version: 66.08
glider: 503
mission: 7
dive: 709
start: 1 13 111 17 22 33
data:
$ID,503
$MISSION,7
$DIVE,709
$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,-20415.883
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,130111,171514,-7605.688,17514.234,38,2.0,39,123.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-71.2
$GPS2,130111,172202,-7605.698,17514.133,12,1.9,12,123.2
$SPEED_LIMITS,0.197,0.325
$TGT_NAME,CORNER_NE
$TGT_LATLONG,-7605.000,17700.000
$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,333.5,47174,-15.8,-11.364
$D_GRID,407
$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,-219.0,0.0,0.0,0,107,0.00,0.00,-88.85,0.000,2,0.000,0.000,172,2798,3435,0,0,0,0,0,0
$GC,111,-0.76,-219.0,3.5,-8.1,15,138,9.27,1.60,-8.55,0.000,4,0.216,0.065,2539,3751,3857,0,0,0,0,0,0
$GC,179,-0.76,-219.0,22.9,-18.9,26,186,0.00,1.55,0.00,0.000,6,0.000,0.029,2539,2769,3859,0,0,0,0,0,0
$GC,320,-0.76,-219.0,46.6,-15.5,51,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2770,3860,0,0,0,0,0,0
$GC,462,-0.76,-219.0,69.5,-16.3,76,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2770,3860,0,0,0,0,0,0
$GC,605,-0.76,-219.0,92.2,-15.8,101,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2770,3860,0,0,0,0,0,0
$GC,745,-0.76,-219.0,113.8,-15.1,118,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2770,3861,0,0,0,0,0,0
$GC,871,-0.76,-219.0,133.2,-15.4,130,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2770,3861,0,0,0,0,0,0
$GC,999,-0.76,-219.0,152.7,-15.3,142,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2770,3861,0,0,0,0,0,0
$GC,1129,-0.76,-219.0,172.0,-15.2,154,1133,0.00,2.17,0.00,0.000,4,0.000,0.033,2539,1377,3860,0,0,0,0,0,0
$GC,1158,-0.76,-219.0,176.7,-14.5,156,1162,0.00,2.28,0.00,0.000,6,0.000,0.044,2532,2780,3861,0,0,0,0,0,0
$GC,1297,-0.76,-219.0,198.3,-15.8,169,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2779,3861,0,0,0,0,0,0
$GC,1426,-0.76,-219.0,217.4,-15.1,181,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2779,3860,0,0,0,0,0,0
$GC,1552,-0.76,-219.0,236.6,-14.8,193,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2779,3861,0,0,0,0,0,0
$GC,1680,-0.76,-219.0,256.0,-15.5,205,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2779,3861,0,0,0,0,0,0
$GC,1871,-0.76,-219.0,285.6,-15.8,223,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2779,3861,0,0,0,0,0,0
$GC,2062,-0.76,-219.0,315.0,-15.4,241,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2779,3861,0,0,0,0,0,0
$GC,2253,-0.76,-219.0,344.3,-14.9,259,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2779,3861,0,0,0,0,0,0
$GC,2445,-0.76,-219.0,373.4,-15.3,277,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2779,3861,0,0,0,0,0,0
$GC,2636,-0.76,-219.0,402.1,-14.9,295,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2779,3860,0,0,0,0,0,0
$STATE,2676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2676,begin apogee
$GC,2683,-0.16,0.0,408.3,14.6,299,2871,0.62,0.00,177.75,0.995,4,0.118,0.000,2742,2688,2958,0,0,0,0,0,0
$STATE,2871,end apogee,CONTROL_FINISHED_OK
$STATE,2872,begin climb
$GC,2875,0.76,219.0,417.6,0.0,316,3081,0.93,2.38,197.18,0.938,4,0.071,0.033,3048,1311,2067,0,0,0,0,0,0
$GC,3183,0.78,233.7,395.4,10.8,343,3206,0.00,2.40,14.18,0.861,6,0.000,0.041,3048,2699,2008,0,0,1,0,0,0
$GC,3398,0.78,233.7,370.0,11.8,363,3403,0.00,2.30,0.00,0.000,4,0.000,0.034,3058,1315,2005,0,0,0,0,0,0
$GC,3557,0.78,233.7,352.0,11.5,376,3564,0.00,2.33,0.00,0.000,6,0.000,0.042,3058,2712,2004,0,0,0,0,0,0
$GC,3755,0.78,233.7,327.5,12.3,395,3759,0.00,1.70,0.00,0.000,4,0.000,0.049,3058,3770,2003,0,0,0,0,0,0
$GC,3802,0.78,233.7,321.0,14.6,399,3806,0.00,1.67,0.00,0.000,6,0.000,0.030,3066,2721,2002,0,0,0,0,0,0
