version: 66.08
glider: 503
mission: 7
dive: 879
start: 1 26 111 19 59 35
data:
$ID,503
$MISSION,7
$DIVE,879
$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,-20644.441
$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,48
$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
$GPS1,260111,194707,-7631.604,17603.834,40,1.0,41,123.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-73.2
$GPS2,260111,195908,-7631.550,17603.879,12,1.5,12,123.8
$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,191.9,56810,-16.1,-10.000
$D_GRID,381
$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,-170.3,0.0,0.0,0,93,0.00,0.00,-72.35,0.000,2,0.000,0.000,136,2746,3483,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.9,-7.2,12,119,9.25,2.17,-3.42,0.000,4,0.199,0.042,2567,1371,3658,0,0,0,0,0,0
$GC,344,-0.71,-170.3,45.5,-13.7,55,351,0.00,2.30,0.00,0.000,6,0.000,0.041,2563,2787,3661,0,0,0,0,0,0
$GC,487,-0.71,-170.3,65.5,-14.4,80,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3661,0,0,0,0,0,0
$GC,629,-0.71,-170.3,84.9,-13.9,105,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3661,0,0,0,0,0,0
$GC,771,-0.71,-170.3,103.1,-12.9,128,774,0.00,1.60,0.00,0.000,4,0.000,0.049,2562,3762,3661,0,0,0,0,0,0
$GC,807,-0.71,-170.3,107.9,-12.6,131,810,0.00,1.55,0.00,0.000,6,0.000,0.029,2562,2775,3661,0,0,0,0,0,0
$GC,947,-0.71,-170.3,126.5,-13.3,144,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3662,0,0,0,0,0,0
$GC,1074,-0.71,-170.3,143.3,-13.2,156,1078,0.00,1.62,0.00,0.000,4,0.000,0.047,2555,3757,3662,0,0,0,0,0,0
$GC,1114,-0.71,-170.3,149.0,-14.4,159,1120,0.00,1.52,0.00,0.000,6,0.000,0.028,2555,2785,3662,0,0,0,0,0,0
$GC,1248,-0.71,-170.3,167.3,-13.4,172,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2785,3661,0,0,0,0,0,0
$GC,1377,-0.71,-170.3,184.0,-13.1,184,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3661,0,0,0,0,0,0
$GC,1503,-0.71,-170.3,200.7,-13.0,196,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2786,3661,0,0,0,0,0,0
$GC,1631,-0.71,-170.3,217.5,-13.4,208,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2786,3662,0,0,0,0,0,0
$GC,1758,-0.71,-170.3,234.8,-13.6,220,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3661,0,0,0,0,0,0
$GC,1887,-0.71,-170.3,251.2,-12.6,232,1891,0.00,1.62,0.00,0.000,4,0.000,0.047,2548,3794,3661,0,0,0,0,0,0
$GC,1938,-0.71,-170.3,258.2,-13.6,236,1945,0.00,1.58,0.00,0.000,6,0.000,0.027,2547,2786,3661,0,0,0,0,0,0
$GC,2138,-0.71,-170.3,283.1,-12.2,255,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2787,3661,0,0,0,0,0,0
$GC,2337,-0.71,-170.3,309.5,-13.3,274,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2787,3661,0,0,0,0,0,0
$GC,2528,-0.71,-170.3,334.5,-13.1,292,2531,0.00,1.62,0.00,0.000,4,0.000,0.047,2540,3787,3661,0,0,0,0,0,0
$GC,2578,-0.71,-170.3,341.6,-14.4,296,2586,0.00,1.55,0.00,0.000,6,0.000,0.028,2539,2805,3660,0,0,0,0,0,0
$GC,2777,-0.71,-170.3,368.5,-13.1,315,2779,0.10,0.00,0.00,0.000,6,0.170,0.000,2568,2805,3661,0,0,0,0,0,0
$STATE,2880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2880,begin apogee
$GC,2888,-0.16,0.0,381.0,11.7,325,3035,0.52,0.00,140.07,0.981,4,0.112,0.000,2747,2686,2959,0,0,0,0,0,0
$STATE,3036,end apogee,CONTROL_FINISHED_OK
$STATE,3036,begin climb
$GC,3039,0.71,170.3,387.4,0.0,338,3202,0.82,2.33,152.90,0.930,4,0.070,0.032,3026,1311,2265,0,0,0,0,0,0
$GC,3208,0.79,230.6,382.1,7.6,352,3274,0.00,2.50,58.90,0.896,6,0.000,0.041,3026,2697,2020,0,0,1,0,0,0
$GC,3473,0.79,230.6,354.5,11.1,377,3477,0.00,1.83,0.00,0.000,4,0.000,0.047,3026,3772,2018,0,0,0,0,0,0
$GC,3520,0.79,230.6,348.9,12.8,381,3524,0.00,1.73,0.00,0.000,6,0.000,0.028,3033,2713,2018,0,0,0,0,0,0
$GC,3728,0.79,230.6,326.7,10.2,400,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2713,2016,0,0,0,0,0,0
$GC,3926,0.79,230.6,305.8,10.5,419,3930,0.00,1.73,0.00,0.000,4,0.000,0.047,3033,3775,2015,0,0,0,0,0,0
