version: 66.08
glider: 503
mission: 7
dive: 703
start: 1 13 111 4 37 15
data:
$ID,503
$MISSION,7
$DIVE,703
$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,-20408.34
$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,30
$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
$GPS1,130111,042949,-7608.823,17509.936,20,1.7,21,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-69.6
$GPS2,130111,043644,-7608.854,17509.807,13,1.2,13,123.5
$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,214.6,8369,-15.8,-11.364
$D_GRID,447
$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,-219.0,0.0,0.0,0,105,0.00,0.00,-86.25,0.000,2,0.000,0.000,125,2754,3349,0,0,0,0,0,0
$GC,108,-0.76,-219.0,3.1,-6.3,14,136,9.45,1.65,-10.75,0.000,4,0.216,0.063,2539,3763,3855,0,0,0,0,0,0
$GC,387,-0.76,-219.0,56.8,-16.0,63,394,0.00,1.55,0.00,0.000,6,0.000,0.028,2539,2773,3858,0,0,0,0,0,0
$GC,530,-0.76,-219.0,79.8,-16.0,88,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2774,3859,0,0,0,0,0,0
$GC,672,-0.76,-219.0,102.6,-16.2,112,676,0.00,1.62,0.00,0.000,4,0.000,0.049,2531,3794,3859,0,0,0,0,0,0
$GC,720,-0.76,-219.0,110.1,-16.9,116,724,0.00,1.58,0.00,0.000,6,0.000,0.029,2531,2778,3859,0,0,0,0,0,0
$GC,861,-0.76,-219.0,133.3,-16.7,129,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2778,3859,0,0,0,0,0,0
$GC,988,-0.76,-219.0,153.9,-16.2,141,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2778,3859,0,0,0,0,0,0
$GC,1118,-0.76,-219.0,174.4,-16.4,153,1121,0.00,1.60,0.00,0.000,4,0.000,0.049,2524,3753,3860,0,0,0,0,0,0
$GC,1164,-0.76,-219.0,182.7,-16.9,157,1169,0.08,1.50,0.00,0.000,6,0.130,0.029,2551,2794,3859,0,0,0,0,0,0
$GC,1305,-0.76,-219.0,203.1,-14.0,170,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2794,3859,0,0,0,0,0,0
$GC,1432,-0.76,-219.0,221.0,-14.3,182,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2794,3860,0,0,0,0,0,0
$GC,1559,-0.76,-219.0,238.7,-13.2,194,1563,0.00,1.60,0.00,0.000,4,0.000,0.050,2544,3765,3859,0,0,0,0,0,0
$GC,1605,-0.76,-219.0,245.5,-14.0,198,1609,0.00,1.52,0.00,0.000,6,0.000,0.029,2544,2790,3859,0,0,0,0,0,0
$GC,1746,-0.76,-219.0,265.3,-14.0,211,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2790,3860,0,0,0,0,0,0
$GC,1937,-0.76,-219.0,292.1,-13.8,229,1941,0.00,1.60,0.00,0.000,4,0.000,0.048,2537,3763,3860,0,0,0,0,0,0
$GC,1975,-0.76,-219.0,298.2,-15.2,232,1983,0.00,1.50,0.00,0.000,6,0.000,0.029,2537,2803,3859,0,0,0,0,0,0
$GC,2174,-0.76,-219.0,326.1,-14.3,251,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2803,3859,0,0,0,0,0,0
$GC,2366,-0.76,-219.0,353.0,-14.0,269,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2803,3860,0,0,0,0,0,0
