version: 66.08
glider: 503
mission: 7
dive: 740
start: 1 16 111 2 38 51
data:
$ID,503
$MISSION,7
$DIVE,740
$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,-20457.227
$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,52
$R_STBD_OVSHOOT,26
$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
$GPS1,160111,023206,-7605.837,17637.387,45,1.3,51,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-69.9
$GPS2,160111,023820,-7605.841,17637.369,8,1.6,8,121.3
$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,305.8,10200,-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,-219.0,0.0,0.0,0,105,0.00,0.00,-86.78,0.000,2,0.000,0.000,138,2758,3470,0,0,0,0,0,0
$GC,109,-0.76,-219.0,4.0,-8.6,14,131,9.10,1.70,-7.43,0.000,4,0.202,0.063,2543,3775,3856,0,0,1,0,0,0
$GC,368,-0.76,-219.0,54.2,-15.3,59,375,0.00,1.55,0.00,0.000,6,0.000,0.027,2543,2780,3859,0,0,0,0,0,0
$GC,512,-0.76,-219.0,75.7,-15.2,84,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2780,3860,0,0,0,0,0,0
$GC,655,-0.76,-219.0,97.0,-15.5,109,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2780,3860,0,0,0,0,0,0
$GC,791,-0.76,-219.0,117.8,-15.1,123,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2780,3860,0,0,0,0,0,0
$GC,918,-0.76,-219.0,137.0,-15.3,135,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2780,3861,0,0,0,0,0,0
$GC,1045,-0.76,-219.0,156.4,-15.3,147,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2780,3861,0,0,0,0,0,0
$GC,1173,-0.76,-219.0,175.5,-15.0,159,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2780,3861,0,0,0,0,0,0
$GC,1300,-0.76,-219.0,195.1,-15.2,171,1304,0.00,1.60,0.00,0.000,4,0.000,0.050,2535,3754,3860,0,0,1,0,0,0
$GC,1338,-0.76,-219.0,201.5,-16.2,174,1345,0.00,1.50,0.00,0.000,6,0.000,0.029,2535,2796,3860,0,0,0,0,0,0
$GC,1474,-0.76,-219.0,222.8,-16.2,187,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2795,3860,0,0,0,0,0,0
$GC,1600,-0.76,-219.0,242.8,-16.0,199,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2796,3860,0,0,0,0,0,0
$GC,1729,-0.76,-219.0,263.1,-15.9,211,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2796,3860,0,0,0,0,0,0
$GC,1920,-0.76,-219.0,292.1,-15.0,229,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2795,3860,0,0,0,0,0,0
$GC,2110,-0.76,-219.0,320.1,-14.6,247,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2795,3860,0,0,0,0,0,0
$GC,2303,-0.76,-219.0,347.4,-14.2,265,2306,0.00,1.60,0.00,0.000,4,0.000,0.050,2528,3766,3859,0,0,0,0,0,0
$GC,2342,-0.76,-219.0,353.6,-14.5,268,2350,0.00,1.52,0.00,0.000,6,0.000,0.029,2528,2794,3860,0,0,0,0,0,0
$STATE,2495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2495,begin apogee
$GC,2502,-0.16,0.0,376.4,14.7,283,2685,0.65,0.00,177.85,0.975,4,0.115,0.000,2745,2683,2960,0,0,0,0,0,0
$STATE,2686,end apogee,CONTROL_FINISHED_OK
$STATE,2686,begin climb
$GC,2688,0.76,219.0,385.0,0.0,299,2893,0.85,0.00,194.57,0.918,6,0.071,0.000,3039,2682,2066,0,0,0,0,0,0
$GC,3085,0.79,243.0,352.8,10.5,335,3112,0.00,1.90,21.90,0.874,4,0.000,0.048,3038,3758,1969,0,0,1,0,0,0
$GC,3201,0.79,243.0,339.2,12.4,345,3205,0.00,1.70,0.00,0.000,6,0.000,0.030,3045,2728,1966,0,0,1,0,0,0
$GC,3405,0.82,268.5,317.3,10.5,364,3434,0.00,0.00,23.12,0.887,6,0.000,0.000,3045,2727,1866,0,0,0,0,0,0
$GC,3628,0.85,290.7,293.9,10.6,385,3654,0.00,1.75,21.00,0.885,4,0.000,0.049,3045,3766,1774,0,0,0,0,0,0
$GC,3699,0.85,290.7,285.5,12.5,391,3706,0.00,1.62,0.00,0.000,6,0.000,0.031,3052,2715,1774,0,0,1,0,0,0
