0,0,0
$GC,3510,0.79,245.3,314.6,11.0,372,3529,0.00,2.33,11.60,0.856,6,0.000,0.041,3057,2710,1959,0,0,0,0,0,0
$GC,3722,0.79,245.3,289.0,12.3,392,3726,0.00,1.67,0.00,0.000,4,0.000,0.049,3057,3763,1958,0,0,0,0,0,0
$GC,3780,0.79,245.3,280.6,14.6,397,3783,0.00,1.65,0.00,0.000,6,0.000,0.031,3064,2702,1957,0,0,0,0,0,0
$GC,3984,0.79,245.3,254.5,12.4,416,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2703,1957,0,0,0,0,0,0
$GC,4174,0.79,245.3,231.0,12.4,434,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2703,1957,0,0,0,0,0,0
$GC,4302,0.79,245.3,215.7,11.7,446,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2702,1956,0,0,0,0,0,0
$GC,4430,0.79,245.3,200.5,11.9,458,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2702,1956,0,0,0,0,0,0
$GC,4557,0.79,245.3,185.5,11.6,470,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2702,1956,0,0,0,0,0,0
$GC,4684,0.79,245.3,170.7,11.6,482,4688,0.00,1.73,0.00,0.000,4,0.000,0.049,3064,3755,1956,0,0,0,0,0,0
$GC,4724,0.79,245.3,165.6,12.6,485,4731,0.00,1.65,0.00,0.000,6,0.000,0.030,3070,2708,1955,0,0,0,0,0,0
$GC,4858,0.79,245.3,149.6,11.9,498,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2708,1956,0,0,0,0,0,0
$GC,4986,0.79,245.3,134.6,12.0,510,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2708,1955,0,0,0,0,0,0
$GC,5114,0.79,245.3,119.6,11.6,522,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2709,1955,0,0,0,0,0,0
$GC,5240,0.79,245.3,104.2,12.3,534,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2708,1955,0,0,0,0,0,0
$GC,5372,0.79,245.3,88.0,12.8,554,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2708,1955,0,0,0,0,0,0
$GC,5512,0.79,245.3,71.0,11.8,579,5520,0.00,1.73,0.00,0.000,4,0.000,0.049,3070,3765,1956,0,0,0,0,0,0
$GC,5561,0.79,245.3,64.7,13.9,587,5569,0.00,1.65,0.00,0.000,6,0.000,0.031,3078,2711,1955,0,0,0,0,0,0
$GC,5705,0.79,245.3,46.6,12.9,612,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2711,1955,0,0,0,0,0,0
$GC,5847,0.79,245.3,27.7,13.2,637,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2711,1955,0,0,0,0,0,0
$FREEZE,8.44,-0.287,-1.895,2,1,0
$GC,5989,0.79,245.3,8.4,13.4,662,5996,0.00,1.73,0.00,0.000,4,0.000,0.050,3078,3763,1954,0,0,0,0,0,0
$FREEZE,6.65,-0.296,-1.894,2,1,0
$FREEZE,6.22,-0.300,-1.894,2,1,0
$FREEZE,5.82,-0.301,-1.893,2,1,0
$FREEZE,5.39,-0.301,-1.893,2,1,0
$FREEZE,4.87,-0.302,-1.892,2,1,0
$FREEZE,4.10,-0.298,-1.892,2,1,0
$FREEZE,3.06,-0.297,-1.891,2,1,0
$FREEZE,2.34,-0.296,-1.890,2,1,0
$STATE,6038,end climb,SURFACE_DEPTH_REACHED
$STATE,6038,begin surface coast
$FREEZE,1.54,-0.297,-1.890,2,1,0
$FREEZE,0.76,-0.305,-1.889,2,1,0
$FREEZE,-0.04,-0.313,-1.889,2,1,0
$FINISH,-0.0,1.027650
$STATE,6058,end surface coast,CONTROL_FINISHED_OK
$STATE,6058,begin surface
$SM_CCo,6077,0.82,0.115,0,0,1940,250.20
$SM_GC,2.02,0.00,0.00,0.82,0.000,0.000,0.115,177,2773,1940,-8.20,-0.20,250.20
$IRIDIUM_FIX,-7545.40,17552.25,110111,111152
$TT8_MAMPS,0.027713
$HUMID,53.38
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.3
$24V_AH,21.9,70.461
$10V_AH,9.8,27.291
$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,18.250,43.225,397.525,0.825,0.000,31.201,35.854,176.145,1.000,0.000,16.301,1667.866,2692.007,452.047,1413.325,249.191,0.000,1110.359,0.000,1110.534,0.000,7.756,0.000
$DEVICE_MAMPS,201.195,50.490,970.785,114.750,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.067,865.997,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,43666,674
$CAP_FILE_SIZE,85829,0
$CFSIZE,260165632,221216768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.016,349.7,1
$GPS,110111,150950,-7624.329,17553.020,17,1.6,18,123.5