version: 66.08
glider: 503
mission: 7
dive: 894
start: 1 28 111 1 47 13
data:
$ID,503
$MISSION,7
$DIVE,894
$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,-20663.404
$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,51
$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
$GPS1,280111,014006,-7621.503,17536.363,42,1.1,43,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-75.4
$GPS2,280111,014644,-7621.556,17536.301,7,1.6,7,123.8
$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,228.1,34664,-16.1,-10.000
$D_GRID,375
$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,12,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,93,0.00,0.00,-74.85,0.000,2,0.000,0.000,186,2773,3507,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.9,-9.7,13,119,9.20,1.65,-3.00,0.000,4,0.206,0.057,2556,3781,3660,0,0,0,0,0,0
$GC,244,-0.71,-170.3,36.9,-15.1,38,250,0.00,1.58,0.00,0.000,6,0.000,0.028,2556,2786,3663,0,0,0,0,0,0
$GC,386,-0.71,-170.3,58.6,-14.7,63,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2786,3663,0,0,0,0,0,0
$GC,530,-0.71,-170.3,78.8,-14.3,88,537,0.00,1.62,0.00,0.000,4,0.000,0.047,2549,3765,3663,0,0,0,0,0,0
$GC,572,-0.71,-170.3,85.2,-14.9,95,580,0.00,1.55,0.00,0.000,6,0.000,0.028,2549,2783,3663,0,0,0,0,0,0
$GC,714,-0.71,-170.3,105.4,-14.6,117,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2783,3663,0,0,0,0,0,0
$GC,840,-0.71,-170.3,123.7,-14.2,129,844,0.00,1.62,0.00,0.000,4,0.000,0.047,2541,3791,3663,0,0,0,0,0,0
$GC,876,-0.71,-170.3,128.9,-15.4,132,880,0.00,1.58,0.00,0.000,6,0.000,0.028,2541,2787,3663,0,0,0,0,0,0
$GC,1017,-0.71,-170.3,149.4,-14.5,145,1019,0.10,0.00,0.00,0.000,6,0.174,0.000,2568,2787,3663,0,0,0,0,0,0
$GC,1143,-0.71,-170.3,165.6,-12.3,157,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2787,3664,0,0,0,0,0,0
$GC,1271,-0.71,-170.3,181.1,-12.1,169,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2787,3664,0,0,0,0,0,0
$GC,1399,-0.71,-170.3,196.4,-11.7,181,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2786,3664,0,0,0,0,0,0
$GC,1525,-0.71,-170.3,211.5,-11.8,193,1529,0.00,1.62,0.00,0.000,4,0.000,0.048,2561,3793,3664,0,0,0,0,0,0
$GC,1572,-0.71,-170.3,217.6,-13.3,197,1575,0.00,1.58,0.00,0.000,6,0.000,0.028,2561,2789,3664,0,0,0,0,0,0
$GC,1713,-0.71,-170.3,235.9,-13.3,210,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2788,3664,0,0,0,0,0,0
$GC,1839,-0.71,-170.3,253.3,-14.3,222,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2788,3663,0,0,0,0,0,0
$GC,2031,-0.71,-170.3,281.7,-15.0,240,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2788,3663,0,0,0,0,0,0
$GC,2222,-0.71,-170.3,310.4,-14.9,258,2226,0.00,1.62,0.00,0.000,4,0.000,0.047,2553,3767,3663,0,0,0,0,0,0
$GC,2262,-0.71,-170.3,316.7,-14.8,261,2269,0.00,1.52,0.00,0.000,6,0.000,0.028,2553,2788,3663,0,0,0,0,0,0
$GC,2462,-0.71,-170.3,345.4,-13.7,280,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2789,3663,0,0,0,0,0,0
$GC,2651,-0.71,-170.3,371.6,-13.7,298,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2789,3663,0,0,0,0,0,0
$STATE,2680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2680,begin apogee
$GC,2687,-0.16,0.0,375.7,13.5,301,2834,0.57,0.00,140.80,0.976,4,0.116,0.000,2745,2693,2958,0,0,0,0,0,0
$STATE,2835,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin climb
$GC,2838,0.71,170.3,382.8,0.0,314,3000,0.85,2.33,153.25,0.927,4,0.072,0.031,3030,1311,2265,0,0,0,0,0,0
$GC,3007,0.81,247.5,378.0,6.9,328,3092,0.00,2.50,75.28,0.894,6,0.000,0.040,3030,2701,1951,0,0,1,0,0,0
$GC,3282,0.81,247.5,349.9,10.7,354,3286,0.00,1.80,0.00,0.000,4,0.000,0.047,3030,3763,1951,0,0,0,0,0,0
$GC,3328,0.81,247.5,344.4,12.1,358,3332,0.00,1.67,0.00,0.000,6,0.000,0.029,3038,2720,1950,0,0,1,0,0,0
$GC,3534,0.81,247.5,321.6,11.3,377,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2718,1950,0,0,0,0,0,0
