version: 66.08
glider: 503
mission: 7
dive: 799
start: 1 20 111 21 27 37
data:
$ID,503
$MISSION,7
$DIVE,799
$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,-20535.551
$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,48
$R_STBD_OVSHOOT,27
$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
$GPS1,200111,212037,-7646.216,17516.512,38,1.3,39,125.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-74.4
$GPS2,200111,212708,-7646.196,17516.346,10,1.6,10,125.8
$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,38.6,17686,-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,-170.3,0.0,0.0,0,95,0.00,0.00,-76.50,0.000,2,0.000,0.000,183,2759,3544,0,0,0,0,0,0
$GC,99,-0.71,-170.3,4.0,-9.8,13,120,9.25,2.20,-2.25,0.000,4,0.210,0.043,2566,1370,3659,0,0,0,0,0,0
$GC,213,-0.71,-170.3,28.7,-12.9,32,220,0.00,2.30,0.00,0.000,6,0.000,0.041,2557,2783,3661,0,0,0,0,0,0
$GC,356,-0.71,-170.3,48.6,-13.8,57,363,0.00,1.60,0.00,0.000,4,0.000,0.049,2549,3756,3662,0,0,0,0,0,0
$GC,399,-0.71,-170.3,55.2,-14.6,64,406,0.00,1.55,0.00,0.000,6,0.000,0.030,2549,2779,3662,0,0,0,0,0,0
$GC,541,-0.71,-170.3,76.2,-14.6,89,548,0.00,2.22,0.00,0.000,4,0.000,0.031,2549,1374,3662,0,0,0,0,0,0
$GC,567,-0.71,-170.3,80.1,-15.0,93,574,0.10,2.30,0.00,0.000,6,0.162,0.042,2566,2793,3662,0,0,0,0,0,0
$GC,712,-0.71,-170.3,100.1,-14.0,118,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2793,3663,0,0,0,0,0,0
$GC,847,-0.71,-170.3,118.9,-13.9,131,850,0.00,1.60,0.00,0.000,4,0.000,0.050,2560,3765,3663,0,0,0,0,0,0
$GC,898,-0.71,-170.3,126.2,-13.9,135,905,0.00,1.55,0.00,0.000,6,0.000,0.028,2560,2781,3663,0,0,0,0,0,0
$GC,1033,-0.71,-170.3,144.4,-13.4,148,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2781,3663,0,0,0,0,0,0
$GC,1160,-0.71,-170.3,161.0,-13.1,160,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2781,3663,0,0,0,0,0,0
$GC,1288,-0.71,-170.3,178.1,-13.5,172,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2781,3663,0,0,0,0,0,0
$GC,1414,-0.71,-170.3,194.7,-13.6,184,1418,0.00,1.62,0.00,0.000,4,0.000,0.049,2552,3784,3663,0,0,0,0,0,0
$GC,1453,-0.71,-170.3,200.5,-14.0,187,1461,0.00,1.55,0.00,0.000,6,0.000,0.029,2552,2801,3663,0,0,0,0,0,0
$GC,1589,-0.71,-170.3,218.5,-13.5,200,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2802,3663,0,0,0,0,0,0
$GC,1715,-0.71,-170.3,235.3,-13.0,212,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2802,3663,0,0,0,0,0,0
$GC,1842,-0.71,-170.3,251.8,-12.9,224,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2802,3663,0,0,0,0,0,0
$GC,2034,-0.71,-170.3,276.1,-12.4,242,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2802,3663,0,0,0,0,0,0
$GC,2229,-0.71,-170.3,300.8,-12.8,260,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2802,3662,0,0,0,0,0,0
$GC,2427,-0.71,-170.3,327.3,-12.9,279,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2801,3662,0,0,0,0,0,0
$STATE,2552,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2553,begin apogee
$GC,2560,-0.16,0.0,344.5,13.9,291,2707,0.57,0.00,139.18,0.959,4,0.115,0.000,2744,2681,2959,0,0,0,0,0,0
$STATE,2708,end apogee,CONTROL_FINISHED_OK
$STATE,2708,begin climb
$GC,2712,0.71,170.3,351.3,0.0,304,2872,0.85,2.33,150.70,0.908,4,0.073,0.031,3030,1307,2265,0,0,0,0,0,0
$GC,3054,0.73,185.7,328.2,9.4,334,3078,0.00,2.38,14.00,0.847,6,0.000,0.041,3030,2703,2204,0,0,0,0,0,0
$GC,3272,0.73,185.7,305.7,10.6,354,3276,0.00,2.28,0.00,0.000,4,0.000,0.033,3041,1305,2202,0,0,0,0,0,0
$GC,3452,0.75,202.1,287.1,9.4,369,3473,0.00,2.30,15.98,0.866,6,0.000,0.041,3040,2716,2135,0,0,0,0,0,0
$GC,3675,0.75,202.1,263.1,11.1,390,3678,0.00,1.70,0.00,0.000,4,0.000,0.049,3041,3770,2135,0,0,0,0,0,0
$GC,3736,0.75,202.1,255.0,12.9,395,3745,0.00,1.67,0.00,0.000,6,0.000,0.029,3048,2723,2135,0,0,0,0,0,0
