version: 66.08
glider: 503
mission: 7
dive: 865
start: 1 25 111 16 57 23
data:
$ID,503
$MISSION,7
$DIVE,865
$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,-20626.84
$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,24
$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
$GPS1,250111,165036,-7642.531,17624.863,38,1.3,39,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-75.0
$GPS2,250111,165656,-7642.516,17624.719,10,1.5,10,124.0
$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,211.7,79065,-16.1,-10.000
$D_GRID,461
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.71,-170.3,0.0,0.0,0,96,0.00,0.00,-74.85,0.000,2,0.000,0.000,183,2775,3490,0,0,0,0,0,0
$GC,101,-0.71,-170.3,3.7,-9.3,13,122,9.15,1.62,-3.40,0.000,4,0.202,0.057,2557,3773,3658,0,0,0,0,0,0
$GC,230,-0.71,-170.3,32.0,-14.2,35,238,0.00,1.58,0.00,0.000,6,0.000,0.027,2557,2772,3660,0,0,0,0,0,0
$GC,375,-0.71,-170.3,52.8,-14.3,60,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2771,3660,0,0,0,0,0,0
$GC,517,-0.71,-170.3,73.0,-14.1,85,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2771,3661,0,0,0,0,0,0
$GC,657,-0.71,-170.3,92.6,-13.9,110,664,0.00,1.65,0.00,0.000,4,0.000,0.047,2550,3769,3661,0,0,0,0,0,0
$GC,718,-0.71,-170.3,100.7,-14.4,120,721,0.00,1.55,0.00,0.000,6,0.000,0.028,2550,2779,3661,0,0,0,0,0,0
$GC,858,-0.71,-170.3,121.2,-14.7,133,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2779,3662,0,0,0,0,0,0
$GC,985,-0.71,-170.3,139.8,-14.7,145,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2779,3662,0,0,0,0,0,0
$GC,1114,-0.71,-170.3,158.4,-14.8,157,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2779,3662,0,0,0,0,0,0
$GC,1240,-0.71,-170.3,177.3,-14.7,169,1244,0.00,1.62,0.00,0.000,4,0.000,0.047,2541,3765,3661,0,0,0,0,0,0
$GC,1297,-0.71,-170.3,186.1,-15.9,174,1300,0.00,1.52,0.00,0.000,6,0.000,0.028,2542,2786,3661,0,0,0,0,0,0
$GC,1438,-0.71,-170.3,207.5,-15.0,187,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2785,3661,0,0,0,0,0,0
$GC,1564,-0.71,-170.3,226.9,-15.2,199,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2786,3661,0,0,0,0,0,0
$GC,1691,-0.71,-170.3,245.7,-15.2,211,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2786,3661,0,0,0,0,0,0
$GC,1820,-0.71,-170.3,264.3,-14.7,223,1823,0.00,1.62,0.00,0.000,4,0.000,0.048,2534,3788,3661,0,0,0,0,0,0
$GC,1878,-0.71,-170.3,273.1,-15.5,228,1882,0.08,1.55,0.00,0.000,6,0.129,0.028,2576,2800,3661,0,0,0,0,0,0
$GC,2085,-0.71,-170.3,297.8,-11.7,247,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2801,3661,0,0,0,0,0,0
$STATE,2248,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2249,begin apogee
$GC,2256,-0.16,0.0,317.3,11.2,263,2404,0.50,0.00,138.90,0.939,4,0.113,0.000,2747,2685,2959,0,0,0,0,0,0
$STATE,2404,end apogee,CONTROL_FINISHED_OK
$STATE,2404,begin climb
$GC,2407,0.71,170.3,323.6,0.0,276,2568,0.82,2.30,150.45,0.893,4,0.070,0.032,3028,1308,2265,0,0,0,0,0,0
$GC,2575,0.79,238.0,318.0,7.3,290,2650,0.00,2.53,65.65,0.858,6,0.000,0.040,3028,2707,1989,0,0,0,0,0,0
$GC,2841,0.79,238.0,291.2,10.5,315,2845,0.00,1.80,0.00,0.000,4,0.000,0.048,3028,3772,1987,0,0,0,0,0,0
$GC,2900,0.79,238.0,284.3,12.1,320,2903,0.00,1.70,0.00,0.000,6,0.000,0.029,3035,2712,1987,0,0,0,0,0,0
$GC,3104,0.79,238.0,262.6,10.9,339,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2712,1985,0,0,0,0,0,0
$GC,3296,0.79,238.0,242.8,10.1,357,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2712,1985,0,0,0,0,0,0
