version: 66.08
glider: 503
mission: 7
dive: 784
start: 1 19 111 16 39 8
data:
$ID,503
$MISSION,7
$DIVE,784
$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,-20516.594
$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,35
$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
$GPS1,190111,163138,-7636.649,17541.725,17,1.9,18,124.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-74.6
$GPS2,190111,163840,-7636.604,17541.789,12,2.3,31,124.6
$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,85.4,38309,-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,-170.3,0.0,0.0,0,94,0.00,0.00,-75.38,0.000,2,0.000,0.000,184,2792,3540,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.9,-9.5,13,119,9.23,1.60,-2.35,0.000,4,0.207,0.060,2557,3764,3659,0,0,0,0,0,0
$GC,167,-0.71,-170.3,24.3,-16.1,24,173,0.00,1.58,0.00,0.000,6,0.000,0.028,2556,2770,3661,0,0,0,0,0,0
$GC,309,-0.71,-170.3,44.7,-14.0,49,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2769,3662,0,0,0,0,0,0
$GC,451,-0.71,-170.3,64.2,-13.2,74,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2770,3662,0,0,0,0,0,0
$GC,593,-0.71,-170.3,83.8,-13.3,99,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2770,3663,0,0,0,0,0,0
$GC,736,-0.71,-170.3,103.3,-13.7,122,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2770,3662,0,0,0,0,0,0
$GC,862,-0.71,-170.3,120.5,-13.2,134,866,0.00,1.62,0.00,0.000,4,0.000,0.048,2548,3784,3663,0,0,0,0,0,0
$GC,901,-0.71,-170.3,126.5,-15.4,137,908,0.00,1.55,0.00,0.000,6,0.000,0.029,2548,2799,3662,0,0,0,0,0,0
$GC,1036,-0.71,-170.3,145.5,-14.6,150,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2799,3663,0,0,0,0,0,0
$GC,1163,-0.71,-170.3,164.1,-14.6,162,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2799,3663,0,0,0,0,0,0
$GC,1291,-0.71,-170.3,182.7,-14.7,174,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2799,3663,0,0,0,0,0,0
$GC,1419,-0.71,-170.3,201.4,-14.6,186,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2799,3663,0,0,0,0,0,0
$GC,1545,-0.71,-170.3,219.9,-14.4,198,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2799,3663,0,0,0,0,0,0
$GC,1673,-0.71,-170.3,237.9,-13.8,210,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2799,3663,0,0,0,0,0,0
$GC,1801,-0.71,-170.3,256.0,-14.4,222,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2799,3663,0,0,0,0,0,0
$GC,1992,-0.71,-170.3,282.8,-14.0,240,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2799,3663,0,0,0,0,0,0
$GC,2182,-0.71,-170.3,309.6,-14.1,258,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2799,3664,0,0,0,0,0,0
$GC,2375,-0.71,-170.3,335.8,-13.6,276,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2799,3663,0,0,0,0,0,0
$GC,2565,-0.71,-170.3,361.6,-13.2,294,2568,0.00,1.58,0.00,0.000,4,0.000,0.049,2541,3746,3663,0,0,0,0,0,0
$GC,2600,-0.71,-170.3,366.5,-14.0,297,2603,0.00,1.48,0.00,0.000,6,0.000,0.028,2541,2795,3663,0,0,1,0,0,0
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2665,begin apogee
$GC,2672,-0.16,0.0,375.4,13.5,303,2819,0.60,0.00,140.10,0.978,4,0.119,0.000,2741,2692,2960,0,0,0,0,0,0
$STATE,2820,end apogee,CONTROL_FINISHED_OK
$STATE,2820,begin climb
$GC,2823,0.71,170.3,382.5,0.0,316,2984,0.85,2.35,150.85,0.928,4,0.073,0.034,3026,1308,2265,0,0,0,0,0,0
$GC,3147,0.75,204.4,362.6,8.6,344,3189,0.00,2.40,31.25,0.903,6,0.000,0.042,3026,2698,2126,0,0,0,0,0,0
$GC,3378,0.76,207.7,340.4,9.9,366,3391,0.00,2.33,4.05,0.625,4,0.000,0.035,3036,1320,2113,0,0,1,0,0,0
$GC,3562,0.79,230.2,322.5,9.1,382,3589,0.00,2.30,21.40,0.897,6,0.000,0.043,3036,2715,2020,0,0,0,0,0,0
$GC,3788,0.79,230.2,299.0,10.5,403,3792,0.00,1.70,0.00,0.000,4,0.000,0.049,3036,3769,2020,0,0,0,0,0,0
