version: 66.08
glider: 503
mission: 7
dive: 875
start: 1 26 111 11 41 5
data:
$ID,503
$MISSION,7
$DIVE,875
$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,-20639.414
$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,28
$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
$GPS1,260111,113326,-7635.561,17611.047,17,2.0,18,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-75.2
$GPS2,260111,114036,-7635.559,17611.102,11,1.1,27,123.9
$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,199.1,64853,-16.1,-10.000
$D_GRID,404
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,90,0.00,0.00,-71.22,0.000,2,0.000,0.000,176,2747,3393,0,0,0,0,0,0
$GC,94,-0.71,-170.3,3.2,-5.5,12,115,9.10,2.25,-5.75,0.000,4,0.202,0.045,2567,1373,3659,0,0,0,0,0,0
$GC,179,-0.71,-170.3,21.7,-13.1,26,186,0.00,2.30,0.00,0.000,6,0.000,0.043,2562,2784,3661,0,0,0,0,0,0
$GC,322,-0.71,-170.3,40.8,-13.6,51,329,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3765,3662,0,0,0,0,0,0
$GC,372,-0.71,-170.3,47.8,-14.0,59,379,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2772,3662,0,0,0,0,0,0
$GC,516,-0.71,-170.3,67.2,-13.6,84,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2772,3663,0,0,0,0,0,0
$GC,658,-0.71,-170.3,86.6,-13.9,109,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2772,3663,0,0,0,0,0,0
$GC,798,-0.71,-170.3,106.0,-13.7,130,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2772,3663,0,0,0,0,0,0
$GC,926,-0.71,-170.3,123.4,-13.3,142,930,0.00,1.65,0.00,0.000,4,0.000,0.049,2562,3766,3663,0,0,0,0,0,0
$GC,975,-0.71,-170.3,130.7,-14.8,146,983,0.00,1.55,0.00,0.000,6,0.000,0.028,2563,2783,3663,0,0,0,0,0,0
$GC,1110,-0.71,-170.3,148.8,-13.8,159,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2783,3663,0,0,0,0,0,0
$GC,1239,-0.71,-170.3,166.0,-13.5,171,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2784,3663,0,0,0,0,0,0
$GC,1364,-0.71,-170.3,182.6,-12.9,183,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3664,0,0,0,0,0,0
$GC,1492,-0.71,-170.3,199.2,-13.1,195,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2784,3664,0,0,0,0,0,0
$GC,1619,-0.71,-170.3,216.3,-13.6,207,1623,0.00,1.62,0.00,0.000,4,0.000,0.049,2562,3791,3663,0,0,0,0,0,0
$GC,1655,-0.71,-170.3,221.1,-13.9,210,1659,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2784,3664,0,0,0,0,0,0
$GC,1796,-0.71,-170.3,240.1,-13.3,223,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3663,0,0,0,0,0,0
$GC,1925,-0.71,-170.3,256.7,-12.8,235,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3663,0,0,0,0,0,0
$GC,2125,-0.71,-170.3,282.6,-12.6,254,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3663,0,0,0,0,0,0
$GC,2315,-0.71,-170.3,306.9,-13.0,272,2319,0.00,1.62,0.00,0.000,4,0.000,0.050,2563,3763,3663,0,0,0,0,0,0
$GC,2373,-0.71,-170.3,314.4,-13.4,277,2377,0.00,1.52,0.00,0.000,6,0.000,0.028,2562,2787,3663,0,0,0,0,0,0
$GC,2578,-0.71,-170.3,340.4,-12.4,296,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,2768,-0.71,-170.3,364.1,-12.2,314,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3663,0,0,0,0,0,0
$STATE,2935,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2935,begin apogee
$GC,2943,-0.16,0.0,385.2,12.2,330,3090,0.52,0.00,140.45,0.983,4,0.115,0.000,2740,2688,2959,0,0,0,0,0,0
$STATE,3091,end apogee,CONTROL_FINISHED_OK
$STATE,3091,begin climb
$GC,3095,0.71,170.3,391.6,0.0,343,3257,0.85,2.35,152.93,0.933,4,0.074,0.032,3025,1305,2264,0,0,0,0,0,0
$GC,3264,0.80,239.8,385.9,7.2,357,3339,0.00,2.53,67.90,0.900,6,0.000,0.041,3025,2704,1982,0,0,1,0,0,0
$GC,3529,0.80,239.8,359.7,10.3,382,3533,0.00,1.83,0.00,0.000,4,0.000,0.048,3025,3772,1981,0,0,0,0,0,0
$GC,3580,0.80,239.8,353.8,11.9,386,3588,0.00,1.75,0.00,0.000,6,0.000,0.029,3031,2701,1981,0,0,1,0,0,0
$GC,3778,0.80,239.8,332.6,10.6,405,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2700,1979,0,0,0,0,0,0
$GC,3970,0.80,239.8,312.5,10.8,423,3973,0.00,1.75,0.00,0.000,4,0.000,0.049,3032,3769,1978,0,0,1,0,0,0
