version: 66.08
glider: 503
mission: 7
dive: 841
start: 1 24 111 0 33 33
data:
$ID,503
$MISSION,7
$DIVE,841
$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,-20592.395
$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,34
$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
$GPS1,240111,002622,-7654.955,17646.145,12,2.3,31,124.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-73.9
$GPS2,240111,003306,-7654.935,17646.088,10,1.1,26,124.3
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_SE
$TGT_LATLONG,-7655.000,17700.000
$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,335.7,5834,-16.1,-10.000
$D_GRID,387
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.71,-170.3,0.0,0.0,0,96,0.00,0.00,-75.72,0.000,2,0.000,0.000,182,2788,3501,0,0,0,0,0,0
$GC,100,-0.71,-170.3,3.7,-9.2,13,121,9.30,1.58,-3.08,0.000,4,0.210,0.057,2556,3765,3655,0,0,0,0,0,0
$GC,245,-0.71,-170.3,34.7,-14.5,38,252,0.00,1.55,0.00,0.000,6,0.000,0.028,2556,2782,3658,0,0,0,0,0,0
$GC,388,-0.71,-170.3,54.6,-13.8,63,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2782,3658,0,0,0,0,0,0
$GC,531,-0.71,-170.3,74.5,-13.8,88,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2782,3659,0,0,0,0,0,0
$GC,672,-0.71,-170.3,94.4,-14.4,113,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2783,3659,0,0,0,0,0,0
$GC,809,-0.71,-170.3,113.9,-14.5,129,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2782,3659,0,0,0,0,0,0
$GC,936,-0.71,-170.3,132.0,-14.0,141,940,0.00,1.60,0.00,0.000,4,0.000,0.047,2548,3751,3659,0,0,0,0,0,0
$GC,972,-0.71,-170.3,137.3,-15.4,144,975,0.00,1.50,0.00,0.000,6,0.000,0.028,2548,2792,3659,0,0,0,0,0,0
$GC,1113,-0.71,-170.3,158.4,-15.1,157,1117,0.00,2.20,0.00,0.000,4,0.000,0.031,2548,1372,3659,0,0,0,0,0,0
$GC,1146,-0.71,-170.3,163.8,-15.3,159,1154,0.12,2.28,0.00,0.000,6,0.147,0.041,2573,2781,3659,0,0,0,0,0,0
$GC,1281,-0.71,-170.3,181.4,-13.1,172,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2781,3659,0,0,0,0,0,0
$GC,1409,-0.71,-170.3,198.1,-13.1,184,1413,0.00,1.60,0.00,0.000,4,0.000,0.050,2566,3760,3659,0,0,0,0,0,0
$GC,1444,-0.71,-170.3,203.1,-13.8,187,1448,0.00,1.52,0.00,0.000,6,0.000,0.029,2566,2790,3659,0,0,0,0,0,0
$GC,1585,-0.71,-170.3,221.3,-12.8,200,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2790,3659,0,0,0,0,0,0
$GC,1714,-0.71,-170.3,237.4,-12.9,212,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2790,3658,0,0,0,0,0,0
$GC,1839,-0.71,-170.3,253.3,-12.6,224,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2790,3659,0,0,0,0,0,0
$GC,2030,-0.71,-170.3,276.5,-12.0,242,2034,0.00,1.60,0.00,0.000,4,0.000,0.049,2562,3755,3659,0,0,0,0,0,0
$GC,2066,-0.71,-170.3,280.8,-13.2,245,2069,0.00,1.52,0.00,0.000,6,0.000,0.030,2562,2784,3659,0,0,0,0,0,0
$GC,2270,-0.71,-170.3,306.4,-12.5,264,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2784,3659,0,0,0,0,0,0
$STATE,2331,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2331,begin apogee
$GC,2339,-0.16,0.0,314.3,12.3,270,2485,0.55,0.00,138.02,0.939,4,0.115,0.000,2746,2680,2959,0,0,0,0,0,0
$STATE,2486,end apogee,CONTROL_FINISHED_OK
$STATE,2486,begin climb
$GC,2489,0.71,170.3,321.2,0.0,283,2652,0.85,2.30,150.20,0.889,4,0.073,0.031,3033,1302,2265,0,0,0,0,0,0
$GC,2658,0.79,232.3,315.4,7.5,297,2724,0.00,2.50,60.03,0.856,6,0.000,0.039,3033,2698,2012,0,0,0,0,0,0
$GC,2918,0.79,232.3,288.4,11.0,321,2922,0.00,1.80,0.00,0.000,4,0.000,0.047,3033,3765,2010,0,0,0,0,0,0
$GC,2957,0.79,232.3,283.5,12.3,324,2965,0.00,1.75,0.00,0.000,6,0.000,0.029,3041,2718,2009,0,0,0,0,0,0
$GC,3156,0.79,232.3,261.1,11.4,343,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2717,2008,0,0,0,0,0,0