$GC,3724,0.81,247.5,299.5,11.4,395,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2718,1950,0,0,0,0,0,0
$GC,3913,0.81,247.5,277.8,11.2,413,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2718,1948,0,0,0,0,0,0
$GC,4105,0.81,247.5,257.4,10.5,431,4109,0.00,1.75,0.00,0.000,4,0.000,0.049,3038,3762,1948,0,0,0,0,0,0
$GC,4151,0.81,247.5,251.8,12.4,435,4155,0.00,1.65,0.00,0.000,6,0.000,0.030,3043,2699,1948,0,0,0,0,0,0
$GC,4356,0.81,254.0,230.9,9.7,454,4365,0.00,0.00,6.53,0.786,6,0.000,0.000,3043,2698,1924,0,0,0,0,0,0
$GC,4494,0.82,261.6,217.6,9.7,467,4504,0.00,0.00,8.35,0.815,6,0.000,0.000,3044,2698,1893,0,0,0,0,0,0
$GC,4631,0.82,261.6,203.3,11.1,480,4634,0.00,1.73,0.00,0.000,4,0.000,0.048,3044,3766,1893,0,0,0,0,0,0
$GC,4666,0.82,261.6,198.9,12.7,483,4670,0.00,1.65,0.00,0.000,6,0.000,0.030,3051,2703,1893,0,0,0,0,0,0
$GC,4808,0.82,261.6,182.7,11.4,496,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2702,1893,0,0,0,0,0,0
$GC,4943,0.82,261.6,167.3,11.4,509,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2702,1893,0,0,0,0,0,0
$GC,5070,0.82,261.6,153.4,10.9,521,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2701,1893,0,0,0,0,0,0
$GC,5199,0.82,261.6,139.2,11.4,533,5202,0.00,1.73,0.00,0.000,4,0.000,0.049,3051,3766,1893,0,0,0,0,0,0
$GC,5245,0.82,261.6,133.3,13.0,537,5248,0.00,1.67,0.00,0.000,6,0.000,0.030,3057,2712,1893,0,0,0,0,0,0
$GC,5385,0.82,261.6,116.7,11.8,550,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2714,1893,0,0,0,0,0,0
$GC,5513,0.82,261.6,102.0,11.3,562,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2714,1893,0,0,0,0,0,0
$GC,5646,0.82,261.6,86.8,11.0,584,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2713,1893,0,0,0,0,0,0
$GC,5788,0.82,261.6,71.3,10.9,609,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2713,1893,0,0,0,0,0,0
$GC,5930,0.82,261.6,56.3,10.1,634,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2714,1893,0,0,0,0,0,0
$GC,6071,0.84,275.1,43.1,9.5,659,6091,0.00,1.75,13.20,0.779,4,0.000,0.046,3057,3766,1838,0,0,0,0,0,0
$GC,6128,0.84,275.1,37.5,11.0,668,6134,0.00,1.67,0.00,0.000,6,0.000,0.029,3063,2721,1838,0,0,0,0,0,0
$GC,6272,0.84,275.1,22.6,11.0,693,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2721,1838,0,0,0,0,0,0
$FREEZE,8.50,0.123,-1.893,2,1,0
$FREEZE,7.81,0.122,-1.893,2,1,0
$FREEZE,7.15,0.120,-1.892,2,1,0
$FREEZE,6.52,0.126,-1.892,2,1,0
$GC,6417,0.84,275.1,6.5,11.3,718,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2721,1838,0,0,0,0,0,0
$FREEZE,4.46,0.140,-1.890,2,1,0
$FREEZE,3.92,0.151,-1.889,2,1,0
$FREEZE,3.36,0.163,-1.889,2,1,0
$FREEZE,2.72,0.168,-1.888,2,1,0
$STATE,6445,end climb,SURFACE_DEPTH_REACHED
$STATE,6445,begin surface coast
$FREEZE,2.06,0.168,-1.888,2,1,0
$FREEZE,1.45,0.171,-1.887,2,1,0
$FREEZE,0.90,0.174,-1.887,2,1,0
$FREEZE,0.15,0.174,-1.886,2,1,0
$FREEZE,-0.14,0.033,-1.196,2,1,0
$FINISH,-0.1,1.017677
$STATE,6473,end surface coast,CONTROL_FINISHED_OK
$STATE,6473,begin surface
$SM_CCo,6553,0.00,0.000,0,0,1837,275.47
$SM_GC,0.73,7.65,0.00,0.00,0.045,0.000,0.000,184,2795,1837,-8.08,0.40,275.47
$IRIDIUM_FIX,-7536.68,17526.29,270111,232348
$TT8_MAMPS,0.026215
$HUMID,52.99
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.1
$24V_AH,21.4,94.409
$10V_AH,9.8,38.874
$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,18.375,38.025,397.400,0.000,0.000,30.765,37.640,174.236,1.000,0.000,10.301,1790.368,2976.145,445.686,1425.945,314.691,0.000,1128.552,0.000,1142.558,0.000,7.757,0.000
$DEVICE_MAMPS,205.785,100.215,976.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.228,942.749,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258160
$DATA_FILE_SIZE,47162,728
$CAP_FILE_SIZE,90892,0
$CFSIZE,260165632,210726912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.199,188.6,1
$GPS,280111,033726,-7621.168,17535.537,20,1.6,21,123.7