version: 66.08
glider: 503
mission: 7
dive: 846
start: 1 24 111 9 2 16
data:
$ID,503
$MISSION,7
$DIVE,846
$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,-20598.682
$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,49
$R_STBD_OVSHOOT,25
$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
$GPS1,240111,085006,-7653.612,17650.520,40,0.9,41,124.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-73.6
$GPS2,240111,090149,-7653.604,17650.697,8,1.0,13,124.1
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$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,187.0,102634,-16.1,-10.000
$D_GRID,382
$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,-75.82,0.000,2,0.000,0.000,180,2774,3511,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.7,-9.1,13,119,9.12,2.22,-2.97,0.000,4,0.204,0.042,2563,1369,3658,0,0,0,0,0,0
$GC,371,-0.71,-170.3,48.0,-12.5,61,378,0.00,2.30,0.00,0.000,6,0.000,0.042,2560,2783,3661,0,0,0,0,0,0
$GC,514,-0.71,-170.3,67.2,-13.2,86,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,656,-0.71,-170.3,85.3,-12.5,111,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3661,0,0,0,0,0,0
$GC,797,-0.71,-170.3,102.7,-11.9,134,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2784,3662,0,0,0,0,0,0
$GC,925,-0.71,-170.3,118.2,-12.0,146,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,1053,-0.71,-170.3,133.5,-11.7,158,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,1180,-0.71,-170.3,149.0,-12.6,170,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,1307,-0.71,-170.3,164.8,-12.4,182,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,1436,-0.71,-170.3,180.3,-12.2,194,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,1562,-0.71,-170.3,195.8,-12.3,206,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,1690,-0.71,-170.3,210.7,-11.6,218,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,1817,-0.71,-170.3,225.9,-12.3,230,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,1945,-0.71,-170.3,242.2,-12.9,242,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,2072,-0.71,-170.3,258.2,-12.5,254,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3662,0,0,0,0,0,0
$GC,2266,-0.71,-170.3,282.2,-12.8,272,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3661,0,0,0,0,0,0
$GC,2464,-0.71,-170.3,307.9,-13.0,291,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3661,0,0,0,0,0,0
$STATE,2504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2504,begin apogee
$GC,2512,-0.16,0.0,313.3,12.9,295,2660,0.55,0.00,138.30,0.938,4,0.115,0.000,2745,2692,2959,0,0,0,0,0,0
$STATE,2661,end apogee,CONTROL_FINISHED_OK
$STATE,2661,begin climb
$GC,2663,0.71,170.3,319.6,0.0,308,2825,0.85,2.33,150.00,0.890,4,0.073,0.032,3033,1307,2264,0,0,0,0,0,0
$GC,2831,0.79,234.9,314.1,7.4,322,2899,0.00,2.50,62.20,0.855,6,0.000,0.041,3033,2704,2002,0,0,1,0,0,0
$GC,3094,0.79,234.9,287.1,10.8,346,3097,0.00,1.80,0.00,0.000,4,0.000,0.047,3033,3766,2001,0,0,0,0,0,0
$GC,3132,0.79,234.9,282.2,12.2,349,3139,0.00,1.70,0.00,0.000,6,0.000,0.029,3042,2710,1999,0,0,1,0,0,0
$GC,3331,0.79,234.9,260.0,11.1,368,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2710,1998,0,0,0,0,0,0
$GC,3523,0.79,234.9,238.7,11.4,386,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2710,1997,0,0,0,0,0,0