$GC,4020,0.80,239.8,306.4,12.0,427,4027,0.00,1.67,0.00,0.000,6,0.000,0.030,3039,2703,1978,0,0,0,0,0,0
$GC,4220,0.80,239.8,284.6,11.0,446,4223,0.00,1.73,0.00,0.000,4,0.000,0.048,3038,3767,1977,0,0,0,0,0,0
$GC,4258,0.80,239.8,279.7,12.6,449,4265,0.00,1.67,0.00,0.000,6,0.000,0.030,3046,2709,1977,0,0,0,0,0,0
$GC,4457,0.80,239.8,258.0,10.9,468,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2709,1977,0,0,0,0,0,0
$GC,4648,0.80,239.8,237.2,10.7,486,4651,0.00,1.70,0.00,0.000,4,0.000,0.047,3046,3769,1977,0,0,0,0,0,0
$GC,4699,0.80,239.8,231.1,12.4,490,4706,0.00,1.65,0.00,0.000,6,0.000,0.029,3052,2732,1976,0,0,0,0,0,0
$GC,4834,0.80,239.8,216.5,10.8,503,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2732,1977,0,0,0,0,0,0
$GC,4961,0.80,239.8,203.3,10.4,515,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2732,1976,0,0,0,0,0,0
$GC,5089,0.80,239.8,189.5,11.2,527,5093,0.00,1.70,0.00,0.000,4,0.000,0.048,3052,3761,1976,0,0,0,0,0,0
$GC,5128,0.80,239.8,184.6,12.8,530,5136,0.00,1.65,0.00,0.000,6,0.000,0.030,3059,2724,1976,0,0,0,0,0,0
$GC,5263,0.80,239.8,169.3,11.3,543,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2724,1975,0,0,0,0,0,0
$GC,5391,0.80,239.8,155.0,11.3,555,5395,0.00,1.67,0.00,0.000,4,0.000,0.049,3059,3768,1975,0,0,0,0,0,0
$GC,5439,0.80,239.8,149.2,12.9,559,5442,0.00,1.62,0.00,0.000,6,0.000,0.030,3066,2741,1975,0,0,0,0,0,0
$GC,5579,0.80,239.8,132.3,12.1,572,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2741,1975,0,0,0,0,0,0
$GC,5707,0.80,239.8,116.8,12.5,584,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2741,1975,0,0,0,0,0,0
$GC,5833,0.80,239.8,101.4,12.2,596,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2741,1975,0,0,0,0,0,0
$GC,5967,0.80,239.8,85.0,12.4,619,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2741,1975,0,0,0,0,0,0
$GC,6110,0.80,239.8,68.2,11.3,644,6117,0.00,1.70,0.00,0.000,4,0.000,0.047,3066,3764,1974,0,0,0,0,0,0
$GC,6157,0.80,239.8,62.1,13.8,652,6164,0.00,1.62,0.00,0.000,6,0.000,0.028,3074,2740,1975,0,0,0,0,0,0
$GC,6302,0.80,239.8,45.3,12.2,677,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2740,1975,0,0,0,0,0,0
$GC,6444,0.80,239.8,28.4,11.7,702,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2740,1975,0,0,0,0,0,0
$GC,6588,0.80,239.8,11.6,11.7,727,6595,0.00,1.70,0.00,0.000,4,0.000,0.047,3074,3767,1975,0,0,0,0,0,0
$FREEZE,8.61,-0.002,-1.897,2,1,0
$FREEZE,7.99,-0.007,-1.897,2,1,0
$FREEZE,7.31,-0.006,-1.896,2,1,0
$FREEZE,6.46,-0.002,-1.895,2,1,0
$FREEZE,5.79,-0.002,-1.895,2,1,0
$FREEZE,5.07,-0.002,-1.894,2,1,0
$FREEZE,4.30,-0.002,-1.894,2,1,0
$GC,6641,0.80,239.8,4.3,13.8,736,6647,0.00,1.62,0.00,0.000,6,0.000,0.029,3081,2741,1974,0,0,0,0,0,0
$FREEZE,2.02,-0.003,-1.892,2,1,0
$STATE,6653,end climb,SURFACE_DEPTH_REACHED
$STATE,6653,begin surface coast
$FREEZE,1.39,-0.003,-1.892,2,1,0
$FREEZE,0.63,-0.033,-1.891,2,1,0
$FREEZE,-0.09,-0.032,-1.891,2,1,0
$FREEZE,-0.13,-0.161,-1.792,2,1,0
$FINISH,-0.1,1.026276
$STATE,6676,end surface coast,CONTROL_FINISHED_OK
$STATE,6676,begin surface
$SM_CCo,6696,3.28,0.104,0,0,1940,250.20
$SM_GC,2.11,0.00,0.00,3.28,0.000,0.000,0.104,182,2797,1940,-8.18,0.48,250.20
$IRIDIUM_FIX,-7554.21,17608.07,260111,090951
$TT8_MAMPS,0.027713
$HUMID,53.50
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,351.0,48.4
$24V_AH,21.4,92.319
$10V_AH,9.7,37.777
$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,18.125,49.400,361.275,3.275,0.000,30.143,35.878,183.049,1.250,0.000,30.238,1842.849,3030.760,444.834,1484.692,330.143,0.000,1144.869,0.000,1176.015,0.000,10.594,0.000
$DEVICE_MAMPS,201.960,108.630,983.025,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.253,943.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258156
$DATA_FILE_SIZE,46979,742
$CAP_FILE_SIZE,95269,0
$CFSIZE,260165632,211714048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.065, 68.1,1
$GPS,260111,133407,-7634.584,17609.324,39,1.6,40,123.8