version: 66.08
glider: 503
mission: 7
dive: 345
start: 12 21 110 17 26 36
data:
$ID,503
$MISSION,7
$DIVE,345
$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,-19923.568
$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,46
$R_STBD_OVSHOOT,40
$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
$GPS1,211210,172143,-7630.377,17904.959,15,1.8,26,119.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-75.3
$GPS2,211210,172608,-7630.311,17904.992,10,1.8,10,119.4
$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,106.0,79982,-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,16,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-92.12,0.000,2,0.000,0.000,188,2797,3506,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.8,-9.5,16,135,8.88,1.60,-7.07,0.000,4,0.217,0.066,2518,3762,3855,0,0,0,0,0,0
$GC,243,-0.84,-219.0,36.9,-20.1,38,251,0.00,1.58,0.00,0.000,6,0.000,0.041,2518,2771,3859,0,0,0,0,0,0
$GC,386,-0.84,-219.0,63.3,-18.6,63,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3859,0,0,0,0,0,0
$GC,528,-0.84,-219.0,89.8,-18.7,88,534,0.00,2.20,0.00,0.000,4,0.000,0.031,2518,1375,3859,0,0,0,0,0,0
$GC,558,-0.84,-219.0,95.5,-18.9,93,565,0.00,2.28,0.00,0.000,6,0.000,0.044,2508,2772,3859,0,0,0,0,0,0
$GC,694,-0.84,-219.0,121.9,-20.0,108,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2772,3859,0,0,0,0,0,0
$GC,821,-0.84,-219.0,146.1,-18.5,120,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2772,3859,0,0,0,0,0,0
$GC,948,-0.84,-219.0,170.1,-19.2,132,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2772,3859,0,0,0,0,0,0
$GC,1076,-0.84,-219.0,194.2,-18.6,144,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3860,0,0,0,0,0,0
$GC,1204,-0.84,-219.0,219.2,-19.7,156,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2772,3860,0,0,0,0,0,0
$GC,1331,-0.84,-219.0,243.8,-19.0,168,1334,0.00,2.22,0.00,0.000,4,0.000,0.033,2508,1367,3860,0,0,0,0,0,0
$GC,1376,-0.84,-219.0,252.0,-16.6,172,1381,0.10,2.28,0.00,0.000,6,0.172,0.047,2525,2779,3860,0,0,0,0,0,0
$GC,1574,-0.84,-219.0,285.5,-18.0,190,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2779,3859,0,0,0,0,0,0
$GC,1765,-0.84,-219.0,299.7,0.1,208,1769,0.00,2.20,0.00,0.000,4,0.000,0.034,2525,1377,3860,0,0,0,0,0,0
$STATE,1818,end dive,NO_VERTICAL_VELOCITY
$STATE,1818,begin apogee
$GC,1825,-0.16,0.0,299.9,0.0,212,2007,0.60,0.00,171.70,0.917,4,0.079,0.000,2751,2705,2959,0,0,0,0,0,0
$STATE,2008,end apogee,CONTROL_FINISHED_OK
$STATE,2008,begin climb
$GC,2010,0.84,219.0,299.8,0.0,229,2206,0.90,1.85,187.68,0.860,4,0.068,0.052,3075,3752,2067,0,0,0,0,0,0
$GC,2332,0.84,219.0,262.1,15.0,257,2340,0.00,1.75,0.00,0.000,6,0.000,0.028,3083,2705,2059,0,0,1,0,0,0
$GC,2531,0.84,219.0,234.3,14.0,276,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2705,2056,0,0,0,0,0,0
$GC,2659,0.84,219.0,215.9,14.4,288,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2704,2055,0,0,0,0,0,0
$GC,2786,0.84,219.0,197.9,14.0,300,2789,0.00,1.73,0.00,0.000,4,0.000,0.048,3083,3759,2054,0,0,0,0,0,0
$GC,2842,0.84,219.0,189.1,16.5,305,2845,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2698,2054,0,0,1,0,0,0
$GC,2982,0.84,219.0,168.0,14.8,318,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2697,2053,0,0,0,0,0,0
$GC,3108,0.84,219.0,149.0,14.8,330,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2697,2053,0,0,0,0,0,0
$GC,3236,0.84,219.0,129.4,15.0,342,3239,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3758,2053,0,0,0,0,0,0
$GC,3296,0.84,219.0,119.0,17.6,347,3303,0.08,1.62,0.00,0.000,6,0.153,0.031,3076,2725,2052,0,0,1,0,0,0
$GC,3430,0.84,223.4,100.7,13.2,360,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2726,2052,0,0,0,0,0,0
$GC,3565,0.85,226.4,83.2,13.2,383,3572,0.00,0.00,5.30,0.695,6,0.000,0.000,3076,2726,2036,0,0,0,0,0,0
$GC,3708,0.87,240.9,65.3,12.7,408,3728,0.00,0.00,14.40,0.779,6,0.000,0.000,3075,2726,1978,0,0,0,0,0,0
$GC,3866,0.90,269.4,45.5,12.2,435,3897,0.00,0.00,26.45,0.765,6,0.000,0.000,3075,2725,1860,0,0,0,0,0,0
$GC,4031,0.90,269.4,23.5,13.4,464,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2725,1858,0,0,0,0,0,0
$FREEZE,8.52,-0.938,-1.898,2,1,0
$FREEZE,7.77,-0.809,-1.896,2,1,0
$FREEZE,7.11,-0.750,-1.896,2,1,0
$FREEZE,6.38,-0.654,-1.894,2,1,0
$FREEZE,5.67,-0.626,-1.894,2,1,0
$FREEZE,4.98,-0.609,-1.894,2,1,0
$FREEZE,4.03,-0.551,-1.893,2,1,0
$GC,4170,0.92,287.0,5.0,12.6,489,4186,0.00,0.00,12.80,0.731,6,0.000,0.000,3076,2725,1790,0,0,0,0,0,0
$FREEZE,1.75,-0.591,-1.892,2,1,0
$STATE,4191,end climb,SURFACE_DEPTH_REACHED
$STATE,4192,begin surface coast
$FREEZE,1.11,-0.592,-1.892,2,1,0
$FREEZE,0.39,-0.591,-1.891,2,1,0
$FREEZE,-0.07,-0.588,-1.053,2,1,0
$FREEZE,-0.00,-0.719,-1.005,2,1,0
$FINISH,-0.0,1.014850
$STATE,4216,end surface coast,CONTROL_FINISHED_OK
$STATE,4216,begin surface
$SM_CCo,4232,16.27,0.103,0,0,1655,320.11
$SM_GC,0.66,0.00,0.00,16.27,0.000,0.000,0.103,180,2798,1655,-8.19,0.51,320.11
$IRIDIUM_FIX,-7545.40,17913.92,211210,161634
$TT8_MAMPS,0.027713
$HUMID,53.03
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.8
$24V_AH,22.6,30.826
$10V_AH,10.0,12.262
$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,18.250,26.925,418.325,16.275,0.000,28.051,36.113,99.701,0.750,0.000,12.946,1193.925,1701.779,464.576,1038.485,130.833,0.000,978.405,0.000,816.044,0.000,4.327,0.000
$DEVICE_MAMPS,217.260,95.625,917.235,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.007,684.939,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267756
$DATA_FILE_SIZE,33652,496
$CAP_FILE_SIZE,65942,0
$CFSIZE,260165632,235384832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.359,  5.7,1
$GPS,211210,183820,-7630.010,17903.500,16,2.0,16,119.5