version: 66.08
glider: 503
mission: 7
dive: 859
start: 1 25 111 6 56 28
data:
$ID,503
$MISSION,7
$DIVE,859
$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,-20617.15
$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,41
$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
$GPS1,250111,064922,-7646.631,17634.645,12,5.1,32,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-76.6
$GPS2,250111,065558,-7646.629,17634.672,14,2.1,33,124.0
$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,194.5,87876,-16.1,-10.000
$D_GRID,468
$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,-75.03,0.000,2,0.000,0.000,180,2796,3498,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.8,-9.7,13,119,9.25,1.55,-3.17,0.000,4,0.209,0.058,2556,3762,3659,0,0,0,0,0,0
$GC,127,-0.71,-170.3,16.5,-38.2,17,134,0.00,1.55,0.00,0.000,6,0.000,0.028,2556,2778,3660,0,0,0,0,0,0
$GC,269,-0.71,-170.3,39.5,-14.5,42,276,0.00,2.20,0.00,0.000,4,0.000,0.031,2556,1366,3661,0,0,0,0,0,0
$GC,530,-0.71,-170.3,75.0,-13.2,88,537,0.00,2.28,0.00,0.000,6,0.000,0.041,2547,2778,3662,0,0,0,0,0,0
$GC,674,-0.71,-170.3,96.1,-15.0,113,681,0.00,2.20,0.00,0.000,4,0.000,0.031,2547,1374,3662,0,0,0,0,0,0
$GC,725,-0.71,-170.3,104.2,-14.5,119,734,0.12,2.28,0.00,0.000,6,0.148,0.041,2573,2788,3662,0,0,0,0,0,0
$GC,861,-0.71,-170.3,122.3,-13.5,132,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2787,3662,0,0,0,0,0,0
$GC,989,-0.71,-170.3,139.9,-13.6,144,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2787,3663,0,0,0,0,0,0
$GC,1115,-0.71,-170.3,157.6,-13.9,156,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2787,3663,0,0,0,0,0,0
$GC,1242,-0.71,-170.3,174.8,-13.2,168,1246,0.00,1.60,0.00,0.000,4,0.000,0.048,2566,3765,3662,0,0,0,0,0,0
$GC,1301,-0.71,-170.3,182.8,-13.4,173,1304,0.00,1.55,0.00,0.000,6,0.000,0.028,2567,2776,3662,0,0,0,0,0,0
$GC,1441,-0.71,-170.3,201.2,-12.6,186,1445,0.00,2.15,0.00,0.000,4,0.000,0.030,2566,1379,3662,0,0,0,0,0,0
$GC,1482,-0.71,-170.3,206.6,-12.4,189,1486,0.00,2.25,0.00,0.000,6,0.000,0.042,2563,2781,3662,0,0,0,0,0,0
$GC,1618,-0.71,-170.3,223.6,-12.7,201,1621,0.00,1.60,0.00,0.000,4,0.000,0.051,2563,3756,3662,0,0,0,0,0,0
$GC,1664,-0.71,-170.3,229.5,-12.0,205,1668,0.00,1.50,0.00,0.000,6,0.000,0.029,2563,2801,3662,0,0,0,0,0,0
$GC,1804,-0.71,-170.3,246.2,-11.7,218,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2801,3662,0,0,0,0,0,0
$GC,1932,-0.71,-170.3,261.4,-12.1,230,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2801,3662,0,0,0,0,0,0
$GC,2122,-0.71,-170.3,284.7,-12.1,248,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2801,3662,0,0,0,0,0,0
$STATE,2301,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2302,begin apogee
$GC,2310,-0.16,0.0,307.5,12.3,265,2455,0.52,0.00,138.32,0.932,4,0.116,0.000,2740,2684,2959,0,0,0,0,0,0
$STATE,2456,end apogee,CONTROL_FINISHED_OK
$STATE,2456,begin climb
$GC,2459,0.71,170.3,313.9,0.0,278,2621,0.85,2.30,149.95,0.885,4,0.076,0.031,3025,1308,2265,0,0,0,0,0,0
$GC,2638,0.78,224.9,307.5,7.8,293,2700,0.00,2.47,52.58,0.853,6,0.000,0.039,3025,2698,2043,0,0,0,0,0,0
$GC,2891,0.78,224.9,282.8,10.2,317,2895,0.00,1.80,0.00,0.000,4,0.000,0.047,3025,3770,2041,0,0,0,0,0,0
$GC,2927,0.78,224.9,278.8,11.9,320,2931,0.00,1.70,0.00,0.000,6,0.000,0.029,3032,2709,2040,0,0,1,0,0,0
$GC,3132,0.78,224.9,256.4,11.0,339,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2710,2039,0,0,0,0,0,0
$GC,3322,0.78,224.9,235.8,10.8,357,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2710,2038,0,0,0,0,0,0
