version: 66.08
glider: 503
mission: 7
dive: 751
start: 1 16 111 22 49 14
data:
$ID,503
$MISSION,7
$DIVE,751
$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,250
$T_MISSION,300
$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,175
$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,-20471.246
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,160111,224237,-7609.199,17642.152,19,1.9,25,121.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-74.2
$GPS2,160111,224846,-7609.190,17642.078,13,1.8,15,121.4
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_SW
$TGT_LATLONG,-7655.000,17500.000
$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,62.9,95022,-16.1,-10.000
$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,-0.71,-170.3,0.0,0.0,0,84,0.00,0.00,-65.60,0.000,2,0.000,0.000,138,2767,3307,0,0,0,0,0,0
$GC,88,-0.71,-170.3,3.3,-6.3,11,115,9.30,2.28,-7.72,0.000,4,0.204,0.044,2567,1379,3659,0,0,0,0,0,0
$GC,178,-0.71,-170.3,22.4,-14.7,26,185,0.00,2.28,0.00,0.000,6,0.000,0.042,2563,2778,3661,0,0,0,0,0,0
$GC,322,-0.71,-170.3,42.8,-15.1,51,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2778,3662,0,0,0,0,0,0
$GC,463,-0.71,-170.3,62.6,-13.3,76,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2778,3662,0,0,0,0,0,0
$GC,606,-0.71,-170.3,81.7,-13.1,101,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2778,3662,0,0,0,0,0,0
$GC,754,-0.71,-170.3,101.8,-13.0,126,758,0.00,1.60,0.00,0.000,4,0.000,0.050,2563,3755,3662,0,0,0,0,0,0
$GC,804,-0.71,-170.3,109.5,-14.2,130,811,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2779,3662,0,0,0,0,0,0
$GC,939,-0.71,-170.3,127.6,-13.4,143,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3662,0,0,0,0,0,0
$GC,1066,-0.71,-170.3,144.7,-13.4,155,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,1193,-0.71,-170.3,161.6,-13.1,167,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2779,3663,0,0,0,0,0,0
$GC,1321,-0.71,-170.3,178.2,-12.5,179,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3662,0,0,0,0,0,0
$GC,1449,-0.71,-170.3,194.3,-12.7,191,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3662,0,0,0,0,0,0
$GC,1576,-0.71,-170.3,210.4,-12.4,203,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,1703,-0.71,-170.3,225.9,-12.4,215,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,1832,-0.71,-170.3,241.2,-12.3,227,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,1960,-0.71,-170.3,256.8,-12.5,239,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2779,3663,0,0,0,0,0,0
$GC,2149,-0.71,-170.3,280.5,-12.2,257,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,2341,-0.71,-170.3,303.9,-11.8,275,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,2531,-0.71,-170.3,327.8,-12.7,293,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2778,3662,0,0,0,0,0,0
$GC,2723,-0.71,-170.3,351.9,-12.6,311,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2779,3662,0,0,0,0,0,0
$STATE,2910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2910,begin apogee
$GC,2917,-0.16,0.0,375.3,12.4,329,3064,0.55,0.00,139.27,0.976,4,0.118,0.000,2746,2685,2958,0,0,0,0,0,0
$STATE,3065,end apogee,CONTROL_FINISHED_OK
$STATE,3065,begin climb
$GC,3068,0.71,170.3,381.9,0.0,342,3230,0.85,2.33,150.05,0.929,4,0.073,0.031,3032,1313,2264,0,0,0,0,0,0
$GC,3236,0.78,229.4,376.1,7.7,356,3299,0.00,2.47,56.58,0.895,6,0.000,0.040,3032,2698,2024,0,0,1,0,0,0
$GC,3490,0.78,229.4,350.5,10.6,380,3494,0.00,1.80,0.00,0.000,4,0.000,0.048,3033,3763,2019,0,0,0,0,0,0
$GC,3571,0.78,229.4,341.0,12.1,387,3574,0.00,1.65,0.00,0.000,6,0.000,0.030,3040,2729,2017,0,0,1,0,0,0
$GC,3774,0.78,229.4,318.6,10.6,406,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2729,2015,0,0,0,0,0,0
$GC,3968,0.78,229.4,298.5,10.7,424,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2729,2014,0,0,0,0,0,0
