version: 66.08
glider: 503
mission: 7
dive: 870
start: 1 26 111 1 39 35
data:
$ID,503
$MISSION,7
$DIVE,870
$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,-20633.129
$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,32
$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
$GPS1,260111,012825,-7638.496,17614.615,16,1.2,28,124.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-75.0
$GPS2,260111,013908,-7638.550,17614.600,15,1.7,15,124.0
$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,234.6,70462,-16.1,-10.000
$D_GRID,432
$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,18,-0.71,-170.3,0.0,0.0,0,92,0.00,0.00,-72.03,0.000,2,0.000,0.000,151,2748,3420,0,0,0,0,0,0
$GC,96,-0.71,-170.3,3.2,-5.8,12,118,9.20,2.28,-5.12,0.000,4,0.201,0.044,2564,1367,3659,0,0,0,0,0,0
$GC,187,-0.71,-170.3,23.1,-14.3,27,194,0.00,2.30,0.00,0.000,6,0.000,0.043,2560,2781,3661,0,0,0,0,0,0
$GC,329,-0.71,-170.3,43.8,-14.4,52,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2781,3662,0,0,0,0,0,0
$GC,471,-0.71,-170.3,62.5,-12.8,77,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2781,3662,0,0,0,0,0,0
$GC,616,-0.71,-170.3,81.8,-13.8,102,624,0.00,1.60,0.00,0.000,4,0.000,0.049,2560,3752,3664,0,0,0,0,0,0
$GC,665,-0.71,-170.3,88.7,-12.7,110,673,0.00,1.52,0.00,0.000,6,0.000,0.028,2560,2784,3663,0,0,0,0,0,0
$GC,813,-0.71,-170.3,107.9,-13.5,131,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2784,3663,0,0,0,0,0,0
$GC,940,-0.71,-170.3,124.7,-13.0,143,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2785,3663,0,0,0,0,0,0
$GC,1069,-0.71,-170.3,141.7,-13.3,155,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2784,3663,0,0,0,0,0,0
$GC,1195,-0.71,-170.3,159.0,-13.5,167,1199,0.00,1.62,0.00,0.000,4,0.000,0.047,2553,3762,3663,0,0,0,0,0,0
$GC,1244,-0.71,-170.3,166.5,-14.5,171,1251,0.00,1.52,0.00,0.000,6,0.000,0.028,2552,2791,3663,0,0,0,0,0,0
$GC,1380,-0.71,-170.3,185.1,-14.1,184,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2790,3664,0,0,0,0,0,0
$GC,1506,-0.71,-170.3,203.4,-14.2,196,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2791,3663,0,0,0,0,0,0
$GC,1633,-0.71,-170.3,221.1,-13.4,208,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2791,3663,0,0,0,0,0,0
$GC,1761,-0.71,-170.3,238.5,-13.5,220,1765,0.00,1.60,0.00,0.000,4,0.000,0.048,2547,3752,3664,0,0,0,0,0,0
$GC,1801,-0.71,-170.3,244.5,-14.3,223,1807,0.00,1.52,0.00,0.000,6,0.000,0.028,2547,2785,3663,0,0,0,0,0,0
$GC,1935,-0.71,-170.3,262.8,-13.7,236,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2785,3663,0,0,0,0,0,0
$GC,2129,-0.71,-170.3,289.0,-13.6,254,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2785,3663,0,0,0,0,0,0
$GC,2329,-0.71,-170.3,316.3,-13.7,273,2332,0.00,1.60,0.00,0.000,4,0.000,0.047,2540,3749,3663,0,0,0,0,0,0
$GC,2368,-0.71,-170.3,322.4,-14.7,276,2375,0.00,1.50,0.00,0.000,6,0.000,0.028,2540,2790,3662,0,0,0,0,0,0
$GC,2574,-0.71,-170.3,350.2,-13.9,295,2580,0.10,0.00,0.00,0.000,6,0.171,0.000,2568,2790,3662,0,0,0,0,0,0
$STATE,2674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2674,begin apogee
$GC,2681,-0.16,0.0,363.4,11.5,305,2829,0.50,0.00,139.82,0.968,4,0.112,0.000,2741,2690,2959,0,0,0,0,0,0
$STATE,2830,end apogee,CONTROL_FINISHED_OK
$STATE,2830,begin climb
$GC,2833,0.71,170.3,369.8,0.0,318,2995,0.85,2.33,152.10,0.920,4,0.072,0.031,3027,1303,2265,0,0,0,0,0,0
$GC,3211,0.76,213.5,346.0,8.3,351,3258,0.00,2.38,39.70,0.896,6,0.000,0.041,3027,2706,2090,0,0,0,0,0,0
$GC,3448,0.78,227.1,323.4,9.5,373,3472,0.00,2.33,13.35,0.859,4,0.000,0.034,3037,1316,2034,0,0,1,0,0,0
$GC,3597,0.80,239.8,309.1,9.5,386,3615,0.00,2.30,13.30,0.861,6,0.000,0.041,3037,2717,1982,0,0,0,0,0,0