$GC,2557,-0.76,-219.0,379.8,-13.8,287,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2803,3859,0,0,0,0,0,0
$GC,2748,-0.76,-219.0,406.1,-13.4,305,2751,0.00,1.58,0.00,0.000,4,0.000,0.050,2530,3762,3859,0,0,0,0,0,0
$GC,2783,-0.76,-219.0,411.3,-14.6,308,2786,0.00,1.50,0.00,0.000,6,0.000,0.030,2529,2805,3859,0,0,0,0,0,0
$GC,2987,-0.76,-219.0,440.4,-14.4,327,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2806,3859,0,0,0,0,0,0
$STATE,3037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3037,begin apogee
$GC,3043,-0.16,0.0,447.8,14.2,332,3227,0.65,0.00,178.38,1.021,4,0.117,0.000,2746,2687,2959,0,0,0,0,0,0
$STATE,3228,end apogee,CONTROL_FINISHED_OK
$STATE,3228,begin climb
$GC,3230,0.76,219.0,456.8,0.0,348,3439,0.85,0.00,197.93,0.960,6,0.073,0.000,3037,2687,2067,0,0,0,0,0,0
$GC,3630,0.76,221.2,423.1,11.3,385,3633,0.00,1.83,0.00,0.000,4,0.000,0.047,3037,3756,2060,0,0,0,0,0,0
$GC,3714,0.76,221.2,412.1,13.0,392,3722,0.00,1.70,0.00,0.000,6,0.000,0.030,3043,2718,2058,0,0,1,0,0,0
$GC,3912,0.77,223.7,389.7,11.3,411,3922,0.00,0.00,4.28,0.675,6,0.000,0.000,3044,2718,2046,0,0,0,0,0,0
$GC,4116,0.77,228.4,367.0,11.2,430,4129,0.00,1.73,5.80,0.780,4,0.000,0.047,3044,3760,2028,0,0,0,0,0,0
$GC,4179,0.77,228.4,358.2,13.4,435,4185,0.00,1.65,0.00,0.000,6,0.000,0.031,3051,2704,2027,0,0,0,0,0,0
$GC,4377,0.77,228.4,334.5,12.0,454,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2704,2027,0,0,0,0,0,0
$GC,4568,0.77,228.4,311.4,12.3,472,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2704,2026,0,0,0,0,0,0
$GC,4760,0.77,228.4,288.4,12.2,490,4763,0.00,1.70,0.00,0.000,4,0.000,0.048,3051,3763,2026,0,0,0,0,0,0
$GC,4817,0.77,228.4,280.7,13.9,495,4821,0.00,1.62,0.00,0.000,6,0.000,0.031,3058,2696,2026,0,0,1,0,0,0
$GC,5021,0.77,228.4,255.4,12.2,514,5025,0.00,1.70,0.00,0.000,4,0.000,0.048,3059,3760,2025,0,0,0,0,0,0
$GC,5056,0.77,228.4,250.7,13.7,517,5060,0.00,1.62,0.00,0.000,6,0.000,0.031,3066,2730,2025,0,0,0,0,0,0
$GC,5260,0.77,228.4,225.1,12.2,536,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2729,2025,0,0,0,0,0,0
$GC,5387,0.77,228.4,209.7,12.0,548,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2729,2025,0,0,0,0,0,0
$GC,5515,0.77,228.4,194.7,11.7,560,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2729,2024,0,0,0,0,0,0
$GC,5643,0.78,233.0,180.3,11.2,572,5655,0.00,1.67,5.40,0.740,4,0.000,0.047,3066,3760,2010,0,0,0,0,0,0
$GC,5691,0.78,233.0,174.2,13.6,576,5694,0.00,1.62,0.00,0.000,6,0.000,0.031,3074,2736,2010,0,0,0,0,0,0
$GC,5831,0.78,233.0,156.7,12.6,589,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2734,2010,0,0,0,0,0,0
$GC,5959,0.78,233.0,141.0,12.3,601,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2734,2010,0,0,0,0,0,0
