version: 66.08
glider: 503
mission: 7
dive: 761
start: 1 17 111 18 36 1
data:
$ID,503
$MISSION,7
$DIVE,761
$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,-20483.816
$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,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
$GPS1,170111,182901,-7618.817,17622.678,41,1.5,42,122.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.3
$GPS2,170111,183532,-7618.780,17622.740,15,1.0,15,122.5
$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,85.7,75517,-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,-170.3,0.0,0.0,0,88,0.00,0.00,-69.62,0.000,2,0.000,0.000,142,2794,3388,0,0,0,0,0,0
$GC,92,-0.71,-170.3,3.3,-5.9,12,113,9.25,0.00,-5.78,0.000,6,0.201,0.000,2567,2793,3658,0,0,0,0,0,0
$GC,250,-0.71,-170.3,32.7,-12.7,39,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2794,3662,0,0,0,0,0,0
$GC,392,-0.71,-170.3,52.4,-13.3,64,399,0.00,2.25,0.00,0.000,4,0.000,0.030,2567,1368,3662,0,0,0,0,0,0
$GC,436,-0.71,-170.3,58.3,-13.1,71,443,0.00,2.28,0.00,0.000,6,0.000,0.042,2563,2772,3662,0,0,0,0,0,0
$GC,577,-0.71,-170.3,77.6,-13.3,96,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2772,3663,0,0,0,0,0,0
$GC,720,-0.71,-170.3,96.6,-13.3,121,727,0.00,1.62,0.00,0.000,4,0.000,0.051,2563,3763,3662,0,0,0,0,0,0
$GC,783,-0.71,-170.3,105.7,-13.5,128,790,0.00,1.55,0.00,0.000,6,0.000,0.028,2563,2778,3662,0,0,0,0,0,0
$GC,918,-0.71,-170.3,123.4,-13.3,141,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2778,3663,0,0,0,0,0,0
$GC,1046,-0.71,-170.3,140.5,-13.3,153,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2778,3663,0,0,0,0,0,0
$GC,1173,-0.71,-170.3,157.8,-13.6,165,1177,0.00,1.62,0.00,0.000,4,0.000,0.050,2563,3760,3663,0,0,0,0,0,0
$GC,1230,-0.71,-170.3,165.7,-13.6,170,1234,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2791,3663,0,0,0,0,0,0
$GC,1372,-0.71,-170.3,185.1,-13.7,183,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2791,3663,0,0,0,0,0,0
$GC,1498,-0.71,-170.3,202.0,-13.5,195,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2791,3663,0,0,0,0,0,0
$GC,1625,-0.71,-170.3,219.1,-13.7,207,1629,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3752,3663,0,0,0,0,0,0
$GC,1665,-0.71,-170.3,224.8,-13.8,210,1672,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2784,3662,0,0,0,0,0,0
$GC,1800,-0.71,-170.3,242.8,-13.7,223,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,1929,-0.71,-170.3,260.3,-13.3,235,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,2128,-0.71,-170.3,287.2,-13.7,254,2131,0.00,1.62,0.00,0.000,4,0.000,0.050,2555,3784,3663,0,0,0,0,0,0
$GC,2174,-0.71,-170.3,293.9,-14.7,258,2177,0.00,1.55,0.00,0.000,6,0.000,0.029,2555,2803,3663,0,0,0,0,0,0
$GC,2378,-0.71,-170.3,321.6,-13.2,277,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2803,3662,0,0,0,0,0,0
$GC,2569,-0.71,-170.3,345.5,-12.1,295,2573,0.00,1.58,0.00,0.000,4,0.000,0.049,2548,3758,3662,0,0,0,0,0,0
$GC,2626,-0.71,-170.3,353.3,-13.8,300,2630,0.00,1.50,0.00,0.000,6,0.000,0.029,2548,2806,3662,0,0,0,0,0,0
$STATE,2796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2796,begin apogee
$GC,2803,-0.16,0.0,376.2,13.4,316,2949,0.57,0.00,139.55,0.975,4,0.118,0.000,2740,2688,2959,0,0,0,0,0,0
$STATE,2950,end apogee,CONTROL_FINISHED_OK
$STATE,2950,begin climb
$GC,2953,0.71,170.3,382.9,0.0,329,3114,0.85,2.33,150.65,0.927,4,0.074,0.032,3025,1311,2265,0,0,0,0,0,0
$GC,3120,0.81,251.0,377.6,6.8,343,3207,0.10,2.47,77.47,0.894,6,0.095,0.041,3078,2696,1936,0,0,1,0,0,0
$GC,3399,0.81,251.0,341.2,13.6,369,3402,0.00,1.80,0.00,0.000,4,0.000,0.046,3077,3765,1933,0,0,0,0,0,0
$GC,3483,0.81,251.0,327.8,15.9,376,3490,0.00,1.70,0.00,0.000,6,0.000,0.028,3085,2725,1931,0,0,1,0,0,0
