version: 66.08
glider: 503
mission: 7
dive: 804
start: 1 21 111 6 52 45
data:
$ID,503
$MISSION,7
$DIVE,804
$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,-20541.928
$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,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
$GPS1,210111,064522,-7651.206,17508.850,15,2.4,35,126.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-74.0
$GPS2,210111,065216,-7651.208,17508.809,13,2.4,32,126.3
$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,82.5,7933,-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,-75.43,0.000,2,0.000,0.000,185,2763,3503,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.7,-9.2,13,119,9.18,2.20,-3.15,0.000,4,0.207,0.042,2564,1372,3658,0,0,0,0,0,0
$GC,167,-0.71,-170.3,21.8,-13.3,24,173,0.00,2.30,0.00,0.000,6,0.000,0.043,2562,2780,3660,0,0,0,0,0,0
$GC,309,-0.71,-170.3,41.3,-13.3,49,316,0.00,1.65,0.00,0.000,4,0.000,0.051,2562,3764,3660,0,0,0,0,0,0
$GC,353,-0.71,-170.3,47.4,-13.9,56,359,0.00,1.55,0.00,0.000,6,0.000,0.030,2562,2784,3661,0,0,0,0,0,0
$GC,495,-0.71,-170.3,66.9,-13.2,81,502,0.00,2.22,0.00,0.000,4,0.000,0.031,2562,1373,3661,0,0,0,0,0,0
$GC,533,-0.71,-170.3,72.0,-13.8,87,541,0.00,2.30,0.00,0.000,6,0.000,0.043,2560,2790,3661,0,0,0,0,0,0
$GC,677,-0.71,-170.3,91.2,-13.9,112,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2790,3662,0,0,0,0,0,0
$GC,819,-0.71,-170.3,109.7,-12.6,131,823,0.00,1.60,0.00,0.000,4,0.000,0.050,2560,3764,3662,0,0,0,0,0,0
$GC,858,-0.71,-170.3,115.1,-13.0,134,865,0.00,1.52,0.00,0.000,6,0.000,0.029,2560,2795,3662,0,0,0,0,0,0
$GC,993,-0.71,-170.3,132.7,-13.5,147,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2795,3662,0,0,0,0,0,0
$GC,1120,-0.71,-170.3,149.5,-13.1,159,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2795,3662,0,0,0,0,0,0
$GC,1249,-0.71,-170.3,166.5,-13.0,171,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2795,3662,0,0,0,0,0,0
$GC,1375,-0.71,-170.3,183.7,-14.0,183,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2795,3662,0,0,0,0,0,0
$GC,1503,-0.71,-170.3,201.0,-13.3,195,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2795,3662,0,0,0,0,0,0
$GC,1631,-0.71,-170.3,217.8,-13.1,207,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2795,3662,0,0,0,0,0,0
$GC,1757,-0.71,-170.3,234.3,-13.2,219,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2795,3662,0,0,0,0,0,0
$GC,1887,-0.71,-170.3,250.7,-12.9,231,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2795,3662,0,0,0,0,0,0
$GC,2086,-0.71,-170.3,276.3,-12.8,250,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2795,3661,0,0,0,0,0,0
$GC,2281,-0.71,-170.3,301.1,-12.9,268,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2795,3662,0,0,0,0,0,0
$GC,2479,-0.71,-170.3,326.8,-11.8,287,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2795,3662,0,0,0,0,0,0
$STATE,2672,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2672,begin apogee
$GC,2680,-0.16,0.0,350.3,12.6,305,2825,0.55,0.00,139.05,0.963,4,0.116,0.000,2744,2690,2959,0,0,0,0,0,0
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin climb
$GC,2829,0.71,170.3,357.0,0.0,318,2991,0.85,2.35,150.60,0.914,4,0.073,0.032,3030,1303,2265,0,0,0,0,0,0
$GC,3140,0.74,189.6,337.4,9.2,345,3163,0.00,2.40,18.12,0.867,6,0.000,0.041,3030,2704,2186,0,0,0,0,0,0
$GC,3356,0.74,189.6,314.8,10.3,365,3360,0.00,2.28,0.00,0.000,4,0.000,0.034,3041,1310,2185,0,0,0,0,0,0
$GC,3575,0.75,199.3,293.6,9.6,384,3590,0.00,2.28,9.68,0.837,6,0.000,0.041,3040,2709,2148,0,0,0,0,0,0
$GC,3793,0.75,199.3,271.4,10.4,404,3796,0.00,1.70,0.00,0.000,4,0.000,0.050,3040,3763,2147,0,0,0,0,0,0
$GC,3864,0.75,199.3,262.3,12.0,410,3871,0.00,1.65,0.00,0.000,6,0.000,0.030,3048,2733,2147,0,0,0,0,0,0