$GC,4007,0.78,233.7,293.8,13.1,418,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2720,2002,0,0,0,0,0,0
$GC,4197,0.78,233.7,269.4,12.6,436,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2720,2002,0,0,0,0,0,0
$GC,4390,0.78,233.7,245.2,12.3,454,4394,0.00,2.25,0.00,0.000,4,0.000,0.034,3076,1299,2002,0,0,0,0,0,0
$GC,4413,0.78,233.7,242.2,12.0,456,4417,0.00,2.28,0.00,0.000,6,0.000,0.042,3077,2712,2001,0,0,0,0,0,0
$GC,4548,0.78,233.7,225.0,12.6,468,4551,0.00,1.67,0.00,0.000,4,0.000,0.048,3077,3770,2001,0,0,0,0,0,0
$GC,4575,0.78,233.7,220.8,14.4,470,4583,0.08,1.67,0.00,0.000,6,0.142,0.031,3047,2716,2001,0,0,0,0,0,0
$GC,4710,0.80,249.3,206.0,10.8,483,4730,0.00,0.00,14.68,0.860,6,0.000,0.000,3047,2715,1943,0,0,0,0,0,0
$GC,4858,0.82,264.2,190.0,10.8,497,4882,0.00,2.33,14.82,0.842,4,0.000,0.036,3057,1307,1883,0,0,0,0,0,0
$GC,4899,0.83,273.6,185.3,11.0,500,4919,0.00,2.33,10.45,0.797,6,0.000,0.043,3057,2721,1844,0,0,0,0,0,0
$GC,5045,0.83,273.6,168.4,11.9,514,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2721,1843,0,0,0,0,0,0
$GC,5173,0.83,273.6,153.1,12.1,526,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2721,1843,0,0,0,0,0,0
$GC,5299,0.83,273.6,138.1,11.7,538,5303,0.00,2.28,0.00,0.000,4,0.000,0.035,3065,1299,1843,0,0,0,0,0,0
$GC,5328,0.83,277.1,134.8,11.2,540,5340,0.00,2.28,4.72,0.670,6,0.000,0.042,3065,2708,1830,0,0,0,0,0,0
$GC,5468,0.83,277.1,117.9,12.0,553,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2707,1830,0,0,0,0,0,0
$GC,5594,0.83,277.1,102.4,12.1,565,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2707,1830,0,0,0,0,0,0
$GC,5726,0.83,277.1,86.2,12.0,587,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2708,1829,0,0,0,0,0,0
$GC,5868,0.83,277.1,68.9,11.8,612,5875,0.00,1.70,0.00,0.000,4,0.000,0.048,3066,3752,1829,0,0,0,0,0,0
$GC,5893,0.83,277.1,65.6,12.9,616,5900,0.00,1.65,0.00,0.000,6,0.000,0.030,3073,2706,1829,0,0,0,0,0,0
$GC,6038,0.83,277.1,48.0,12.1,641,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2706,1829,0,0,0,0,0,0
$GC,6181,0.83,277.1,30.0,12.1,666,6188,0.00,2.22,0.00,0.000,4,0.000,0.034,3084,1300,1829,0,0,0,0,0,0
$GC,6217,0.83,277.1,24.9,13.5,672,6224,0.00,2.28,0.00,0.000,6,0.000,0.042,3083,2705,1828,0,0,0,0,0,0
$FREEZE,8.98,-0.039,-1.893,2,1,0
$FREEZE,8.25,-0.038,-1.893,2,1,0
$FREEZE,7.67,-0.038,-1.893,2,1,0
$FREEZE,6.53,-0.040,-1.892,2,1,0
$FREEZE,5.73,-0.036,-1.891,2,1,0
$FREEZE,5.02,-0.038,-1.891,2,1,0
$GC,6360,0.83,277.1,5.0,14.6,697,6367,0.00,1.73,0.00,0.000,4,0.000,0.049,3084,3766,1828,0,0,0,0,0,0
$FREEZE,2.72,-0.039,-1.889,2,1,0
$STATE,6373,end climb,SURFACE_DEPTH_REACHED
$STATE,6373,begin surface coast
$FREEZE,2.09,-0.037,-1.888,2,1,0
$FREEZE,1.16,-0.037,-1.888,2,1,0
$FREEZE,0.31,-0.037,-1.887,2,1,0
$FREEZE,-0.20,-0.043,-1.887,2,1,0
$FINISH,-0.2,1.027609
$STATE,6398,end surface coast,CONTROL_FINISHED_OK
$STATE,6398,begin surface
$SM_CCo,6478,0.00,0.000,0,0,1826,277.92
$SM_GC,0.66,7.68,0.00,0.00,0.047,0.000,0.000,176,2775,1826,-8.08,-0.14,277.92
$IRIDIUM_FIX,-7519.49,17513.44,130111,151544
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.4
$24V_AH,21.8,73.942
$10V_AH,9.8,28.781
$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,18.575,48.700,433.775,0.000,0.000,30.942,36.393,196.584,1.250,0.000,15.556,1721.502,2948.470,507.041,1449.018,264.182,0.000,1193.292,0.000,1131.552,0.000,9.475,0.000
$DEVICE_MAMPS,215.730,82.620,994.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.538,881.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47194,703
$CAP_FILE_SIZE,91063,0
$CFSIZE,260165632,219832320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.077,326.8,1
$GPS,130111,191210,-7605.615,17517.896,56,1.2,60,123.1