version: 66.08
glider: 503
mission: 7
dive: 334
start: 12 21 110 4 14 11
data:
$ID,503
$MISSION,7
$DIVE,334
$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,-19909.738
$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,45
$R_STBD_OVSHOOT,31
$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
$GPS1,211210,040904,-7630.450,17914.010,17,2.5,36,119.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-75.1
$GPS2,211210,041343,-7630.490,17913.969,10,1.3,10,119.2
$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,196.4,83866,-18.2,-13.333
$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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-92.25,0.000,2,0.000,0.000,173,2782,3492,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.7,-9.0,16,134,8.88,2.30,-7.53,0.000,4,0.216,0.044,2523,1366,3855,0,0,1,0,0,0
$GC,313,-0.84,-219.0,45.2,-17.3,51,320,0.00,2.30,0.00,0.000,6,0.000,0.044,2513,2775,3859,0,0,0,0,0,0
$GC,453,-0.84,-219.0,73.8,-21.4,76,460,0.00,1.60,0.00,0.000,4,0.000,0.051,2505,3761,3859,0,0,0,0,0,0
$GC,506,-0.84,-219.0,85.8,-22.1,85,513,0.00,1.55,0.00,0.000,6,0.000,0.031,2505,2773,3859,0,0,0,0,0,0
$GC,649,-0.84,-219.0,117.0,-21.6,104,653,0.00,2.20,0.00,0.000,4,0.000,0.033,2505,1367,3859,0,0,0,0,0,0
$GC,692,-0.84,-219.0,126.7,-20.7,107,700,0.12,2.30,0.00,0.000,6,0.160,0.045,2530,2779,3859,0,0,0,0,0,0
$GC,827,-0.84,-219.0,151.8,-18.9,120,830,0.00,1.60,0.00,0.000,4,0.000,0.052,2523,3759,3859,0,0,0,0,0,0
$GC,864,-0.84,-219.0,159.5,-19.5,123,872,0.00,1.52,0.00,0.000,6,0.000,0.030,2523,2783,3859,0,0,0,0,0,0
$GC,999,-0.84,-219.0,184.3,-18.9,136,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2783,3860,0,0,0,0,0,0
$GC,1126,-0.84,-219.0,208.3,-19.1,148,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2782,3859,0,0,0,0,0,0
$GC,1253,-0.84,-219.0,232.7,-19.5,160,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2783,3859,0,0,0,0,0,0
$GC,1381,-0.84,-219.0,256.7,-18.2,172,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2783,3859,0,0,0,0,0,0
$STATE,1485,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1486,begin apogee
$GC,1491,-0.16,0.0,275.9,17.9,182,1669,0.68,0.00,171.95,0.903,4,0.132,0.000,2743,2682,2959,0,0,0,0,0,0
$STATE,1670,end apogee,CONTROL_FINISHED_OK
$STATE,1670,begin climb
$GC,1672,0.84,219.0,282.5,0.0,198,1868,1.02,2.35,186.73,0.845,4,0.090,0.031,3072,1314,2068,0,0,0,0,0,0
$GC,1898,0.84,223.0,260.0,13.2,218,1911,0.00,2.42,5.07,0.617,6,0.000,0.040,3072,2701,2050,0,0,1,0,0,0
$GC,2102,0.85,228.8,230.8,13.1,237,2114,0.00,1.80,5.35,0.659,4,0.000,0.047,3071,3766,2027,0,0,0,0,0,0
$GC,2186,0.85,228.8,216.3,16.9,244,2195,0.00,1.70,0.00,0.000,6,0.000,0.029,3080,2725,2026,0,0,1,0,0,0
$GC,2321,0.85,228.8,197.1,14.3,257,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2726,2025,0,0,0,0,0,0
$GC,2449,0.85,228.8,179.0,13.4,269,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2725,2024,0,0,0,0,0,0
$GC,2576,0.85,228.8,161.3,14.0,281,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2725,2024,0,0,0,0,0,0
$GC,2703,0.85,228.8,142.9,14.5,293,2707,0.00,1.67,0.00,0.000,4,0.000,0.049,3080,3763,2023,0,0,0,0,0,0
$GC,2749,0.85,228.8,135.6,16.7,297,2753,0.00,1.62,0.00,0.000,6,0.000,0.031,3087,2706,2024,0,0,1,0,0,0
$GC,2888,0.85,228.8,114.6,14.8,310,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2704,2023,0,0,0,0,0,0
$GC,3016,0.85,228.8,95.2,15.1,324,3023,0.00,1.75,0.00,0.000,4,0.000,0.050,3088,3786,2022,0,0,0,0,0,0
$GC,3046,0.85,228.8,90.1,17.1,329,3053,0.00,1.67,0.00,0.000,6,0.000,0.031,3096,2723,2022,0,0,1,0,0,0
$GC,3188,0.85,228.8,67.5,15.3,354,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2722,2022,0,0,0,0,0,0
$GC,3330,0.85,228.8,45.6,15.2,379,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2722,2022,0,0,0,0,0,0
$GC,3470,0.85,228.8,24.5,14.5,404,3477,0.00,1.70,0.00,0.000,4,0.000,0.050,3096,3760,2022,0,0,0,0,0,0
$GC,3501,0.85,228.8,19.7,16.9,409,3507,0.00,1.62,0.00,0.000,6,0.000,0.031,3104,2738,2022,0,0,0,0,0,0
$FREEZE,8.10,-0.791,-1.898,2,1,0
$FREEZE,7.31,-0.785,-1.898,2,1,0
$FREEZE,6.56,-0.771,-1.898,2,1,0
$FREEZE,5.68,-0.764,-1.897,2,1,0
$FREEZE,4.95,-0.778,-1.896,2,1,0
$FREEZE,4.22,-0.760,-1.896,2,1,0
$FREEZE,3.25,-0.768,-1.895,2,1,0
$FREEZE,2.41,-0.761,-1.895,2,1,0
$STATE,3605,end climb,SURFACE_DEPTH_REACHED
$STATE,3605,begin surface coast
$FREEZE,1.40,-0.757,-1.894,2,1,0
$FREEZE,0.42,-0.761,-1.893,2,1,0
$FREEZE,-0.14,-0.747,-1.893,2,1,0
$FINISH,-0.1,1.027729
$STATE,3624,end surface coast,CONTROL_FINISHED_OK
$STATE,3624,begin surface
$SM_CCo,3640,43.50,0.100,0,0,1655,320.11
$SM_GC,0.80,0.00,0.00,43.50,0.000,0.000,0.100,165,2792,1655,-8.24,0.34,320.11
$IRIDIUM_FIX,-7545.40,17904.71,211210,030318
$TT8_MAMPS,0.027713
$HUMID,52.75
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.8
$ALTIM_BOTTOM_PING,250.9,39.2
$24V_AH,22.6,29.665
$10V_AH,10.0,11.842
$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,18.400,33.875,369.100,43.500,0.000,30.203,46.551,97.166,0.750,0.000,12.964,1048.022,1399.446,470.357,941.092,120.341,0.000,933.406,0.000,711.478,0.000,7.137,0.000
$DEVICE_MAMPS,215.730,110.160,903.465,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.330,614.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267708
$DATA_FILE_SIZE,27098,431
$CAP_FILE_SIZE,61405,0
$CFSIZE,260165632,235823104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.439,193.9,1
$GPS,211210,051625,-7630.891,17911.090,6,1.1,11,119.3