$GC,4063,0.75,199.3,240.6,10.9,429,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2733,2146,0,0,0,0,0,0
$GC,4191,0.75,199.3,226.8,10.6,441,4195,0.00,1.67,0.00,0.000,4,0.000,0.049,3049,3768,2146,0,0,0,0,0,0
$GC,4229,0.75,199.3,222.0,12.2,444,4236,0.00,1.67,0.00,0.000,6,0.000,0.030,3056,2715,2145,0,0,0,0,0,0
$GC,4364,0.75,199.3,206.9,11.2,457,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2715,2145,0,0,0,0,0,0
$GC,4492,0.75,199.3,193.0,10.7,469,4495,0.00,1.70,0.00,0.000,4,0.000,0.049,3056,3769,2145,0,0,0,0,0,0
$GC,4538,0.75,199.3,187.3,13.0,473,4542,0.00,1.65,0.00,0.000,6,0.000,0.031,3064,2734,2146,0,0,0,0,0,0
$GC,4678,0.75,199.3,171.2,11.0,486,4681,0.00,1.65,0.00,0.000,4,0.000,0.048,3064,3762,2145,0,0,0,0,0,0
$GC,4713,0.75,199.3,167.0,12.8,489,4717,0.12,1.62,0.00,0.000,6,0.161,0.030,3036,2741,2145,0,0,0,0,0,0
$GC,4853,0.78,222.1,153.9,9.1,502,4876,0.00,0.00,21.27,0.845,6,0.000,0.000,3036,2742,2054,0,0,0,0,0,0
$GC,5001,0.79,237.4,139.9,9.4,516,5020,0.00,0.00,15.27,0.817,6,0.000,0.000,3036,2742,1992,0,0,0,0,0,0
$GC,5149,0.80,244.2,125.7,9.7,530,5162,0.00,1.73,7.85,0.755,4,0.000,0.050,3036,3762,1964,0,0,1,0,0,0
$GC,5189,0.80,244.2,121.3,10.8,533,5196,0.00,1.62,0.00,0.000,6,0.000,0.031,3041,2756,1963,0,0,0,0,0,0
$GC,5325,0.80,244.2,107.6,10.2,546,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2756,1964,0,0,0,0,0,0
$GC,5453,0.80,244.2,94.3,10.3,563,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2757,1964,0,0,0,0,0,0
$GC,5597,0.80,244.2,79.2,10.5,588,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2757,1964,0,0,0,0,0,0
$GC,5738,0.80,244.2,64.3,11.5,613,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2757,1964,0,0,0,0,0,0
$GC,5881,0.80,244.2,49.3,10.3,638,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2757,1964,0,0,0,0,0,0
$GC,6023,0.80,244.2,34.8,10.5,663,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2757,1964,0,0,0,0,0,0
$GC,6165,0.80,244.2,20.0,10.0,688,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2756,1963,0,0,0,0,0,0
$FREEZE,8.49,-0.192,-1.898,2,1,0
$FREEZE,7.94,-0.197,-1.898,2,1,0
$FREEZE,7.38,-0.181,-1.897,2,1,0
$FREEZE,6.76,-0.163,-1.896,2,1,0
$FREEZE,6.30,-0.141,-1.897,2,1,0
$FREEZE,5.75,-0.125,-1.896,2,1,0
$FREEZE,4.93,-0.124,-1.895,2,1,0
$GC,6307,0.80,244.2,4.9,10.7,713,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2756,1963,0,0,0,0,0,0
$FREEZE,3.38,-0.101,-1.894,2,1,0
$FREEZE,2.78,-0.088,-1.894,2,1,0
$STATE,6325,end climb,SURFACE_DEPTH_REACHED
$STATE,6325,begin surface coast
$FREEZE,2.03,-0.086,-1.893,2,1,0
$FREEZE,1.56,-0.084,-1.893,2,1,0
$FREEZE,1.05,-0.084,-1.892,2,1,0
$FREEZE,0.46,-0.082,-1.892,2,1,0
$FREEZE,-0.09,-0.081,-1.892,2,1,0
$FINISH,-0.1,1.027678
$STATE,6354,end surface coast,CONTROL_FINISHED_OK
$STATE,6354,begin surface
$SM_CCo,6372,2.12,0.106,0,0,1939,250.20
$SM_GC,2.00,0.00,0.00,2.12,0.000,0.000,0.106,185,2757,1939,-8.17,-0.65,250.20
$IRIDIUM_FIX,-7603.11,17517.31,210111,040422
$TT8_MAMPS,0.027713
$HUMID,53.46
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.3
$ALTIM_BOTTOM_PING,350.3,8.0
$24V_AH,21.8,84.932
$10V_AH,9.8,34.049
$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,18.250,41.425,361.850,2.125,0.000,28.221,39.737,174.744,1.500,0.000,35.606,1781.987,2789.004,449.996,1486.146,287.709,0.000,1134.644,0.000,1168.316,0.000,13.369,0.000
$DEVICE_MAMPS,207.315,81.855,963.135,106.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,505.240,952.439,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47048,721
$CAP_FILE_SIZE,90277,0
$CFSIZE,260165632,215031808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.111,199.5,1
$GPS,210111,084030,-7652.353,17506.449,47,1.0,48,126.5