$GC,3449,0.78,224.9,222.3,10.5,369,3453,0.00,1.75,0.00,0.000,4,0.000,0.047,3033,3763,2037,0,0,0,0,0,0
$GC,3499,0.78,224.9,216.4,11.7,373,3506,0.00,1.70,0.00,0.000,6,0.000,0.029,3041,2698,2037,0,0,0,0,0,0
$GC,3634,0.78,224.9,202.2,10.3,386,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2698,2037,0,0,0,0,0,0
$GC,3761,0.78,224.9,188.8,10.6,398,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2698,2036,0,0,0,0,0,0
$GC,3890,0.78,224.9,175.7,10.5,410,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2698,2036,0,0,0,0,0,0
$GC,4016,0.78,224.9,161.8,10.9,422,4020,0.00,1.77,0.00,0.000,4,0.000,0.049,3040,3766,2036,0,0,0,0,0,0
$GC,4062,0.78,224.9,156.3,12.6,426,4066,0.00,1.65,0.00,0.000,6,0.000,0.030,3048,2702,2035,0,0,0,0,0,0
$GC,4203,0.78,224.9,140.9,10.7,439,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2701,2036,0,0,0,0,0,0
$GC,4330,0.78,224.9,127.2,10.6,451,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2702,2035,0,0,0,0,0,0
$GC,4457,0.78,224.9,114.0,10.5,463,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2701,2035,0,0,0,0,0,0
$GC,4586,0.79,230.2,101.1,9.8,475,4595,0.00,0.00,4.85,0.675,6,0.000,0.000,3048,2701,2021,0,0,0,0,0,0
$GC,4728,0.80,246.1,86.8,9.4,499,4748,0.00,1.83,15.70,0.799,4,0.000,0.048,3048,3769,1955,0,0,0,0,0,0
$GC,4784,0.80,246.1,80.8,11.8,508,4791,0.00,1.70,0.00,0.000,6,0.000,0.030,3054,2712,1956,0,0,0,0,0,0
$GC,4930,0.81,251.3,66.3,9.8,533,4943,0.00,0.00,6.20,0.706,6,0.000,0.000,3054,2713,1935,0,0,0,0,0,0
$GC,5079,0.81,251.3,50.8,10.6,559,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2713,1935,0,0,0,0,0,0
$GC,5222,0.81,251.3,36.1,10.4,584,5228,0.00,1.75,0.00,0.000,4,0.000,0.047,3054,3787,1935,0,0,0,0,0,0
$GC,5264,0.81,251.3,30.9,12.3,591,5272,0.00,1.70,0.00,0.000,6,0.000,0.029,3061,2720,1935,0,0,0,0,0,0
$GC,5412,0.81,251.3,14.6,12.8,616,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2720,1935,0,0,0,0,0,0
$FREEZE,8.58,-0.038,-1.895,2,1,0
$FREEZE,8.26,-0.027,-1.895,2,1,0
$FREEZE,7.66,-0.019,-1.895,2,1,0
$FREEZE,7.02,-0.005,-1.894,2,1,0
$FREEZE,6.36,-0.003,-1.894,2,1,0
$FREEZE,5.71,0.012,-1.893,2,1,0
$FREEZE,5.09,0.019,-1.893,2,1,0
$FREEZE,4.56,0.025,-1.892,2,1,0
$FREEZE,3.91,0.063,-1.892,2,1,0
$FREEZE,3.32,0.134,-1.891,2,1,0
$FREEZE,2.76,0.169,-1.891,2,1,0
$STATE,5512,end climb,SURFACE_DEPTH_REACHED
$STATE,5512,begin surface coast
$FREEZE,1.89,0.269,-1.889,2,1,0
$FREEZE,1.35,0.315,-1.889,2,1,0
$FREEZE,0.73,0.318,-1.888,2,1,0
$FREEZE,0.14,0.317,-1.888,2,1,0
$FREEZE,-0.02,0.252,-1.860,2,1,0
$FINISH,-0.0,1.027216
$STATE,5539,end surface coast,CONTROL_FINISHED_OK
$STATE,5539,begin surface
$SM_CCo,5619,0.00,0.000,0,0,1933,251.92
$SM_GC,1.13,7.57,0.00,0.00,0.041,0.000,0.000,166,2796,1933,-8.09,0.45,251.92
$IRIDIUM_FIX,-7603.11,17642.43,250111,030332
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,301.0,20.3
$24V_AH,21.8,90.616
$10V_AH,9.8,36.919
$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,18.325,45.050,367.600,0.000,0.000,30.042,35.843,162.468,1.250,0.000,37.037,1581.823,2413.115,425.634,1315.448,283.487,0.000,1041.579,0.000,1015.864,0.000,11.706,0.000
$DEVICE_MAMPS,208.845,94.860,931.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.196,879.483,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258104
$DATA_FILE_SIZE,40446,639
$CAP_FILE_SIZE,83266,0
$CFSIZE,260165632,212500480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.095,109.9,1
$GPS,250111,083125,-7646.209,17633.502,37,1.4,38,124.0