$GC,3681,0.81,251.0,298.3,15.2,395,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2723,1930,0,0,0,0,0,0
$GC,3874,0.81,251.0,270.3,14.6,413,3877,0.00,1.70,0.00,0.000,4,0.000,0.047,3085,3774,1929,0,0,0,0,0,0
$GC,3932,0.81,251.0,260.9,16.4,418,3936,0.12,1.67,0.00,0.000,6,0.160,0.030,3057,2706,1929,0,0,0,0,0,0
$GC,4135,0.81,251.0,235.5,11.9,437,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2706,1929,0,0,0,0,0,0
$GC,4262,0.81,251.0,220.6,11.6,449,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2706,1928,0,0,0,0,0,0
$GC,4391,0.81,251.0,205.8,11.3,461,4394,0.00,1.73,0.00,0.000,4,0.000,0.048,3057,3777,1928,0,0,0,0,0,0
$GC,4426,0.81,251.0,201.3,13.0,464,4429,0.00,1.65,0.00,0.000,6,0.000,0.029,3065,2712,1928,0,0,0,0,0,0
$GC,4566,0.81,251.0,184.7,11.7,477,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2713,1928,0,0,0,0,0,0
$GC,4694,0.81,251.0,170.0,11.8,489,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2713,1928,0,0,0,0,0,0
$GC,4820,0.81,251.0,155.0,12.0,501,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2713,1928,0,0,0,0,0,0
$GC,4947,0.81,251.0,139.9,11.4,513,4951,0.00,1.70,0.00,0.000,4,0.000,0.048,3064,3769,1927,0,0,0,0,0,0
$GC,4983,0.81,251.0,135.5,12.9,516,4987,0.00,1.65,0.00,0.000,6,0.000,0.031,3072,2704,1927,0,0,0,0,0,0
$GC,5123,0.81,251.0,118.5,12.2,529,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2703,1927,0,0,0,0,0,0
$GC,5250,0.81,251.0,103.3,11.6,541,5254,0.00,1.75,0.00,0.000,4,0.000,0.047,3071,3765,1928,0,0,0,0,0,0
$GC,5277,0.81,251.0,99.4,13.5,543,5284,0.00,1.65,0.00,0.000,6,0.000,0.031,3078,2722,1927,0,0,0,0,0,0
$GC,5418,0.81,251.0,82.3,11.6,568,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2722,1927,0,0,0,0,0,0
$GC,5561,0.81,251.0,64.7,12.8,593,5567,0.00,1.73,0.00,0.000,4,0.000,0.048,3078,3763,1927,0,0,0,0,0,0
$GC,5603,0.81,251.0,59.0,14.1,600,5610,0.00,1.62,0.00,0.000,6,0.000,0.031,3085,2743,1926,0,0,0,0,0,0
$GC,5747,0.81,251.0,39.7,14.6,625,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2742,1926,0,0,0,0,0,0
$GC,5889,0.81,251.0,20.6,12.1,650,5898,0.00,1.70,0.00,0.000,4,0.000,0.050,3085,3768,1926,0,0,0,0,0,0
$GC,5944,0.81,251.0,12.3,15.8,659,5952,0.08,1.62,0.00,0.000,6,0.145,0.029,3066,2750,1926,0,0,0,0,0,0
$FREEZE,8.61,-0.245,-1.893,2,1,0
$FREEZE,7.77,-0.244,-1.893,2,1,0
$FREEZE,7.09,-0.245,-1.892,2,1,0
$FREEZE,6.42,-0.247,-1.892,2,1,0
$FREEZE,5.88,-0.246,-1.891,2,1,0
$FREEZE,5.06,-0.243,-1.891,2,1,0
$FREEZE,4.40,-0.243,-1.890,2,1,0
$FREEZE,3.76,-0.243,-1.890,2,1,0
$FREEZE,3.06,-0.242,-1.889,2,1,0
$FREEZE,2.23,-0.242,-1.888,2,1,0
$STATE,6019,end climb,SURFACE_DEPTH_REACHED
$STATE,6019,begin surface coast
$FREEZE,0.89,-0.241,-1.887,2,1,0
$FREEZE,0.22,-0.243,-1.887,2,1,0
$FREEZE,0.04,-0.251,-1.885,2,1,0
$FREEZE,0.15,-0.241,-1.886,2,1,0
$FINISH,0.2,1.027609
$STATE,6042,end surface coast,CONTROL_FINISHED_OK
$STATE,6042,begin surface
$SM_CCo,6119,0.00,0.000,0,0,1923,254.37
$SM_GC,1.01,7.45,0.00,0.00,0.034,0.000,0.000,184,2750,1923,-8.09,-0.88,254.37
$IRIDIUM_FIX,-7536.68,17640.14,170111,161625
$TT8_MAMPS,0.026964
$HUMID,53.30
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$24V_AH,21.7,80.373
$10V_AH,9.8,31.592
$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,18.425,48.825,367.675,0.000,0.000,29.972,37.324,174.288,1.000,0.000,17.676,1682.957,2740.886,429.457,1381.552,278.160,0.000,1090.067,0.000,1093.732,0.000,7.754,0.000
$DEVICE_MAMPS,201.195,69.615,975.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.600,877.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258136
$DATA_FILE_SIZE,43681,676
$CAP_FILE_SIZE,88590,0
$CFSIZE,260165632,217276416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.136, 33.1,1
$GPS,170111,201856,-7619.313,17621.832,16,1.2,17,122.5