$GC,3965,0.79,230.6,301.0,12.3,422,3972,0.00,1.73,0.00,0.000,6,0.000,0.029,3040,2703,2015,0,0,0,0,0,0
$GC,4166,0.79,230.6,279.0,11.4,441,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2703,2014,0,0,0,0,0,0
$GC,4365,0.79,230.6,256.2,11.2,460,4368,0.00,1.73,0.00,0.000,4,0.000,0.048,3041,3769,2014,0,0,0,0,0,0
$GC,4404,0.79,230.6,251.2,12.5,463,4411,0.00,1.65,0.00,0.000,6,0.000,0.030,3048,2709,2013,0,0,0,0,0,0
$GC,4603,0.79,230.6,228.6,11.4,482,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2709,2014,0,0,0,0,0,0
$GC,4729,0.79,230.6,214.5,11.0,494,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2709,2013,0,0,0,0,0,0
$GC,4857,0.79,230.6,200.5,10.8,506,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2710,2013,0,0,0,0,0,0
$GC,4983,0.79,230.6,186.8,11.1,518,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2709,2013,0,0,0,0,0,0
$GC,5111,0.79,230.6,172.5,11.1,530,5115,0.00,1.75,0.00,0.000,4,0.000,0.047,3048,3768,2013,0,0,0,0,0,0
$GC,5150,0.79,230.6,167.5,12.3,533,5156,0.00,1.67,0.00,0.000,6,0.000,0.030,3056,2713,2013,0,0,0,0,0,0
$GC,5285,0.79,230.6,151.7,11.8,546,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2713,2012,0,0,0,0,0,0
$GC,5412,0.79,230.6,136.8,11.7,558,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2713,2012,0,0,0,0,0,0
$GC,5539,0.79,230.6,121.9,11.6,570,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2713,2013,0,0,0,0,0,0
$GC,5667,0.79,230.6,107.3,11.5,582,5671,0.00,1.70,0.00,0.000,4,0.000,0.047,3056,3769,2013,0,0,0,0,0,0
$GC,5705,0.79,230.6,102.2,12.7,585,5712,0.00,1.65,0.00,0.000,6,0.000,0.029,3063,2729,2013,0,0,0,0,0,0
$GC,5846,0.79,230.6,86.0,11.5,608,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2730,2012,0,0,0,0,0,0
$GC,5989,0.79,230.6,69.3,11.9,633,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2729,2012,0,0,0,0,0,0
$GC,6131,0.79,230.6,52.6,11.6,658,6138,0.00,1.70,0.00,0.000,4,0.000,0.047,3063,3756,2011,0,0,0,0,0,0
$GC,6174,0.79,230.6,47.1,13.6,665,6181,0.00,1.62,0.00,0.000,6,0.000,0.030,3071,2735,2012,0,0,0,0,0,0
$GC,6317,0.79,230.6,30.1,11.6,690,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2735,2012,0,0,0,0,0,0
$GC,6458,0.79,230.6,13.3,12.1,715,6466,0.00,1.70,0.00,0.000,4,0.000,0.047,3071,3763,2011,0,0,0,0,0,0
$FREEZE,8.16,0.090,-1.895,2,1,0
$FREEZE,7.45,0.090,-1.894,2,1,0
$FREEZE,6.75,0.091,-1.894,2,1,0
$FREEZE,6.05,0.091,-1.893,2,1,0
$GC,6513,0.79,230.6,6.1,14.6,724,6520,0.00,1.62,0.00,0.000,6,0.000,0.030,3079,2740,2011,0,0,0,0,0,0
$FREEZE,3.72,0.094,-1.891,2,1,0
$FREEZE,3.10,0.094,-1.891,2,1,0
$FREEZE,2.41,0.094,-1.890,2,1,0
$STATE,6536,end climb,SURFACE_DEPTH_REACHED
$STATE,6536,begin surface coast
$FREEZE,1.47,0.095,-1.889,2,1,0
$FREEZE,0.78,0.096,-1.889,2,1,0
$FREEZE,0.11,0.097,-1.888,2,1,0
$FREEZE,-0.03,0.029,-1.889,2,1,0
$FINISH,-0.0,1.027632
$STATE,6560,end surface coast,CONTROL_FINISHED_OK
$STATE,6563,begin surface
$SM_CCo,6582,7.78,0.103,0,0,1940,250.20
$SM_GC,2.34,0.00,0.00,7.78,0.000,0.000,0.103,177,2799,1940,-8.20,0.54,250.20
$IRIDIUM_FIX,-7545.40,17600.76,260111,191931
$TT8_MAMPS,0.027713
$HUMID,53.54
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.8
$24V_AH,21.5,92.778
$10V_AH,9.7,38.016
$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,18.375,45.975,351.875,7.775,0.000,57.225,71.889,340.967,1.000,0.000,14.837,1812.724,3039.659,440.611,1674.722,345.779,0.000,1128.190,0.000,1156.071,0.000,7.759,0.000
$DEVICE_MAMPS,198.900,110.925,981.495,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,513.029,937.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258208
$DATA_FILE_SIZE,47133,732
$CAP_FILE_SIZE,95982,0
$CFSIZE,260165632,211501056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.062,102.0,1
$GPS,260111,215055,-7630.829,17601.666,46,1.8,47,123.8