version: 66.08
glider: 503
mission: 7
dive: 706
start: 1 13 111 11 9 8
data:
$ID,503
$MISSION,7
$DIVE,706
$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,-20412.111
$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,27
$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
$GPS1,130111,110150,-7606.808,17505.967,28,1.8,29,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-70.0
$GPS2,130111,110837,-7606.830,17505.945,27,1.3,27,123.5
$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,196.0,4301,-15.8,-11.364
$D_GRID,459
$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,-219.0,0.0,0.0,0,103,0.00,0.00,-85.15,0.000,2,0.000,0.000,123,2743,3409,0,0,0,0,0,0
$GC,107,-0.76,-219.0,3.1,-6.9,14,135,9.52,1.67,-9.20,0.000,4,0.217,0.065,2539,3760,3857,0,0,1,0,0,0
$GC,386,-0.76,-219.0,56.0,-14.7,63,393,0.00,1.55,0.00,0.000,6,0.000,0.028,2539,2774,3859,0,0,0,0,0,0
$GC,528,-0.76,-219.0,77.7,-15.4,88,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2774,3859,0,0,0,0,0,0
$GC,670,-0.76,-219.0,99.7,-15.7,113,677,0.00,1.62,0.00,0.000,4,0.000,0.049,2532,3762,3860,0,0,0,0,0,0
$GC,708,-0.76,-219.0,105.8,-17.3,117,712,0.00,1.52,0.00,0.000,6,0.000,0.030,2533,2787,3860,0,0,0,0,0,0
$GC,848,-0.76,-219.0,128.8,-16.0,130,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3860,0,0,0,0,0,0
$GC,976,-0.76,-219.0,149.1,-15.8,142,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3860,0,0,0,0,0,0
$GC,1104,-0.76,-219.0,171.1,-17.5,154,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3861,0,0,0,0,0,0
$GC,1230,-0.76,-219.0,192.8,-16.8,166,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3861,0,0,0,0,0,0
$GC,1358,-0.76,-219.0,213.1,-15.5,178,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3861,0,0,0,0,0,0
$GC,1486,-0.76,-219.0,232.4,-15.4,190,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3860,0,0,0,0,0,0
$GC,1613,-0.76,-219.0,252.0,-15.1,202,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3861,0,0,0,0,0,0
$GC,1804,-0.76,-219.0,280.9,-14.5,220,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3861,0,0,0,0,0,0
$GC,1996,-0.76,-219.0,309.1,-14.8,238,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3861,0,0,0,0,0,0
$GC,2188,-0.76,-219.0,337.9,-15.3,256,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3861,0,0,0,0,0,0
$GC,2378,-0.76,-219.0,367.4,-15.5,274,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3861,0,0,0,0,0,0
$GC,2568,-0.76,-219.0,396.6,-14.9,292,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3860,0,0,0,0,0,0
$GC,2761,-0.76,-219.0,425.1,-15.2,310,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3860,0,0,0,0,0,0
$GC,2951,-0.76,-219.0,452.9,-14.4,328,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3860,0,0,0,0,0,0
$STATE,2990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2990,begin apogee
$GC,2997,-0.16,0.0,459.1,14.6,332,3181,0.62,0.00,178.98,1.026,4,0.118,0.000,2741,2685,2960,0,0,0,0,0,0
$STATE,3181,end apogee,CONTROL_FINISHED_OK
$STATE,3181,begin climb
$GC,3184,0.76,219.0,468.9,0.0,348,3394,0.93,2.40,199.27,0.968,4,0.073,0.034,3044,1310,2067,0,0,0,0,0,0
$GC,3457,0.79,243.9,451.8,10.5,372,3492,0.00,2.47,24.52,0.920,6,0.000,0.041,3043,2703,1965,0,0,0,0,0,0
$GC,3683,0.79,243.9,425.3,12.0,393,3687,0.00,2.33,0.00,0.000,4,0.000,0.035,3053,1317,1961,0,0,0,0,0,0
$GC,3836,0.79,243.9,408.0,11.9,406,3841,0.00,2.33,0.00,0.000,6,0.000,0.043,3053,2715,1959,0,0,0,0,0,0
$GC,4037,0.79,243.9,383.2,12.1,424,4040,0.00,1.70,0.00,0.000,4,0.000,0.048,3053,3773,1959,0,0,0,0,0,0
$GC,4094,0.79,243.9,375.2,13.6,429,4098,0.00,1.65,0.00,0.000,6,0.000,0.029,3061,2710,1959,0,0,0,0,0,0