$GC,4167,0.78,229.4,277.2,10.9,443,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2729,2014,0,0,0,0,0,0
$GC,4358,0.78,229.4,256.7,10.9,461,4362,0.00,1.70,0.00,0.000,4,0.000,0.048,3040,3760,2013,0,0,0,0,0,0
$GC,4394,0.78,229.4,252.5,12.7,464,4398,0.00,1.67,0.00,0.000,6,0.000,0.031,3047,2712,2013,0,0,0,0,0,0
$GC,4597,0.78,229.4,230.5,10.8,483,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2712,2013,0,0,0,0,0,0
$GC,4725,0.78,229.4,216.4,11.2,495,4728,0.00,1.70,0.00,0.000,4,0.000,0.048,3047,3774,2012,0,0,0,0,0,0
$GC,4763,0.78,229.4,211.5,13.0,498,4770,0.00,1.65,0.00,0.000,6,0.000,0.030,3054,2727,2012,0,0,0,0,0,0
$GC,4898,0.78,229.4,196.1,11.7,511,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2727,2012,0,0,0,0,0,0
$GC,5025,0.78,229.4,181.9,10.9,523,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2727,2012,0,0,0,0,0,0
$GC,5153,0.78,229.4,167.7,11.1,535,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2727,2012,0,0,0,0,0,0
$GC,5280,0.78,229.4,154.0,10.8,547,5284,0.00,1.70,0.00,0.000,4,0.000,0.049,3054,3761,2012,0,0,0,0,0,0
$GC,5314,0.78,229.4,150.0,12.1,550,5318,0.00,1.62,0.00,0.000,6,0.000,0.031,3061,2735,2011,0,0,0,0,0,0
$GC,5454,0.78,229.4,134.6,10.8,563,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,2012,0,0,0,0,0,0
$GC,5581,0.78,229.4,120.7,10.5,575,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,2011,0,0,0,0,0,0
$GC,5709,0.78,229.4,106.9,10.8,587,5712,0.00,1.70,0.00,0.000,4,0.000,0.050,3061,3766,2011,0,0,0,0,0,0
$GC,5743,0.78,229.4,102.9,12.0,590,5747,0.00,1.62,0.00,0.000,6,0.000,0.031,3068,2739,2011,0,0,0,0,0,0
$GC,5883,0.78,229.4,86.4,11.4,612,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2739,2011,0,0,0,0,0,0
$GC,6025,0.78,229.4,69.5,12.0,637,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2739,2011,0,0,0,0,0,0
$GC,6166,0.78,229.4,53.6,11.3,662,6173,0.00,1.67,0.00,0.000,4,0.000,0.049,3069,3755,2011,0,0,0,0,0,0
$GC,6225,0.78,229.4,46.2,13.1,672,6232,0.00,1.60,0.00,0.000,6,0.000,0.031,3075,2744,2011,0,0,0,0,0,0
$GC,6368,0.78,229.4,27.9,13.8,697,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2744,2011,0,0,0,0,0,0
$GC,6511,0.78,229.4,9.0,12.3,722,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2743,2010,0,0,0,0,0,0
$FREEZE,7.22,-0.191,-1.891,2,1,0
$FREEZE,6.60,-0.195,-1.890,2,1,0
$FREEZE,5.95,-0.198,-1.890,2,1,0
$FREEZE,5.42,-0.199,-1.890,2,1,0
$FREEZE,4.85,-0.204,-1.889,2,1,0
$FREEZE,4.27,-0.213,-1.889,2,1,0
$FREEZE,3.60,-0.217,-1.888,2,1,0
$FREEZE,2.97,-0.217,-1.888,2,1,0
$STATE,6559,end climb,SURFACE_DEPTH_REACHED
$STATE,6559,begin surface coast
$FREEZE,2.18,-0.215,-1.887,2,1,0
$FREEZE,1.46,-0.213,-1.886,2,1,0
$FREEZE,0.80,-0.212,-1.886,2,1,0
$FREEZE,0.02,-0.211,-1.885,2,1,0
$FREEZE,0.16,-0.254,-1.886,2,1,0
$FINISH,0.2,1.027612
$STATE,6590,end surface coast,CONTROL_FINISHED_OK
$STATE,6590,begin surface
$SM_CCo,6609,7.78,0.103,0,0,1940,250.20
$SM_GC,2.45,0.00,0.00,7.78,0.000,0.000,0.103,185,2793,1940,-8.17,0.37,250.20
$IRIDIUM_FIX,-7528.04,17633.27,160111,202036
$TT8_MAMPS,0.027713
$HUMID,53.66
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.0
$24V_AH,21.8,79.305
$10V_AH,9.9,31.028
$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,18.325,32.725,345.900,7.775,0.000,22.688,35.497,163.129,1.000,0.000,17.999,1820.000,3060.012,412.374,1418.253,281.222,0.000,1085.079,0.000,1145.795,0.000,7.759,0.000
$DEVICE_MAMPS,204.255,111.690,976.140,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.856,945.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258192
$DATA_FILE_SIZE,46978,736
$CAP_FILE_SIZE,88283,0
$CFSIZE,260165632,217780224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.088,258.0,1
$GPS,170111,004106,-7610.321,17640.533,47,0.8,53,121.5