version: 66.08
glider: 503
mission: 9
dive: 12
start: 7 1 111 3 32 54
data:
$ID,503
$MISSION,9
$DIVE,12
$N_DIVES,923
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.0099999998
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51780
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,320
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22252.045
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2445
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,87
$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,2240
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.829041
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043296744
$SEABIRD_T_H,0.0006251334
$SEABIRD_T_I,2.4134433e-05
$SEABIRD_T_J,2.6666371e-06
$SEABIRD_C_G,-10.186432
$SEABIRD_C_H,1.1667659
$SEABIRD_C_I,-0.0018490647
$SEABIRD_C_J,0.00021933243
$GPS1,010711,032252,4744.058,-12224.609,11,2.7,30,18.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.4
$GPS2,010711,033146,4744.066,-12224.485,8,3.2,27,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.202,-0.086
$KALMAN_X,723.0,-230.9,-34.7,-829.6,623.8
$KALMAN_Y,-2280.0,-582.5,-304.6,3807.0,128.0
$MHEAD_RNG_PITCHd_Wd,204.1,498,-24.6,-8.032
$D_GRID,200
$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,-0.84,-53.8,0.0,0.0,0,80,0.00,0.00,-61.12,0.000,6,0.000,0.000,179,1978,2461,0,0,0,0,0,0
$GC,83,-0.90,-102.3,1.9,-3.2,5,101,7.15,2.03,-5.55,0.000,4,0.207,0.040,2138,3321,2659,0,0,0,0,0,0
$GC,352,-0.81,-102.3,48.1,-13.9,28,360,0.12,2.05,0.00,0.000,6,0.130,0.021,2180,1949,2660,0,0,0,0,0,0
$GC,394,-0.77,-102.3,51.5,-9.3,32,398,0.00,2.10,0.00,0.000,4,0.000,0.031,2171,3321,2660,0,0,0,0,0,0
$GC,559,-0.79,-114.6,62.1,-6.8,46,564,0.00,2.03,-0.47,0.000,6,0.000,0.020,2171,1938,2714,0,0,0,0,0,0
$GC,600,-0.81,-131.0,64.9,-6.4,49,609,0.00,0.00,-0.55,0.000,6,0.000,0.000,2171,1938,2780,0,0,0,0,0,0
$GC,641,-0.81,-134.8,68.2,-7.7,53,650,0.00,0.00,-0.15,0.000,6,0.000,0.000,2171,1938,2797,0,0,0,0,0,0
$GC,683,-0.81,-134.8,71.6,-8.6,57,687,0.00,2.10,0.00,0.000,4,0.000,0.029,2170,3319,2799,0,0,0,0,0,0
$GC,714,-0.81,-134.8,74.4,-8.3,59,718,0.00,2.05,0.00,0.000,6,0.000,0.021,2170,1926,2799,0,0,0,0,0,0
$GC,756,-0.81,-134.8,78.2,-9.4,62,759,0.00,2.05,0.00,0.000,4,0.000,0.029,2170,561,2800,0,0,0,0,0,0
$GC,781,-0.81,-134.8,80.9,-10.0,64,785,0.00,1.92,0.00,0.000,6,0.000,0.021,2167,1877,2800,0,0,0,0,0,0
$GC,828,-0.81,-134.8,85.4,-9.8,68,832,0.00,1.98,0.00,0.000,4,0.000,0.029,2167,555,2800,0,0,0,0,0,0
$GC,877,-0.78,-134.8,91.2,-10.6,72,886,0.08,1.88,0.00,0.000,6,0.134,0.021,2186,1833,2800,0,0,0,0,0,0
$GC,918,-0.78,-134.8,94.6,-9.3,76,922,0.00,2.25,0.00,0.000,4,0.000,0.030,2183,3317,2800,0,0,0,0,0,0
$GC,929,-0.81,-134.8,95.8,-8.7,76,937,0.00,2.15,0.00,0.000,6,0.000,0.021,2183,1888,2800,0,0,0,0,0,0
$GC,970,-0.86,-134.8,99.2,-9.1,80,974,0.00,2.15,0.00,0.000,4,0.000,0.029,2181,3320,2800,0,0,0,0,0,0
$GC,1024,-0.92,-137.0,103.6,-7.8,84,1028,0.00,2.03,0.00,0.000,6,0.000,0.021,2181,1942,2800,0,0,0,0,0,0
$GC,1073,-0.95,-137.4,107.3,-8.0,88,1081,0.12,0.00,0.00,0.000,6,0.086,0.000,2111,1940,2800,0,0,0,0,0,0
$GC,1114,-0.91,-137.4,111.8,-10.7,92,1119,0.15,2.08,0.00,0.000,4,0.151,0.029,2154,549,2800,0,0,0,0,0,0
$GC,1167,-0.87,-137.4,118.4,-12.4,96,1171,0.00,1.95,0.00,0.000,6,0.000,0.021,2147,1895,2800,0,0,0,0,0,0
$GC,1215,-0.83,-137.4,123.6,-11.4,100,1223,0.12,0.00,0.00,0.000,6,0.161,0.000,2182,1896,2800,0,0,0,0,0,0
$GC,1255,-0.83,-137.4,128.1,-10.6,104,1259,0.00,2.12,0.00,0.000,4,0.000,0.029,2181,3320,2800,0,0,0,0,0,0
$GC,1286,-0.88,-137.4,131.2,-10.6,106,1290,0.00,2.08,0.00,0.000,6,0.000,0.021,2182,1918,2800,0,0,0,0,0,0
