version: 66.08
glider: 503
mission: 7
dive: 326
start: 12 20 110 19 26 53
data:
$ID,503
$MISSION,7
$DIVE,326
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,180
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.0099999998
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,320
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-19899.684
$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,41
$R_STBD_OVSHOOT,25
$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
$GPS1,201210,192128,-7628.593,17950.959,10,3.0,29,118.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-72.5
$GPS2,201210,192625,-7628.562,17950.926,41,1.0,41,118.2
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,STATION_O
$TGT_LATLONG,-7630.000,17600.000
$TGT_RADIUS,5000.000
$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,105.3,99874,-18.2,-13.333
$D_GRID,383
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,114,0.00,0.00,-94.88,0.000,2,0.000,0.000,192,2781,3528,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.8,-9.9,16,138,8.82,1.65,-6.65,0.000,4,0.217,0.071,2513,3770,3856,0,0,0,0,0,0
$GC,389,-0.84,-219.0,64.6,-18.6,64,396,0.00,1.58,0.00,0.000,6,0.000,0.028,2513,2763,3859,0,0,0,0,0,0
$GC,531,-0.84,-219.0,90.2,-18.6,89,537,0.00,1.65,0.00,0.000,4,0.000,0.050,2505,3766,3859,0,0,0,0,0,0
$GC,603,-0.84,-219.0,104.5,-19.1,100,611,0.00,1.52,0.00,0.000,6,0.000,0.028,2505,2793,3859,0,0,0,0,0,0
$GC,739,-0.84,-219.0,129.4,-18.2,113,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2793,3860,0,0,0,0,0,0
$GC,865,-0.84,-219.0,153.0,-18.6,125,869,0.00,1.58,0.00,0.000,4,0.000,0.051,2497,3758,3860,0,0,0,0,0,0
$GC,911,-0.84,-219.0,162.4,-20.6,129,915,0.08,1.50,0.00,0.000,6,0.145,0.031,2523,2796,3860,0,0,0,0,0,0
$GC,1050,-0.84,-219.0,186.6,-17.3,142,1054,0.00,2.20,0.00,0.000,4,0.000,0.033,2524,1378,3860,0,0,0,0,0,0
$GC,1104,-0.84,-219.0,197.0,-18.6,146,1113,0.00,2.33,0.00,0.000,6,0.000,0.044,2513,2789,3860,0,0,0,0,0,0
$GC,1239,-0.84,-219.0,220.8,-14.6,159,1243,0.00,2.22,0.00,0.000,4,0.000,0.033,2514,1371,3860,0,0,0,0,0,0
$GC,1306,-0.84,-219.0,231.6,-15.4,164,1313,0.00,2.30,0.00,0.000,6,0.000,0.047,2503,2787,3860,0,0,0,0,0,0
$GC,1440,-0.84,-219.0,250.3,-3.3,177,1444,0.00,2.22,0.00,0.000,4,0.000,0.033,2503,1369,3859,0,0,0,0,0,0
$STATE,1568,end dive,NO_VERTICAL_VELOCITY
$STATE,1570,begin apogee
$GC,1576,-0.16,0.0,250.3,0.0,188,1755,0.70,0.00,170.77,0.887,4,0.093,0.000,2745,2708,2959,0,0,0,0,0,0
$STATE,1755,end apogee,CONTROL_FINISHED_OK
$STATE,1755,begin climb
$GC,1757,0.84,219.0,250.3,0.0,204,1952,0.93,1.85,186.52,0.826,4,0.069,0.053,3068,3758,2067,0,0,0,0,0,0
$GC,2086,0.84,219.0,205.8,17.4,233,2094,0.00,1.73,0.00,0.000,6,0.000,0.029,3077,2717,2058,0,0,1,0,0,0
$GC,2220,0.84,219.0,185.8,17.2,246,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2717,2056,0,0,0,0,0,0
$GC,2348,0.84,219.0,167.5,14.5,258,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2717,2055,0,0,0,0,0,0
$GC,2476,0.84,219.0,149.4,13.7,270,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2717,2054,0,0,0,0,0,0
$GC,2603,0.89,261.7,133.6,11.6,282,2644,0.00,0.00,36.38,0.794,6,0.000,0.000,3077,2717,1893,0,0,0,0,0,0
$GC,2771,0.89,261.7,109.2,15.3,298,2775,0.00,1.73,0.00,0.000,4,0.000,0.048,3077,3770,1889,0,0,0,0,0,0
$GC,2877,0.89,261.7,91.2,18.1,312,2884,0.00,1.70,0.00,0.000,6,0.000,0.030,3084,2700,1888,0,0,1,0,0,0
$GC,3019,0.89,261.7,69.8,15.0,337,3025,0.00,1.77,0.00,0.000,4,0.000,0.050,3084,3785,1887,0,0,1,0,0,0
$GC,3077,0.89,261.7,60.6,15.8,347,3084,0.00,1.67,0.00,0.000,6,0.000,0.031,3092,2726,1886,0,0,1,0,0,0
$GC,3218,0.89,261.7,41.3,14.1,372,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2726,1886,0,0,0,0,0,0
$GC,3360,0.89,261.7,19.8,15.3,397,3367,0.00,1.70,0.00,0.000,4,0.000,0.050,3093,3757,1886,0,0,0,0,0,0
$FREEZE,8.21,-1.193,-1.900,2,1,0
$FREEZE,7.34,-1.212,-1.900,2,1,0
$GC,3434,0.89,261.7,7.3,18.3,410,3442,0.00,1.62,0.00,0.000,6,0.000,0.031,3101,2719,1885,0,0,1,0,0,0
$FREEZE,4.70,-1.074,-1.896,2,1,0
$FREEZE,3.97,-1.058,-1.896,2,1,0
$FREEZE,3.16,-1.063,-1.896,2,1,0
$FREEZE,2.45,-1.059,-1.895,2,1,0
$STATE,3463,end climb,SURFACE_DEPTH_REACHED
$STATE,3463,begin surface coast
$FREEZE,1.38,-1.061,-1.895,2,1,0
$FREEZE,0.71,-1.063,-1.894,2,1,0
$FREEZE,-0.10,-1.062,-1.894,2,1,0
$FINISH,-0.1,1.027750
$STATE,3481,end surface coast,CONTROL_FINISHED_OK
$STATE,3482,begin surface
$SM_CCo,3498,27.35,0.103,0,0,1656,320.11
$SM_GC,1.34,0.00,0.00,27.35,0.000,0.000,0.103,181,2803,1656,-8.19,0.65,320.11
$IRIDIUM_FIX,-7536.68,17716.42,201210,181858
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,20.1
$24V_AH,22.7,28.809
$10V_AH,9.9,11.551
$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,18.175,36.850,393.675,27.350,0.000,31.342,36.665,105.182,0.750,0.000,43.719,1010.596,1262.310,476.139,975.949,116.070,0.000,944.914,0.000,728.352,0.000,4.327,0.000
$DEVICE_MAMPS,217.260,89.505,887.400,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.908,612.722,3.848,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267696
$DATA_FILE_SIZE,27077,418
$CAP_FILE_SIZE,59596,0
$CFSIZE,260165632,236109824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.335,316.5,1
$GPS,201210,202626,-7628.438,17947.715,9,1.3,9,118.3