$GC,6086,0.78,233.0,125.0,12.8,613,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2734,2009,0,0,0,0,0,0
$GC,6213,0.78,233.0,109.0,12.6,625,6217,0.00,1.65,0.00,0.000,4,0.000,0.048,3073,3766,2009,0,0,0,0,0,0
$GC,6249,0.78,233.0,104.2,15.2,628,6253,0.10,1.62,0.00,0.000,6,0.180,0.031,3053,2735,2009,0,0,0,0,0,0
$GC,6390,0.79,240.4,88.2,11.1,650,6403,0.00,0.00,8.45,0.780,6,0.000,0.000,3053,2735,1979,0,0,0,0,0,0
$GC,6541,0.81,256.1,72.1,10.8,676,6561,0.00,0.00,16.25,0.792,6,0.000,0.000,3053,2735,1915,0,0,0,0,0,0
$GC,6697,0.81,256.1,54.0,11.4,703,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2735,1914,0,0,0,0,0,0
$GC,6840,0.81,256.1,37.9,11.4,728,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2735,1913,0,0,0,0,0,0
$GC,6981,0.81,256.1,21.1,11.4,753,6989,0.00,1.70,0.00,0.000,4,0.000,0.051,3052,3758,1913,0,0,0,0,0,0
$GC,7030,0.81,256.1,14.9,14.1,761,7038,0.00,1.60,0.00,0.000,6,0.000,0.033,3059,2739,1913,0,0,1,0,0,0
$FREEZE,8.63,-0.146,-1.894,2,1,0
$FREEZE,7.90,-0.146,-1.893,2,1,0
$FREEZE,7.16,-0.146,-1.893,2,1,0
$FREEZE,6.72,-0.146,-1.892,2,1,0
$FREEZE,6.09,-0.145,-1.892,2,1,0
$FREEZE,5.73,-0.146,-1.891,2,1,0
$FREEZE,5.15,-0.145,-1.891,2,1,0
$FREEZE,4.84,-0.146,-1.891,2,1,0
$FREEZE,4.62,-0.146,-1.890,2,1,0
$FREEZE,4.00,-0.146,-1.890,2,1,0
$FREEZE,3.72,-0.145,-1.890,2,1,0
$FREEZE,3.54,-0.145,-1.890,2,1,0
$FREEZE,2.90,-0.145,-1.889,2,1,0
$STATE,7148,end climb,SURFACE_DEPTH_REACHED
$STATE,7148,begin surface coast
$FREEZE,1.94,-0.146,-1.888,2,1,0
$FREEZE,1.22,-0.143,-1.888,2,1,0
$FREEZE,0.49,-0.144,-1.887,2,1,0
$FREEZE,0.07,-0.145,-1.887,2,1,0
$FREEZE,-0.24,-0.161,-1.032,2,1,0
$FREEZE,-0.22,-0.203,-1.693,2,1,0
$FREEZE,-0.20,-0.203,-1.890,2,1,0
$FREEZE,-0.19,-0.167,-1.028,2,1,0
$FINISH,-0.2,1.015208
$STATE,7191,end surface coast,CONTROL_FINISHED_OK
$STATE,7191,begin surface
$SM_CCo,7270,0.00,0.000,0,0,1909,257.81
$SM_GC,0.92,7.60,0.00,0.00,0.047,0.000,0.000,199,2788,1909,-8.07,0.23,257.81
$IRIDIUM_FIX,-7545.40,16919.42,130111,020233
$TT8_MAMPS,0.026964
$HUMID,52.79
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.5
$24V_AH,21.7,73.146
$10V_AH,9.8,28.431
$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,18.725,42.425,416.475,0.000,0.000,27.309,39.905,194.688,1.250,0.000,16.408,1962.295,3392.930,469.346,1580.266,284.971,0.000,1215.294,0.000,1265.104,0.000,9.473,0.000
$DEVICE_MAMPS,215.730,117.045,1021.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.028,961.157,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258212
$DATA_FILE_SIZE,50325,790
$CAP_FILE_SIZE,99091,0
$CFSIZE,260165632,220143616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.139,163.5,1
$GPS,130111,064001,-7608.206,17508.740,56,2.0,57,123.5