$GC,3810,0.80,239.8,286.6,10.6,405,3814,0.00,1.70,0.00,0.000,4,0.000,0.049,3037,3768,1982,0,0,0,0,0,0
$GC,3860,0.80,239.8,280.4,12.2,409,3866,0.00,1.65,0.00,0.000,6,0.000,0.030,3044,2714,1982,0,0,0,0,0,0
$GC,4060,0.80,239.8,258.6,11.1,428,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2715,1982,0,0,0,0,0,0
$GC,4259,0.80,239.8,237.5,10.6,447,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2714,1981,0,0,0,0,0,0
$GC,4387,0.80,239.8,223.5,11.0,459,4391,0.00,1.70,0.00,0.000,4,0.000,0.047,3044,3770,1981,0,0,0,0,0,0
$GC,4437,0.80,239.8,216.9,12.9,463,4444,0.00,1.67,0.00,0.000,6,0.000,0.030,3051,2721,1981,0,0,0,0,0,0
$GC,4572,0.80,239.8,201.3,11.6,476,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2720,1981,0,0,0,0,0,0
$GC,4700,0.80,239.8,186.2,12.0,488,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2720,1981,0,0,0,0,0,0
$GC,4827,0.80,239.8,171.4,11.8,500,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2720,1981,0,0,0,0,0,0
$GC,4954,0.80,239.8,156.4,11.8,512,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2720,1981,0,0,0,0,0,0
$GC,5082,0.80,239.8,141.2,11.9,524,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2720,1981,0,0,0,0,0,0
$GC,5210,0.80,239.8,126.3,11.5,536,5214,0.00,1.67,0.00,0.000,4,0.000,0.048,3051,3763,1980,0,0,0,0,0,0
$GC,5260,0.80,239.8,119.5,13.2,540,5266,0.00,1.65,0.00,0.000,6,0.000,0.031,3059,2725,1980,0,0,0,0,0,0
$GC,5394,0.80,239.8,103.6,11.7,553,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2725,1980,0,0,0,0,0,0
$GC,5527,0.80,239.8,88.1,11.6,574,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2725,1980,0,0,0,0,0,0
$GC,5672,0.80,239.8,71.5,11.2,599,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2725,1980,0,0,0,0,0,0
$GC,5814,0.80,239.8,55.7,11.3,624,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2726,1980,0,0,0,0,0,0
$GC,5957,0.81,248.1,40.2,9.7,649,5971,0.00,0.00,8.45,0.752,6,0.000,0.000,3059,2725,1947,0,0,0,0,0,0
$GC,6109,0.81,248.1,24.3,11.3,675,6116,0.00,1.70,0.00,0.000,4,0.000,0.049,3059,3752,1947,0,0,0,0,0,0
$GC,6151,0.81,248.1,18.6,12.7,682,6158,0.00,1.62,0.00,0.000,6,0.000,0.030,3066,2724,1947,0,0,0,0,0,0
$FREEZE,8.84,0.076,-1.898,2,1,0
$FREEZE,8.28,0.064,-1.898,2,1,0
$FREEZE,7.64,0.062,-1.897,2,1,0
$FREEZE,7.11,0.071,-1.897,2,1,0
$FREEZE,6.41,0.076,-1.896,2,1,0
$FREEZE,5.76,0.095,-1.895,2,1,0
$FREEZE,5.19,0.097,-1.895,2,1,0
$FREEZE,4.10,0.090,-1.894,2,1,0
$FREEZE,3.36,0.115,-1.894,2,1,0
$FREEZE,2.87,0.126,-1.893,2,1,0
$STATE,6280,end climb,SURFACE_DEPTH_REACHED
$STATE,6280,begin surface coast
$FREEZE,2.33,0.123,-1.893,2,1,0
$FREEZE,1.50,0.112,-1.892,2,1,0
$FREEZE,0.71,0.118,-1.892,2,1,0
$FREEZE,0.19,0.129,-1.891,2,1,0
$FINISH,0.2,1.027654
$STATE,6302,end surface coast,CONTROL_FINISHED_OK
$STATE,6302,begin surface
$SM_CCo,6322,0.52,0.121,0,0,1939,250.20
$SM_GC,1.86,0.00,0.00,0.52,0.000,0.000,0.121,179,2796,1939,-8.19,0.45,250.20
$IRIDIUM_FIX,-7554.21,17626.00,260111,010146
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,20.4
$ALTIM_BOTTOM_PING,350.2,27.1
$24V_AH,21.7,91.766
$10V_AH,9.7,37.485
$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,18.275,39.975,366.725,0.525,0.000,50.082,77.041,262.140,1.500,0.000,17.722,1753.638,2824.272,450.864,1611.641,328.611,0.000,1132.462,0.000,1152.642,0.000,10.538,0.000
$DEVICE_MAMPS,201.195,97.920,968.490,120.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.464,921.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47038,709
$CAP_FILE_SIZE,93305,0
$CFSIZE,260165632,211988480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.114,204.3,1
$GPS,260111,032631,-7637.991,17614.225,50,1.0,51,123.9