$GC,3898,0.86,300.1,263.6,11.0,410,3910,0.00,0.00,9.77,0.832,6,0.000,0.000,3052,2715,1736,0,0,0,0,0,0
$GC,4098,0.86,300.1,239.5,12.2,429,4102,0.00,1.70,0.00,0.000,4,0.000,0.050,3052,3769,1735,0,0,0,0,0,0
$GC,4133,0.86,300.1,234.9,13.3,432,4137,0.00,1.65,0.00,0.000,6,0.000,0.031,3059,2707,1735,0,0,0,0,0,0
$GC,4274,0.86,300.1,217.9,11.7,445,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2707,1735,0,0,0,0,0,0
$GC,4401,0.86,300.1,202.8,12.1,457,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2707,1734,0,0,0,0,0,0
$GC,4528,0.86,300.1,187.4,11.9,469,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2707,1734,0,0,0,0,0,0
$GC,4657,0.86,300.1,172.3,11.5,481,4661,0.00,1.73,0.00,0.000,4,0.000,0.048,3058,3758,1733,0,0,0,0,0,0
$GC,4692,0.86,300.1,167.7,13.6,484,4695,0.00,1.62,0.00,0.000,6,0.000,0.031,3064,2735,1733,0,0,0,0,0,0
$GC,4832,0.86,300.1,150.1,12.7,497,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2734,1733,0,0,0,0,0,0
$GC,4960,0.86,300.1,134.6,12.2,509,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2734,1733,0,0,0,0,0,0
$GC,5087,0.86,300.1,119.8,11.8,521,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2734,1733,0,0,0,0,0,0
$GC,5214,0.86,300.1,104.7,11.4,533,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2734,1733,0,0,0,0,0,0
$GC,5345,0.86,300.1,89.6,11.4,553,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2734,1733,0,0,0,0,0,0
$GC,5488,0.88,311.4,73.5,11.0,578,5501,0.00,0.00,11.00,0.784,6,0.000,0.000,3064,2734,1690,0,0,0,0,0,0
$GC,5639,0.88,311.4,55.8,13.2,604,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2734,1690,0,0,0,0,0,0
$GC,5780,0.88,311.4,38.0,12.8,629,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2734,1689,0,0,0,0,0,0
$GC,5921,0.88,311.4,20.5,13.2,654,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2734,1689,0,0,0,0,0,0
$FREEZE,8.43,-0.168,-1.892,2,1,0
$FREEZE,7.89,-0.166,-1.891,2,1,0
$FREEZE,7.36,-0.166,-1.891,2,1,0
$FREEZE,6.73,-0.165,-1.890,2,1,0
$FREEZE,6.04,-0.164,-1.890,2,1,0
$FREEZE,5.54,-0.164,-1.890,2,1,0
$FREEZE,4.83,-0.163,-1.889,2,1,0
$FREEZE,3.95,-0.167,-1.888,2,1,0
$FREEZE,3.14,-0.165,-1.887,2,1,0
$GC,6062,0.88,311.4,3.1,13.3,679,6069,0.00,1.70,0.00,0.000,4,0.000,0.050,3064,3757,1689,0,0,0,0,0,0
$FREEZE,1.21,-0.165,-1.886,2,1,0
$STATE,6076,end climb,SURFACE_DEPTH_REACHED
$STATE,6076,begin surface coast
$FREEZE,0.28,-0.166,-1.885,2,1,0
$FREEZE,-0.12,-0.164,-0.220,2,1,0
$FREEZE,-0.12,-0.210,-1.749,2,1,0
$FINISH,-0.1,1.025666
$STATE,6092,end surface coast,CONTROL_FINISHED_OK
$STATE,6092,begin surface
$SM_CCo,6173,0.00,0.000,0,0,1685,312.75
$SM_GC,0.94,7.62,0.00,0.00,0.047,0.000,0.000,193,2770,1685,-8.08,-0.28,312.75
$IRIDIUM_FIX,-7519.49,17633.80,160111,000015
$TT8_MAMPS,0.026964
$HUMID,53.26
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,21.7,77.972
$10V_AH,9.8,30.443
$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,18.225,26.550,459.225,0.000,0.000,24.879,37.934,172.030,1.000,0.000,11.407,1662.790,2775.125,493.689,1364.475,257.310,0.000,1146.432,0.000,1081.805,0.000,7.755,0.000
$DEVICE_MAMPS,201.960,68.085,975.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.574,878.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258196
$DATA_FILE_SIZE,43703,684
$CAP_FILE_SIZE,83539,0
$CFSIZE,260165632,218337280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.165,211.9,1
$GPS,160111,042306,-7605.899,17640.377,33,1.1,44,121.2