version: 66.08
glider: 503
mission: 7
dive: 335
start: 12 21 110 5 23 55
data:
$ID,503
$MISSION,7
$DIVE,335
$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,-19910.998
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,211210,051625,-7630.891,17911.090,6,1.1,11,119.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-75.6
$GPS2,211210,052326,-7630.962,17911.039,16,1.1,16,119.3
$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,196.9,82613,-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,13,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,-92.38,0.000,2,0.000,0.000,164,2792,3488,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.7,-9.1,16,134,8.88,1.62,-7.57,0.000,4,0.214,0.067,2513,3767,3855,0,0,0,0,0,0
$GC,174,-0.84,-219.0,23.0,-22.1,26,182,0.00,1.58,0.00,0.000,6,0.000,0.030,2513,2773,3858,0,0,0,0,0,0
$GC,317,-0.84,-219.0,50.4,-18.3,51,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,456,-0.84,-219.0,77.7,-20.0,76,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,602,-0.84,-219.0,107.1,-20.4,99,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,730,-0.84,-219.0,133.1,-20.9,111,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3859,0,0,0,0,0,0
$GC,857,-0.84,-219.0,158.9,-19.8,123,860,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3746,3859,0,0,0,0,0,0
$GC,903,-0.84,-219.0,168.4,-20.2,127,906,0.00,1.50,0.00,0.000,6,0.000,0.030,2506,2771,3859,0,0,1,0,0,0
$GC,1043,-0.84,-219.0,197.7,-20.8,140,1047,0.00,2.17,0.00,0.000,4,0.000,0.032,2506,1377,3860,0,0,0,0,0,0
$GC,1095,-0.84,-219.0,208.4,-19.7,144,1100,0.12,2.22,0.00,0.000,6,0.159,0.044,2530,2763,3860,0,0,0,0,0,0
$GC,1229,-0.84,-219.0,232.8,-18.6,156,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2764,3859,0,0,0,0,0,0
$GC,1357,-0.84,-219.0,253.8,-15.9,168,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2764,3859,0,0,0,0,0,0
$STATE,1482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1482,begin apogee
$GC,1487,-0.16,0.0,276.4,17.9,180,1667,0.62,0.00,172.02,0.903,4,0.122,0.000,2741,2696,2959,0,0,0,0,0,0
$STATE,1667,end apogee,CONTROL_FINISHED_OK
$STATE,1667,begin climb
$GC,1669,0.84,219.0,288.7,0.0,196,1865,1.00,2.38,187.35,0.851,4,0.083,0.034,3068,1304,2067,0,0,0,0,0,0
$GC,1948,0.86,239.6,263.8,12.5,220,1978,0.00,2.45,19.12,0.803,6,0.000,0.040,3068,2697,1983,0,0,1,0,0,0
$GC,2167,0.86,239.6,232.7,14.8,241,2171,0.00,2.35,0.00,0.000,4,0.000,0.034,3079,1300,1977,0,0,0,0,0,0
$GC,2355,0.86,239.6,207.3,13.8,257,2362,0.00,2.42,0.00,0.000,6,0.000,0.041,3078,2722,1975,0,0,0,0,0,0
$GC,2490,0.86,239.6,187.5,15.3,270,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2722,1974,0,0,0,0,0,0
$GC,2617,0.86,239.6,168.3,15.4,282,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2722,1973,0,0,0,0,0,0
$GC,2744,0.86,239.6,148.2,15.9,294,2748,0.00,1.67,0.00,0.000,4,0.000,0.050,3078,3768,1973,0,0,0,0,0,0
$GC,2805,0.86,239.6,137.7,17.8,299,2812,0.00,1.67,0.00,0.000,6,0.000,0.030,3087,2708,1972,0,0,1,0,0,0
$GC,2939,0.86,239.6,116.1,16.0,312,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2708,1972,0,0,0,0,0,0
$GC,3067,0.86,239.6,94.8,16.9,326,3075,0.00,1.73,0.00,0.000,4,0.000,0.050,3087,3753,1972,0,0,0,0,0,0
$GC,3109,0.86,239.6,87.4,18.5,333,3116,0.00,1.62,0.00,0.000,6,0.000,0.031,3095,2718,1972,0,0,1,0,0,0
$GC,3251,0.86,239.6,64.3,17.1,358,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2718,1972,0,0,0,0,0,0
$GC,3392,0.86,239.6,42.5,14.1,383,3399,0.00,1.70,0.00,0.000,4,0.000,0.049,3095,3756,1972,0,0,0,0,0,0
$GC,3455,0.86,239.6,31.8,16.9,394,3463,0.00,1.65,0.00,0.000,6,0.000,0.031,3103,2714,1971,0,0,0,0,0,0
$GC,3600,0.86,239.6,9.5,16.5,419,3607,0.00,2.25,0.00,0.000,4,0.000,0.035,3114,1299,1971,0,0,0,0,0,0
$FREEZE,7.07,-0.835,-1.897,2,1,0
$FREEZE,6.19,-0.838,-1.897,2,1,0
$FREEZE,5.47,-0.819,-1.896,2,1,0
$FREEZE,4.64,-0.799,-1.896,2,1,0
$FREEZE,3.83,-0.770,-1.895,2,1,0
$FREEZE,2.92,-0.748,-1.894,2,1,0
$STATE,3638,end climb,SURFACE_DEPTH_REACHED
$STATE,3638,begin surface coast
$FREEZE,2.30,-0.720,-1.893,2,1,0
$FREEZE,1.45,-0.713,-1.893,2,1,0
$FINISH,1.4,1.027715
$STATE,3650,end surface coast,CONTROL_FINISHED_OK
$STATE,3651,begin surface
$SM_CCo,3669,38.20,0.102,0,0,1655,320.11
$SM_GC,0.59,0.00,0.00,38.20,0.000,0.000,0.102,175,2780,1655,-8.21,0.00,320.11
$IRIDIUM_FIX,-7545.40,17923.23,211210,050558
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.0
$ALTIM_BOTTOM_PING,250.4,40.2
$24V_AH,22.6,29.771
$10V_AH,9.9,11.879
$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,18.325,35.125,378.500,38.200,0.000,54.607,99.627,99.218,0.750,0.000,18.620,1039.263,1464.836,473.053,1045.199,124.000,0.000,945.216,0.000,734.835,0.000,7.141,0.000
$DEVICE_MAMPS,214.200,97.155,903.465,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.223,604.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267760
$DATA_FILE_SIZE,27005,428
$CAP_FILE_SIZE,61717,0
$CFSIZE,260165632,235782144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.426,183.1,1
$GPS,211210,062701,-7631.361,17909.309,39,1.4,39,119.4