$GC,3649,0.79,234.9,224.7,10.7,398,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2710,1997,0,0,0,0,0,0
$GC,3777,0.79,234.9,210.5,10.8,410,3780,0.00,1.73,0.00,0.000,4,0.000,0.049,3042,3774,1997,0,0,0,0,0,0
$GC,3816,0.79,234.9,205.5,12.4,413,3823,0.00,1.73,0.00,0.000,6,0.000,0.031,3048,2697,1996,0,0,0,0,0,0
$GC,3951,0.79,234.9,190.4,11.0,426,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2697,1995,0,0,0,0,0,0
$GC,4078,0.79,234.9,176.4,11.1,438,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2697,1995,0,0,0,0,0,0
$GC,4207,0.79,234.9,162.3,11.2,450,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2697,1995,0,0,0,0,0,0
$GC,4333,0.79,234.9,148.1,11.0,462,4337,0.00,1.77,0.00,0.000,4,0.000,0.050,3048,3768,1995,0,0,0,0,0,0
$GC,4380,0.79,234.9,142.3,12.9,466,4383,0.00,1.65,0.00,0.000,6,0.000,0.030,3055,2699,1994,0,0,0,0,0,0
$GC,4521,0.79,234.9,126.0,11.6,479,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2698,1995,0,0,0,0,0,0
$GC,4647,0.79,234.9,111.5,11.4,491,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2698,1995,0,0,0,0,0,0
$GC,4776,0.79,234.9,96.9,11.1,505,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2698,1994,0,0,0,0,0,0
$GC,4918,0.79,234.9,81.1,11.0,530,4925,0.00,1.75,0.00,0.000,4,0.000,0.050,3055,3759,1994,0,0,0,0,0,0
$GC,4960,0.79,234.9,75.9,12.6,537,4967,0.00,1.65,0.00,0.000,6,0.000,0.031,3062,2715,1994,0,0,0,0,0,0
$GC,5103,0.79,234.9,59.7,11.0,562,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2715,1994,0,0,0,0,0,0
$GC,5245,0.79,234.9,43.4,10.5,587,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2715,1994,0,0,0,0,0,0
$GC,5388,0.79,234.9,27.3,11.1,612,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2715,1993,0,0,0,0,0,0
$GC,5532,0.79,234.9,10.6,11.8,637,5539,0.00,1.73,0.00,0.000,4,0.000,0.048,3062,3759,1993,0,0,0,0,0,0
$FREEZE,8.47,-0.316,-1.899,2,1,0
$FREEZE,7.82,-0.324,-1.898,2,1,0
$FREEZE,7.22,-0.324,-1.898,2,1,0
$FREEZE,6.56,-0.324,-1.897,2,1,0
$FREEZE,5.96,-0.327,-1.897,2,1,0
$GC,5569,0.79,234.9,6.0,11.7,643,5577,0.00,1.65,0.00,0.000,6,0.000,0.030,3070,2713,1993,0,0,0,0,0,0
$FREEZE,3.77,-0.320,-1.895,2,1,0
$FREEZE,3.24,-0.309,-1.895,2,1,0
$FREEZE,2.58,-0.312,-1.894,2,1,0
$STATE,5593,end climb,SURFACE_DEPTH_REACHED
$STATE,5593,begin surface coast
$FREEZE,2.00,-0.323,-1.894,2,1,0
$FREEZE,1.37,-0.320,-1.893,2,1,0
$FREEZE,0.81,-0.312,-1.893,2,1,0
$FREEZE,0.23,-0.311,-1.892,2,1,0
$FINISH,0.2,1.027697
$STATE,5615,end surface coast,CONTROL_FINISHED_OK
$STATE,5618,begin surface
$SM_CCo,5637,5.47,0.103,0,0,1940,250.20
$SM_GC,2.41,0.00,0.00,5.47,0.000,0.000,0.103,177,2806,1940,-8.20,0.74,250.20
$IRIDIUM_FIX,-7603.11,17650.79,240111,080802
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.2
$ALTIM_BOTTOM_PING,250.2,77.4
$24V_AH,21.7,89.298
$10V_AH,9.7,36.255
$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,18.075,26.725,350.500,5.475,0.000,86.982,190.231,154.029,0.750,0.000,16.136,1594.415,2584.235,417.767,1483.211,272.317,0.000,1017.772,0.000,1005.207,0.000,7.240,0.000
$DEVICE_MAMPS,204.255,84.150,937.890,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.224,892.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,40438,651
$CAP_FILE_SIZE,80310,0
$CFSIZE,260165632,213094400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.127, 88.6,1
$GPS,240111,103720,-7653.067,17649.365,18,1.8,18,124.1