$GC,3346,0.79,232.3,239.8,11.2,361,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2718,2007,0,0,0,0,0,0
$GC,3474,0.79,232.3,225.3,11.2,373,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2718,2007,0,0,0,0,0,0
$GC,3602,0.79,232.3,211.1,11.0,385,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2718,2006,0,0,0,0,0,0
$GC,3728,0.79,232.3,197.3,11.0,397,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2718,2006,0,0,0,0,0,0
$GC,3855,0.79,232.3,183.6,10.8,409,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2718,2006,0,0,0,0,0,0
$GC,3984,0.79,232.3,169.0,11.8,421,3988,0.00,1.73,0.00,0.000,4,0.000,0.050,3041,3759,2005,0,0,0,0,0,0
$GC,4033,0.79,232.3,162.2,12.9,425,4040,0.00,1.67,0.00,0.000,6,0.000,0.030,3048,2705,2005,0,0,0,0,0,0
$GC,4168,0.79,232.3,146.1,11.9,438,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2706,2005,0,0,0,0,0,0
$GC,4296,0.79,232.3,131.2,11.5,450,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2706,2004,0,0,0,0,0,0
$GC,4422,0.79,232.3,116.7,11.2,462,4426,0.00,1.70,0.00,0.000,4,0.000,0.049,3048,3765,2005,0,0,0,0,0,0
$GC,4472,0.79,232.3,110.3,12.3,466,4479,0.00,1.67,0.00,0.000,6,0.000,0.029,3054,2710,2004,0,0,0,0,0,0
$GC,4610,0.79,232.3,95.1,10.8,483,4617,0.00,2.22,0.00,0.000,4,0.000,0.033,3065,1293,2004,0,0,0,0,0,0
$GC,4635,0.79,232.3,92.5,10.1,487,4642,0.00,2.30,0.00,0.000,6,0.000,0.042,3066,2716,2004,0,0,0,0,0,0
$GC,4778,0.79,232.3,76.8,11.0,512,4786,0.00,1.70,0.00,0.000,4,0.000,0.050,3065,3750,2004,0,0,0,0,0,0
$GC,4822,0.79,232.3,71.4,12.0,519,4829,0.00,1.62,0.00,0.000,6,0.000,0.030,3074,2711,2004,0,0,1,0,0,0
$GC,4966,0.79,232.3,54.9,11.1,544,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2711,2004,0,0,0,0,0,0
$GC,5110,0.79,232.3,37.9,12.0,569,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2711,2004,0,0,0,0,0,0
$GC,5250,0.79,232.3,21.0,12.1,594,5257,0.00,1.73,0.00,0.000,4,0.000,0.049,3074,3756,2004,0,0,0,0,0,0
$GC,5292,0.79,232.3,15.4,13.7,601,5299,0.00,1.65,0.00,0.000,6,0.000,0.030,3082,2714,2003,0,0,0,0,0,0
$FREEZE,8.46,-0.230,-1.897,2,1,0
$FREEZE,7.78,-0.231,-1.897,2,1,0
$FREEZE,7.07,-0.226,-1.896,2,1,0
$FREEZE,6.53,-0.228,-1.896,2,1,0
$FREEZE,5.83,-0.226,-1.895,2,1,0
$FREEZE,5.12,-0.223,-1.895,2,1,0
$FREEZE,4.47,-0.222,-1.894,2,1,0
$FREEZE,3.78,-0.222,-1.894,2,1,0
$FREEZE,3.08,-0.222,-1.893,2,1,0
$FREEZE,2.37,-0.223,-1.893,2,1,0
$STATE,5391,end climb,SURFACE_DEPTH_REACHED
$STATE,5391,begin surface coast
$FREEZE,1.28,-0.216,-1.892,2,1,0
$FREEZE,0.56,-0.213,-1.891,2,1,0
$FREEZE,-0.01,-0.213,-1.891,2,1,0
$FREEZE,-0.17,-0.435,-1.858,2,1,0
$FINISH,-0.2,1.027222
$STATE,5414,end surface coast,CONTROL_FINISHED_OK
$STATE,5414,begin surface
$SM_CCo,5433,6.45,0.103,0,0,1939,250.20
$SM_GC,2.03,0.00,0.00,6.45,0.000,0.000,0.103,177,2792,1939,-8.20,0.37,250.20
$IRIDIUM_FIX,-7603.11,17640.80,230111,222218
$TT8_MAMPS,0.026964
$HUMID,52.75
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,19.5
$ALTIM_BOTTOM_PING,301.0,27.0
$24V_AH,21.7,88.778
$10V_AH,9.6,35.999
$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,18.475,43.500,348.250,6.450,0.000,22.417,59.096,165.076,1.250,0.000,29.507,1538.307,2314.126,427.881,1292.621,277.487,0.000,1031.511,0.000,989.125,0.000,8.823,0.000
$DEVICE_MAMPS,210.375,98.685,939.420,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.086,849.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258216
$DATA_FILE_SIZE,40401,623
$CAP_FILE_SIZE,82131,0
$CFSIZE,260165632,213315584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.042,295.8,1
$GPS,240111,020514,-7655.070,17649.469,17,1.9,17,124.2