$GC,1328,-0.93,-137.4,135.6,-10.5,109,1336,0.10,0.00,0.00,0.000,6,0.099,0.000,2122,1918,2800,0,0,0,0,0,0
$GC,1370,-0.90,-137.4,140.7,-12.3,113,1375,0.12,2.15,0.00,0.000,4,0.158,0.029,2148,3329,2800,0,0,0,0,0,0
$GC,1447,-0.90,-137.4,151.2,-11.6,119,1455,0.00,2.05,0.00,0.000,6,0.000,0.020,2147,1956,2800,0,0,0,0,0,0
$GC,1490,-0.90,-137.4,155.6,-12.0,123,1493,0.00,2.05,0.00,0.000,4,0.000,0.029,2139,3316,2800,0,0,0,0,0,0
$GC,1570,-0.90,-137.4,165.6,-12.4,130,1574,0.00,1.95,0.00,0.000,6,0.000,0.020,2139,1975,2800,0,0,0,0,0,0
$GC,1616,-0.87,-137.4,171.1,-11.4,134,1620,0.00,2.03,0.00,0.000,4,0.000,0.029,2129,3320,2800,0,0,0,0,0,0
$STATE,1696,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1696,begin apogee
$GC,1705,-0.16,0.0,181.9,13.4,141,1818,0.77,0.00,105.22,0.712,4,0.119,0.000,2393,1953,2240,0,0,0,0,0,0
$STATE,1821,end apogee,CONTROL_FINISHED_OK
$STATE,1821,begin climb
$GC,1824,0.94,137.4,185.2,0.0,150,1946,1.00,2.20,112.15,0.677,4,0.074,0.031,2747,555,1679,0,0,0,0,0,0
$GC,2107,0.86,137.4,133.8,22.8,173,2111,0.00,2.03,0.00,0.000,6,0.000,0.020,2747,1928,1673,0,0,0,0,0,0
$GC,2150,0.78,137.4,124.1,22.5,176,2154,0.17,2.12,0.00,0.000,4,0.158,0.031,2707,553,1672,0,0,0,0,0,0
$GC,2405,0.78,137.4,73.0,19.9,198,2414,0.00,2.10,0.00,0.000,6,0.000,0.021,2707,1954,1671,0,0,0,0,0,0
$GC,2446,0.78,137.4,65.7,19.4,202,2450,0.00,2.12,0.00,0.000,4,0.000,0.032,2709,563,1671,0,0,0,0,0,0
$GC,2478,0.78,137.4,59.6,18.5,204,2482,0.00,2.08,0.00,0.000,6,0.000,0.021,2709,1968,1671,0,0,0,0,0,0
$GC,2519,0.75,137.4,51.9,18.6,207,2523,0.00,2.08,0.00,0.000,4,0.000,0.028,2709,3341,1671,0,0,0,0,0,0
$GC,2556,0.72,137.4,44.4,20.7,210,2560,0.15,1.95,0.00,0.000,6,0.157,0.023,2673,2047,1669,0,0,0,0,0,0
$GC,2597,0.74,137.4,36.3,19.5,213,2601,0.00,2.25,0.00,0.000,4,0.000,0.033,2681,558,1669,0,0,0,0,0,0
$GC,2662,0.81,137.4,25.3,14.7,218,2671,0.00,2.22,0.00,0.000,6,0.000,0.022,2680,2040,1669,0,0,0,0,0,0
$GC,2706,0.88,137.4,20.5,12.9,222,2710,0.12,1.95,0.00,0.000,4,0.081,0.029,2760,3348,1669,0,0,0,0,0,0
$GC,2748,0.76,137.4,14.2,16.3,225,2752,0.25,1.83,0.00,0.000,6,0.156,0.022,2693,2110,1669,0,0,0,0,0,0
$FREEZE,8.62,12.187,-1.537,0,1,0
$FREEZE,7.08,12.245,-1.534,0,1,0
$FREEZE,5.42,12.245,-1.532,0,1,0
$GC,2791,0.73,137.4,7.1,17.4,228,2796,0.00,2.35,0.00,0.000,4,0.000,0.031,2695,561,1669,0,0,0,0,0,0
$FREEZE,4.35,12.245,-1.532,0,1,0
$FREEZE,3.37,12.263,-1.531,0,1,0
$FREEZE,2.57,12.263,-1.530,0,1,0
$STATE,2813,end climb,SURFACE_DEPTH_REACHED
$STATE,2813,begin surface coast
$FREEZE,1.88,12.250,-1.530,0,1,0
$FREEZE,1.09,12.250,-1.530,0,1,0
$FINISH,1.1,1.021164
$STATE,2825,end surface coast,CONTROL_FINISHED_OK
$STATE,2825,begin surface
$SM_CCo,2846,83.55,0.076,0,0,934,320.11
$SM_GC,0.80,0.00,0.00,83.55,0.000,0.000,0.076,179,1938,934,-7.08,-0.34,320.11
$IRIDIUM_FIX,4726.11,-12227.78,010711,020252
$TT8_MAMPS,0.026964
$HUMID,46.77
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,19.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,110.6,81.1
$24V_AH,24.4,0.976
$10V_AH,10.3,1.365
$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,16.875,78.600,217.375,83.550,0.000,29.585,42.140,294.400,1.000,0.000,31.624,755.282,788.564,366.097,1319.570,253.481,33.347,824.572,0.000,600.642,0.000,5.643,0.000
$DEVICE_MAMPS,207.315,39.780,712.215,75.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,155.310,350.412,645.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323504
$DATA_FILE_SIZE,13636,230
$CAP_FILE_SIZE,76759,0
$CFSIZE,260165632,208502784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084, 46.0,1
$GPS,010711,042301,4744.109,-12224.624,34,1.6,34,18.2