$GC,3934,0.75,202.1,232.8,11.1,414,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2723,2134,0,0,0,0,0,0
$GC,4062,0.75,202.1,218.5,11.2,426,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2723,2133,0,0,0,0,0,0
$GC,4188,0.75,202.1,204.5,11.1,438,4192,0.00,1.73,0.00,0.000,4,0.000,0.050,3048,3763,2134,0,0,0,0,0,0
$GC,4226,0.75,202.1,199.5,12.9,441,4233,0.00,1.67,0.00,0.000,6,0.000,0.031,3056,2711,2134,0,0,0,0,0,0
$GC,4362,0.75,202.1,183.6,11.8,454,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2711,2133,0,0,0,0,0,0
$GC,4488,0.75,202.1,169.0,11.4,466,4491,0.00,1.70,0.00,0.000,4,0.000,0.049,3056,3766,2133,0,0,0,0,0,0
$GC,4522,0.75,202.1,164.6,12.7,469,4526,0.00,1.65,0.00,0.000,6,0.000,0.030,3064,2701,2133,0,0,0,0,0,0
$GC,4663,0.75,202.1,147.8,11.9,482,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2700,2133,0,0,0,0,0,0
$GC,4790,0.75,202.1,132.7,12.1,494,4794,0.00,1.77,0.00,0.000,4,0.000,0.050,3064,3765,2132,0,0,1,0,0,0
$GC,4847,0.75,202.1,125.2,12.8,499,4850,0.00,1.65,0.00,0.000,6,0.000,0.030,3071,2699,2133,0,0,0,0,0,0
$GC,4988,0.75,202.1,107.7,12.3,512,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2697,2132,0,0,0,0,0,0
$GC,5117,0.75,202.1,92.0,12.2,529,5124,0.00,1.75,0.00,0.000,4,0.000,0.049,3071,3778,2132,0,0,0,0,0,0
$GC,5175,0.75,202.1,84.1,13.5,539,5184,0.10,1.65,0.00,0.000,6,0.135,0.031,3033,2739,2132,0,0,0,0,0,0
$GC,5321,0.75,203.0,69.8,10.0,564,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2739,2132,0,0,0,0,0,0
$GC,5465,0.75,204.1,55.3,10.0,589,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2740,2132,0,0,0,0,0,0
$GC,5607,0.78,223.0,41.7,9.3,614,5633,0.00,1.70,18.83,0.782,4,0.000,0.049,3033,3764,2052,0,0,0,0,0,0
$GC,5679,0.78,223.0,33.9,11.4,626,5685,0.00,1.62,0.00,0.000,6,0.000,0.031,3039,2738,2052,0,0,1,0,0,0
$GC,5825,0.78,223.0,19.4,10.3,651,5833,0.00,2.28,0.00,0.000,4,0.000,0.034,3050,1300,2051,0,0,0,0,0,0
$GC,5862,0.78,223.0,15.2,10.4,657,5869,0.00,2.35,0.00,0.000,6,0.000,0.041,3050,2749,2051,0,0,0,0,0,0
$FREEZE,8.97,-0.055,-1.899,2,1,0
$FREEZE,8.34,-0.053,-1.898,2,1,0
$FREEZE,7.69,-0.050,-1.898,2,1,0
$FREEZE,7.15,-0.002,-1.897,2,1,0
$FREEZE,6.59,0.039,-1.896,2,1,0
$FREEZE,6.18,0.037,-1.896,2,1,0
$FREEZE,5.56,0.071,-1.895,2,1,0
$FREEZE,4.93,0.069,-1.895,2,1,0
$FREEZE,4.43,0.072,-1.895,2,1,0
$FREEZE,3.84,0.083,-1.895,2,1,0
$FREEZE,3.13,0.088,-1.894,2,1,0
$FREEZE,2.62,0.097,-1.894,2,1,0
$STATE,5979,end climb,SURFACE_DEPTH_REACHED
$STATE,5979,begin surface coast
$FREEZE,2.09,0.106,-1.893,2,1,0
$FREEZE,1.50,0.107,-1.893,2,1,0
$FREEZE,0.89,0.102,-1.893,2,1,0
$FREEZE,0.23,0.090,-1.892,2,1,0
$FREEZE,0.09,0.095,-1.893,2,1,0
$FINISH,0.1,1.027685
$STATE,6006,end surface coast,CONTROL_FINISHED_OK
$STATE,6007,begin surface
$SM_CCo,6024,12.52,0.102,0,0,1940,250.20
$SM_GC,1.82,0.00,0.00,12.52,0.000,0.000,0.102,190,2750,1940,-8.16,-0.85,250.20
$IRIDIUM_FIX,-7603.11,17518.85,200111,191902
$TT8_MAMPS,0.027713
$HUMID,53.34
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.5
$ALTIM_BOTTOM_PING,300.8,58.7
$24V_AH,21.9,84.403
$10V_AH,9.8,33.768
$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,18.375,52.800,338.675,12.525,0.000,30.640,36.058,174.294,1.000,0.000,13.152,1697.359,2598.902,440.452,1407.510,290.167,0.000,1101.843,0.000,1115.366,0.000,10.758,0.000
$DEVICE_MAMPS,209.610,68.850,958.545,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.161,904.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258208
$DATA_FILE_SIZE,43790,683
$CAP_FILE_SIZE,89024,0
$CFSIZE,260165632,215293952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.171,307.1,1
$GPS,200111,230926,-7646.671,17515.332,28,1.5,29,125.9