version: 66.08
glider: 503
mission: 7
dive: 375
start: 12 23 110 7 7 30
data:
$ID,503
$MISSION,7
$DIVE,375
$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,-19961.264
$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,43
$R_STBD_OVSHOOT,49
$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
$GPS1,231210,070214,-7631.662,17804.133,18,1.0,18,121.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-72.1
$GPS2,231210,070702,-7631.667,17804.260,13,1.5,13,120.9
$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,195.8,53811,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.12,0.000,2,0.000,0.000,176,2804,3442,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.2,-6.7,15,138,8.93,2.35,-8.82,0.000,4,0.216,0.045,2527,1367,3857,0,0,0,0,0,0
$GC,284,-0.84,-219.0,40.6,-16.9,45,291,0.00,2.28,0.00,0.000,6,0.000,0.044,2517,2762,3859,0,0,0,0,0,0
$GC,427,-0.84,-219.0,67.0,-18.9,70,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2763,3859,0,0,0,0,0,0
$GC,568,-0.84,-219.0,93.0,-18.1,95,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2763,3859,0,0,0,0,0,0
$GC,703,-0.84,-219.0,117.1,-17.9,111,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2763,3860,0,0,0,0,0,0
$GC,831,-0.84,-219.0,140.4,-18.6,123,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2763,3860,0,0,0,0,0,0
$GC,958,-0.84,-219.0,164.1,-18.7,135,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2763,3860,0,0,0,0,0,0
$GC,1086,-0.84,-219.0,187.9,-18.9,147,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2763,3860,0,0,0,0,0,0
$GC,1214,-0.84,-219.0,211.0,-17.8,159,1217,0.00,1.60,0.00,0.000,4,0.000,0.050,2508,3756,3860,0,0,0,0,0,0
$GC,1248,-0.84,-219.0,217.6,-18.8,162,1252,0.00,1.55,0.00,0.000,6,0.000,0.031,2509,2767,3860,0,0,0,0,0,0
$GC,1388,-0.84,-219.0,242.7,-18.1,175,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2767,3860,0,0,0,0,0,0
$GC,1516,-0.84,-219.0,265.2,-17.5,187,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2767,3860,0,0,0,0,0,0
$GC,1706,-0.84,-219.0,299.4,-18.2,205,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2767,3860,0,0,0,0,0,0
$STATE,1736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1737,begin apogee
$GC,1742,-0.16,0.0,305.2,17.6,208,1921,0.70,0.00,172.18,0.923,4,0.128,0.000,2739,2684,2959,0,0,0,0,0,0
$STATE,1922,end apogee,CONTROL_FINISHED_OK
$STATE,1922,begin climb
$GC,1924,0.84,219.0,317.0,0.0,224,2120,0.98,1.90,188.32,0.871,4,0.078,0.052,3072,3750,2067,0,0,1,0,0,0
$GC,2366,0.84,219.0,259.0,15.7,263,2373,0.00,1.70,0.00,0.000,6,0.000,0.028,3081,2713,2057,0,0,1,0,0,0
$GC,2564,0.84,219.0,230.8,13.8,282,2568,0.00,2.30,0.00,0.000,4,0.000,0.034,3092,1299,2055,0,0,0,0,0,0
$GC,2759,0.84,219.0,204.1,13.7,299,2763,0.00,2.33,0.00,0.000,6,0.000,0.041,3092,2711,2053,0,0,0,0,0,0
$GC,2893,0.84,219.0,184.1,15.5,311,2896,0.00,1.67,0.00,0.000,4,0.000,0.049,3092,3762,2053,0,0,0,0,0,0
$GC,2930,0.84,219.0,177.4,17.3,314,2938,0.00,1.70,0.00,0.000,6,0.000,0.031,3100,2706,2052,0,0,0,0,0,0
$GC,3065,0.84,219.0,155.3,16.5,327,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2706,2052,0,0,0,0,0,0
$GC,3193,0.84,219.0,133.9,16.6,339,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2705,2052,0,0,0,0,0,0
$GC,3320,0.84,219.0,112.3,17.0,351,3323,0.00,1.70,0.00,0.000,4,0.000,0.049,3100,3766,2052,0,0,0,0,0,0
$GC,3378,0.84,219.0,101.8,18.2,356,3382,0.15,1.62,0.00,0.000,6,0.162,0.032,3066,2701,2052,0,0,1,0,0,0
$GC,3517,0.84,223.7,82.1,13.1,380,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2701,2052,0,0,0,0,0,0
$GC,3660,0.89,262.4,64.2,11.7,405,3702,0.00,0.00,36.45,0.781,6,0.000,0.000,3066,2701,1890,0,0,0,0,0,0
$GC,3836,0.91,280.3,42.8,12.6,436,3856,0.00,0.00,16.90,0.748,6,0.000,0.000,3066,2701,1818,0,0,0,0,0,0
$GC,3991,0.96,316.6,23.9,11.8,463,4031,0.12,0.00,32.80,0.737,6,0.081,0.000,3123,2701,1669,0,0,0,0,0,0
$FREEZE,8.20,-0.498,-1.900,2,1,0
$FREEZE,7.38,-0.492,-1.899,2,1,0
$FREEZE,6.23,-0.482,-1.898,2,1,0
$FREEZE,5.21,-0.481,-1.898,2,1,0
$FREEZE,4.23,-0.467,-1.897,2,1,0
$FREEZE,3.34,-0.459,-1.896,2,1,0
$FREEZE,2.44,-0.462,-1.896,2,1,0
$STATE,4116,end climb,SURFACE_DEPTH_REACHED
$STATE,4116,begin surface coast
$FREEZE,0.99,-0.470,-1.895,2,1,0
$FREEZE,-0.04,-0.472,-1.894,2,1,0
$FREEZE,-0.05,-0.611,-0.233,2,1,0
$FINISH,-0.1,1.003268
$STATE,4133,end surface coast,FINISH_DEPTH_REACHED
$STATE,4133,begin surface
$SM_CCo,4150,1.12,0.112,0,0,1655,320.11
$SM_GC,1.63,0.00,0.00,1.12,0.000,0.000,0.112,179,2798,1655,-8.19,0.54,320.11
$IRIDIUM_FIX,-7545.40,17809.14,231210,050538
$TT8_MAMPS,0.027713
$HUMID,52.95
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.8
$ALTIM_BOTTOM_PING,301.5,18.6
$24V_AH,22.6,34.168
$10V_AH,10.0,13.445
$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,18.800,22.900,446.650,1.125,0.000,29.797,39.302,102.262,1.000,0.000,16.036,1164.782,1615.842,468.707,1074.060,131.358,0.000,990.558,0.000,831.842,0.000,8.794,0.000
$DEVICE_MAMPS,216.495,98.685,923.355,112.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.295,671.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267148
$DATA_FILE_SIZE,30427,487
$CAP_FILE_SIZE,64268,0
$CFSIZE,260165632,234180608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.295,146.2,1
$GPS,231210,081806,-7631.743,17803.799,46,0.8,46,121.0