$GC,3422,0.79,238.0,229.8,10.2,369,3426,0.00,1.73,0.00,0.000,4,0.000,0.049,3035,3776,1984,0,0,0,0,0,0
$GC,3461,0.79,238.0,225.1,12.0,372,3469,0.00,1.73,0.00,0.000,6,0.000,0.030,3042,2699,1984,0,0,0,0,0,0
$GC,3597,0.79,238.0,211.0,10.2,385,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2699,1984,0,0,0,0,0,0
$GC,3723,0.79,238.0,197.7,10.7,397,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2699,1983,0,0,0,0,0,0
$GC,3850,0.79,238.0,184.4,10.4,409,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2699,1983,0,0,0,0,0,0
$GC,3978,0.79,238.0,171.3,10.4,421,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2699,1983,0,0,0,0,0,0
$GC,4106,0.79,238.0,158.0,10.8,433,4110,0.00,1.73,0.00,0.000,4,0.000,0.049,3042,3769,1982,0,0,0,0,0,0
$GC,4141,0.79,238.0,153.8,11.3,436,4145,0.00,1.65,0.00,0.000,6,0.000,0.030,3049,2700,1982,0,0,0,0,0,0
$GC,4283,0.79,238.0,138.0,11.4,449,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2698,1982,0,0,0,0,0,0
$GC,4410,0.79,238.0,123.6,11.3,461,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2699,1982,0,0,0,0,0,0
$GC,4536,0.79,238.0,109.1,11.5,473,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2699,1982,0,0,0,0,0,0
$GC,4666,0.79,238.0,94.6,11.5,489,4673,0.00,1.75,0.00,0.000,4,0.000,0.049,3049,3757,1981,0,0,0,0,0,0
$GC,4720,0.79,238.0,87.7,13.1,498,4728,0.00,1.65,0.00,0.000,6,0.000,0.030,3056,2716,1981,0,0,0,0,0,0
$GC,4866,0.79,238.0,70.2,11.8,523,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2716,1982,0,0,0,0,0,0
$GC,5011,0.79,238.0,53.6,12.1,548,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2716,1981,0,0,0,0,0,0
$GC,5154,0.79,238.0,37.1,11.0,573,5160,0.00,1.73,0.00,0.000,4,0.000,0.049,3056,3757,1981,0,0,0,0,0,0
$GC,5203,0.79,238.0,31.3,12.3,581,5210,0.00,1.65,0.00,0.000,6,0.000,0.031,3063,2721,1981,0,0,0,0,0,0
$GC,5348,0.79,238.0,14.3,10.9,606,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2721,1981,0,0,0,0,0,0
$FREEZE,8.39,0.075,-1.897,2,1,0
$FREEZE,7.84,0.074,-1.897,2,1,0
$FREEZE,7.33,0.079,-1.897,2,1,0
$FREEZE,6.67,0.078,-1.896,2,1,0
$FREEZE,5.98,0.076,-1.896,2,1,0
$FREEZE,5.36,0.067,-1.895,2,1,0
$FREEZE,4.78,0.067,-1.895,2,1,0
$FREEZE,4.19,0.079,-1.894,2,1,0
$FREEZE,3.52,0.076,-1.894,2,1,0
$FREEZE,2.97,0.080,-1.893,2,1,0
$STATE,5440,end climb,SURFACE_DEPTH_REACHED
$STATE,5440,begin surface coast
$FREEZE,2.01,0.080,-1.893,2,1,0
$FREEZE,1.38,0.083,-1.892,2,1,0
$FREEZE,0.83,0.081,-1.892,2,1,0
$FREEZE,0.12,0.084,-1.891,2,1,0
$FREEZE,-0.09,-0.025,-1.575,2,1,0
$FINISH,-0.1,1.023175
$STATE,5469,end surface coast,CONTROL_FINISHED_OK
$STATE,5469,begin surface
$SM_CCo,5489,3.92,0.102,0,0,1940,250.20
$SM_GC,2.13,0.00,0.00,3.92,0.000,0.000,0.102,182,2794,1940,-8.18,0.40,250.20
$IRIDIUM_FIX,-7603.11,17710.61,250111,151552
$TT8_MAMPS,0.026964
$HUMID,52.83
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.2
$ALTIM_BOTTOM_PING,250.5,81.2
$24V_AH,21.6,91.247
$10V_AH,9.8,37.220
$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,18.075,34.875,355.000,3.925,0.000,30.506,38.644,165.099,0.750,0.000,13.258,1551.829,2357.310,418.982,1266.831,283.247,0.000,1020.109,0.000,992.891,0.000,7.253,0.000
$DEVICE_MAMPS,201.960,97.920,939.420,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.739,852.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258096
$DATA_FILE_SIZE,40339,628
$CAP_FILE_SIZE,80062,0
$CFSIZE,260165632,212238336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,282.2,1
$GPS,250111,182956,-7641.608,17622.475,16,1.3,16,124.0