$GC,3838,0.79,230.2,292.9,12.2,407,3846,0.00,1.67,0.00,0.000,6,0.000,0.030,3043,2726,2019,0,0,0,0,0,0
$GC,4038,0.79,230.2,270.8,11.4,426,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2727,2019,0,0,0,0,0,0
$GC,4229,0.79,230.2,248.6,11.8,444,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2726,2018,0,0,0,0,0,0
$GC,4355,0.79,230.2,233.7,11.6,456,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2726,2018,0,0,0,0,0,0
$GC,4482,0.79,230.2,219.2,11.2,468,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2726,2017,0,0,0,0,0,0
$GC,4611,0.79,230.2,205.2,10.7,480,4615,0.00,1.70,0.00,0.000,4,0.000,0.048,3043,3757,2017,0,0,0,0,0,0
$GC,4650,0.79,230.2,200.2,12.0,483,4657,0.00,1.65,0.00,0.000,6,0.000,0.030,3050,2718,2016,0,0,0,0,0,0
$GC,4786,0.79,230.2,184.6,11.7,496,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2718,2016,0,0,0,0,0,0
$GC,4921,0.79,230.2,169.3,11.1,509,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2718,2016,0,0,0,0,0,0
$GC,5048,0.79,230.2,154.7,11.7,521,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2718,2016,0,0,0,0,0,0
$GC,5176,0.79,230.2,140.5,10.7,533,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2718,2016,0,0,0,0,0,0
$GC,5304,0.79,230.2,126.2,11.3,545,5307,0.00,1.67,0.00,0.000,4,0.000,0.049,3050,3762,2016,0,0,0,0,0,0
$GC,5353,0.79,230.2,119.9,13.3,549,5360,0.00,1.62,0.00,0.000,6,0.000,0.031,3057,2735,2015,0,0,0,0,0,0
$GC,5488,0.79,230.2,104.7,11.0,562,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2735,2015,0,0,0,0,0,0
$GC,5620,0.79,230.2,90.0,11.2,581,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2735,2015,0,0,0,0,0,0
$GC,5764,0.79,230.2,73.7,11.0,606,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2735,2015,0,0,0,0,0,0
$GC,5907,0.79,230.2,57.7,11.3,631,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2735,2015,0,0,0,0,0,0
$GC,6051,0.79,230.2,41.8,10.8,656,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2735,2015,0,0,0,0,0,0
$GC,6191,0.79,230.2,26.2,11.1,681,6198,0.00,1.70,0.00,0.000,4,0.000,0.050,3057,3764,2014,0,0,0,0,0,0
$GC,6247,0.79,230.2,19.6,13.3,690,6254,0.00,1.65,0.00,0.000,6,0.000,0.031,3064,2725,2015,0,0,0,0,0,0
$FREEZE,8.38,-0.218,-1.895,2,1,0
$FREEZE,7.75,-0.219,-1.895,2,1,0
$FREEZE,7.14,-0.216,-1.894,2,1,0
$FREEZE,6.47,-0.215,-1.894,2,1,0
$FREEZE,5.89,-0.215,-1.893,2,1,0
$FREEZE,5.22,-0.217,-1.893,2,1,0
$FREEZE,4.53,-0.218,-1.892,2,1,0
$FREEZE,3.65,-0.216,-1.892,2,1,0
$FREEZE,2.99,-0.215,-1.891,2,1,0
$STATE,6379,end climb,SURFACE_DEPTH_REACHED
$STATE,6379,begin surface coast
$FREEZE,2.36,-0.215,-1.891,2,1,0
$FREEZE,1.72,-0.215,-1.890,2,1,0
$FREEZE,1.11,-0.215,-1.890,2,1,0
$FREEZE,0.52,-0.214,-1.889,2,1,0
$FINISH,0.5,1.027646
$STATE,6402,end surface coast,CONTROL_FINISHED_OK
$STATE,6402,begin surface
$SM_CCo,6421,7.82,0.103,0,0,1940,250.20
$SM_GC,1.99,0.00,0.00,7.82,0.000,0.000,0.103,172,2794,1940,-8.21,0.40,250.20
$IRIDIUM_FIX,-7554.21,17549.58,190111,141418
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.8
$24V_AH,21.8,82.862
$10V_AH,9.8,32.928
$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,18.150,32.350,347.650,7.825,0.000,28.669,47.938,176.809,1.000,0.000,35.082,1773.899,2893.512,429.335,1478.685,280.816,0.000,1101.568,0.000,1154.841,0.000,7.759,0.000
$DEVICE_MAMPS,207.315,98.685,977.670,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.606,922.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258168
$DATA_FILE_SIZE,47080,718
$CAP_FILE_SIZE,87852,0
$CFSIZE,260165632,216064000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.194, 11.5,1
$GPS,190111,182737,-7636.765,17540.381,37,1.1,38,124.6