version: 66.08
glider: 503
mission: 7
dive: 862
start: 1 25 111 11 56 46
data:
$ID,503
$MISSION,7
$DIVE,862
$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,-20623.072
$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,26
$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
$GPS1,250111,114436,-7645.063,17631.295,39,0.8,39,124.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.3
$GPS2,250111,115619,-7645.032,17631.271,10,1.3,14,124.0
$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,195.5,84553,-16.1,-10.000
$D_GRID,469
$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,-76.60,0.000,2,0.000,0.000,182,2745,3536,0,0,0,0,0,0
$GC,99,-0.71,-170.3,3.8,-9.3,13,120,9.12,1.70,-2.45,0.000,4,0.203,0.060,2560,3772,3660,0,0,1,0,0,0
$GC,128,-0.71,-170.3,16.6,-39.5,17,135,0.00,1.58,0.00,0.000,6,0.000,0.028,2560,2777,3662,0,0,0,0,0,0
$GC,270,-0.71,-170.3,39.1,-14.3,42,277,0.00,1.62,0.00,0.000,4,0.000,0.047,2552,3755,3662,0,0,0,0,0,0
$GC,528,-0.71,-170.3,77.5,-14.5,88,535,0.00,1.52,0.00,0.000,6,0.000,0.028,2551,2783,3663,0,0,0,0,0,0
$GC,670,-0.71,-170.3,97.2,-11.8,113,677,0.00,1.62,0.00,0.000,4,0.000,0.049,2544,3762,3663,0,0,0,0,0,0
$GC,711,-0.71,-170.3,104.5,-15.3,117,718,0.00,1.52,0.00,0.000,6,0.000,0.030,2544,2786,3663,0,0,0,0,0,0
$GC,846,-0.71,-170.3,124.6,-14.9,130,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2786,3663,0,0,0,0,0,0
$GC,973,-0.71,-170.3,144.0,-15.4,142,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2786,3663,0,0,0,0,0,0
$GC,1102,-0.71,-170.3,163.6,-15.3,154,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2786,3663,0,0,0,0,0,0
$GC,1227,-0.71,-170.3,182.6,-15.0,166,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2786,3663,0,0,0,0,0,0
$GC,1356,-0.71,-170.3,201.0,-14.1,178,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2786,3663,0,0,0,0,0,0
$GC,1482,-0.71,-170.3,218.7,-13.9,190,1486,0.00,1.62,0.00,0.000,4,0.000,0.049,2537,3786,3663,0,0,0,0,0,0
$GC,1521,-0.71,-170.3,224.5,-14.4,193,1528,0.08,1.55,0.00,0.000,6,0.135,0.028,2564,2804,3663,0,0,0,0,0,0
$GC,1655,-0.71,-170.3,240.7,-11.8,206,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2804,3663,0,0,0,0,0,0
$GC,1782,-0.71,-170.3,256.4,-12.1,218,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2804,3663,0,0,0,0,0,0
$GC,1975,-0.71,-170.3,280.0,-12.5,236,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2804,3663,0,0,0,0,0,0
$GC,2164,-0.71,-170.3,303.7,-12.8,254,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2804,3663,0,0,0,0,0,0
$STATE,2215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2215,begin apogee
$GC,2222,-0.16,0.0,310.2,12.2,259,2371,0.52,0.00,138.45,0.937,4,0.116,0.000,2743,2688,2959,0,0,0,0,0,0
$STATE,2371,end apogee,CONTROL_FINISHED_OK
$STATE,2371,begin climb
$GC,2374,0.71,170.3,317.0,0.0,272,2536,0.85,2.33,150.32,0.886,4,0.073,0.031,3030,1307,2264,0,0,0,0,0,0
$GC,2542,0.78,227.7,311.7,7.7,286,2606,0.00,2.53,55.53,0.853,6,0.000,0.040,3030,2706,2031,0,0,0,0,0,0
$GC,2797,0.78,227.7,286.1,10.3,310,2800,0.00,1.80,0.00,0.000,4,0.000,0.048,3030,3765,2029,0,0,0,0,0,0
$GC,2847,0.78,227.7,279.9,11.6,314,2854,0.00,1.73,0.00,0.000,6,0.000,0.029,3038,2720,2028,0,0,1,0,0,0
$GC,3047,0.78,227.7,259.2,10.3,333,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2719,2027,0,0,0,0,0,0
$GC,3236,0.78,227.7,239.5,10.2,351,3239,0.00,1.70,0.00,0.000,4,0.000,0.049,3038,3763,2026,0,0,0,0,0,0