$GC,4298,0.79,243.9,349.0,13.0,448,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2710,1958,0,0,0,0,0,0
$GC,4490,0.79,243.9,323.9,13.1,466,4494,0.00,1.70,0.00,0.000,4,0.000,0.048,3060,3766,1958,0,0,0,0,0,0
$GC,4558,0.79,243.9,313.8,15.0,472,4562,0.00,1.65,0.00,0.000,6,0.000,0.030,3069,2697,1958,0,0,0,0,0,0
$GC,4763,0.79,243.9,286.3,13.2,491,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2695,1957,0,0,0,0,0,0
$GC,4953,0.79,243.9,260.8,13.2,509,4957,0.00,1.75,0.00,0.000,4,0.000,0.048,3069,3758,1956,0,0,0,0,0,0
$GC,5025,0.79,243.9,250.0,14.6,515,5032,0.00,1.62,0.00,0.000,6,0.000,0.029,3077,2732,1956,0,0,0,0,0,0
$GC,5225,0.79,243.9,224.0,12.8,534,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2732,1956,0,0,0,0,0,0
$GC,5351,0.79,243.9,207.8,12.7,546,5355,0.00,1.65,0.00,0.000,4,0.000,0.049,3077,3766,1956,0,0,0,0,0,0
$GC,5401,0.79,243.9,200.4,14.3,550,5408,0.00,1.62,0.00,0.000,6,0.000,0.030,3084,2734,1956,0,0,0,0,0,0
$GC,5537,0.79,243.9,182.7,13.4,563,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2733,1956,0,0,0,0,0,0
$GC,5663,0.79,243.9,165.5,13.5,575,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2734,1956,0,0,0,0,0,0
$GC,5791,0.79,243.9,148.1,13.6,587,5794,0.00,1.65,0.00,0.000,4,0.000,0.050,3084,3765,1956,0,0,0,0,0,0
$GC,5850,0.79,243.9,139.1,16.0,592,5854,0.12,1.62,0.00,0.000,6,0.173,0.031,3058,2737,1956,0,0,0,0,0,0
$GC,5990,0.79,243.9,120.8,12.9,605,5994,0.00,2.28,0.00,0.000,4,0.000,0.036,3070,1301,1956,0,0,0,0,0,0
$GC,6025,0.79,243.9,116.3,12.9,608,6029,0.00,2.33,0.00,0.000,6,0.000,0.044,3070,2737,1956,0,0,0,0,0,0
$GC,6160,0.79,243.9,97.9,13.3,621,6168,0.00,1.65,0.00,0.000,4,0.000,0.050,3070,3753,1955,0,0,0,0,0,0
$GC,6219,0.79,243.9,89.2,15.0,631,6226,0.00,1.58,0.00,0.000,6,0.000,0.031,3078,2738,1955,0,0,1,0,0,0
$GC,6361,0.79,243.9,69.8,13.0,656,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2739,1956,0,0,0,0,0,0
$GC,6502,0.79,243.9,51.5,13.3,681,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2739,1956,0,0,0,0,0,0
$GC,6644,0.79,243.9,32.6,13.5,706,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2739,1955,0,0,0,0,0,0
$GC,6784,0.79,243.9,13.4,14.0,731,6791,0.00,1.67,0.00,0.000,4,0.000,0.050,3078,3759,1955,0,0,0,0,0,0
$FREEZE,8.94,0.011,-1.896,2,1,0
$FREEZE,8.22,0.021,-1.896,2,1,0
$FREEZE,7.44,0.031,-1.895,2,1,0
$FREEZE,6.64,0.039,-1.895,2,1,0
$FREEZE,5.79,0.017,-1.894,2,1,0
$FREEZE,4.87,0.034,-1.894,2,1,0
$FREEZE,4.14,0.019,-1.893,2,1,0
$FREEZE,3.33,0.065,-1.891,2,1,0
$FREEZE,2.58,0.093,-1.891,2,1,0
$STATE,6857,end climb,SURFACE_DEPTH_REACHED
$STATE,6857,begin surface coast
$FREEZE,1.18,0.127,-1.890,2,1,0
$FREEZE,0.45,0.148,-1.889,2,1,0
$FINISH,0.4,1.027625
$STATE,6872,end surface coast,CONTROL_FINISHED_OK
$STATE,6872,begin surface
$SM_CCo,6891,1.10,0.111,0,0,1940,250.20
$SM_GC,2.07,0.00,0.00,1.10,0.000,0.000,0.111,178,2779,1940,-8.20,-0.03,250.20
$IRIDIUM_FIX,-7528.04,17503.76,130111,080815
$TT8_MAMPS,0.027713
$HUMID,53.58
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.2
$24V_AH,21.7,73.541
$10V_AH,9.8,28.609
$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,18.825,43.675,402.775,1.100,0.000,29.211,49.519,169.166,1.500,0.000,30.524,1847.195,3204.155,458.093,1531.733,265.405,0.000,1169.409,0.000,1209.501,0.000,11.191,0.000
$DEVICE_MAMPS,217.260,82.620,1025.865,110.925,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,523.028,895.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258256
$DATA_FILE_SIZE,50347,746
$CAP_FILE_SIZE,92369,0
$CFSIZE,260165632,219987968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.073, 96.9,1
$GPS,130111,130525,-7605.994,17504.156,37,2.0,43,123.5