$GC,3286,0.78,227.7,233.2,12.5,355,3294,0.00,1.67,0.00,0.000,6,0.000,0.030,3045,2711,2025,0,0,1,0,0,0
$GC,3422,0.78,227.7,217.7,11.5,368,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2712,2025,0,0,0,0,0,0
$GC,3550,0.78,227.7,203.9,10.7,380,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2712,2024,0,0,0,0,0,0
$GC,3676,0.78,227.7,190.2,10.9,392,3680,0.00,1.75,0.00,0.000,4,0.000,0.049,3045,3762,2024,0,0,0,0,0,0
$GC,3723,0.78,227.7,184.6,12.6,396,3727,0.00,1.65,0.00,0.000,6,0.000,0.031,3053,2703,2024,0,0,0,0,0,0
$GC,3864,0.78,227.7,168.5,11.3,409,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2702,2024,0,0,0,0,0,0
$GC,3990,0.78,227.7,154.4,11.2,421,3994,0.00,1.73,0.00,0.000,4,0.000,0.048,3053,3773,2024,0,0,0,0,0,0
$GC,4040,0.78,227.7,148.1,12.3,425,4047,0.00,1.67,0.00,0.000,6,0.000,0.029,3061,2717,2023,0,0,0,0,0,0
$GC,4175,0.78,227.7,132.7,11.7,438,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2718,2022,0,0,0,0,0,0
$GC,4302,0.78,227.7,118.3,11.0,450,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2718,2023,0,0,0,0,0,0
$GC,4429,0.78,227.7,104.1,11.2,462,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2717,2023,0,0,0,0,0,0
$GC,4562,0.78,227.7,89.6,10.9,482,4569,0.00,1.73,0.00,0.000,4,0.000,0.048,3061,3762,2023,0,0,0,0,0,0
$GC,4609,0.78,227.7,83.8,12.9,490,4616,0.00,1.62,0.00,0.000,6,0.000,0.030,3069,2735,2022,0,0,0,0,0,0
$GC,4754,0.78,227.7,67.2,11.8,515,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2735,2022,0,0,0,0,0,0
$GC,4899,0.78,227.7,50.5,11.4,540,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2735,2023,0,0,0,0,0,0
$GC,5039,0.78,227.7,34.5,11.7,565,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2735,2022,0,0,0,0,0,0
$GC,5181,0.78,227.7,18.5,11.3,590,5188,0.00,1.70,0.00,0.000,4,0.000,0.048,3069,3765,2022,0,0,0,0,0,0
$GC,5234,0.78,227.7,11.6,13.5,599,5242,0.00,1.62,0.00,0.000,6,0.000,0.030,3077,2734,2022,0,0,0,0,0,0
$FREEZE,8.86,-0.047,-1.896,2,1,0
$FREEZE,8.13,0.068,-1.894,2,1,0
$FREEZE,7.47,0.090,-1.894,2,1,0
$FREEZE,6.76,0.095,-1.894,2,1,0
$FREEZE,6.14,0.095,-1.893,2,1,0
$FREEZE,5.52,0.096,-1.893,2,1,0
$FREEZE,5.01,0.093,-1.893,2,1,0
$FREEZE,4.29,0.091,-1.892,2,1,0
$FREEZE,3.68,0.089,-1.892,2,1,0
$FREEZE,3.12,0.094,-1.892,2,1,0
$FREEZE,2.32,0.095,-1.891,2,1,0
$STATE,5309,end climb,SURFACE_DEPTH_REACHED
$STATE,5309,begin surface coast
$FREEZE,1.33,0.087,-1.890,2,1,0
$FREEZE,0.69,0.082,-1.890,2,1,0
$FREEZE,0.15,0.074,-1.890,2,1,0
$FREEZE,-0.16,-0.109,-1.901,2,1,0
$FINISH,-0.2,1.027808
$STATE,5332,end surface coast,CONTROL_FINISHED_OK
$STATE,5332,begin surface
$SM_CCo,5351,9.05,0.103,0,0,1940,250.20
$SM_GC,2.33,0.00,0.00,9.05,0.000,0.000,0.103,170,2795,1940,-8.22,0.42,250.20
$IRIDIUM_FIX,-7603.11,17623.66,250111,111132
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,301.0,23.9
$24V_AH,21.7,90.934
$10V_AH,9.6,37.068
$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,18.225,38.175,344.300,9.050,0.000,83.839,191.674,154.794,1.000,0.000,16.927,1521.840,2395.212,426.153,1452.398,272.414,0.000,1017.027,0.000,973.806,0.000,8.814,0.000
$DEVICE_MAMPS,203.490,112.455,937.125,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.978,840.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258124
$DATA_FILE_SIZE,40388,616
$CAP_FILE_SIZE,81431,0
$CFSIZE,260165632,212373504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.031, 34.1,1
$GPS,250111,132719,-7644.356,17629.500,18,1.4,30,124.0