version: 66.08
glider: 503
mission: 7
dive: 389
start: 12 24 110 1 37 35
data:
$ID,503
$MISSION,7
$DIVE,389
$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,-2
$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,-19978.869
$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,50
$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
$GPS1,241210,013209,-7631.123,17740.143,30,1.3,30,121.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-73.0
$GPS2,241210,013707,-7631.125,17739.943,28,1.3,28,121.5
$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,158.3,43260,-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,-219.0,0.0,0.0,0,107,0.00,0.00,-88.82,0.000,2,0.000,0.000,179,2806,3412,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.1,-5.4,15,137,8.88,2.30,-9.82,0.000,4,0.215,0.045,2521,1368,3856,0,0,0,0,0,0
$GC,244,-0.84,-219.0,31.8,-16.5,38,251,0.00,2.28,0.00,0.000,6,0.000,0.044,2511,2758,3859,0,0,0,0,0,0
$GC,386,-0.84,-219.0,58.5,-18.9,63,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2758,3859,0,0,0,0,0,0
$GC,529,-0.84,-219.0,84.5,-17.7,88,535,0.00,1.62,0.00,0.000,4,0.000,0.050,2503,3758,3859,0,0,0,0,0,0
$GC,569,-0.84,-219.0,92.3,-19.3,95,576,0.00,1.55,0.00,0.000,6,0.000,0.030,2503,2773,3859,0,0,0,0,0,0
$GC,706,-0.84,-219.0,118.6,-19.1,111,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,833,-0.84,-219.0,143.8,-19.5,123,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,961,-0.84,-219.0,168.6,-18.9,135,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,1089,-0.84,-219.0,193.1,-19.2,147,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,1216,-0.84,-219.0,217.4,-18.9,159,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,1343,-0.84,-219.0,241.8,-19.0,171,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,1471,-0.84,-219.0,265.9,-18.6,183,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,1663,-0.84,-219.0,301.0,-17.8,201,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,1853,-0.84,-219.0,335.4,-19.1,219,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$STATE,1939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1939,begin apogee
$GC,1945,-0.16,0.0,351.9,19.5,227,2125,0.73,0.00,173.57,0.952,4,0.126,0.000,2742,2684,2960,0,0,0,0,0,0
$STATE,2126,end apogee,CONTROL_FINISHED_OK
$STATE,2126,begin climb
$GC,2128,0.84,219.0,356.7,0.0,243,2328,1.00,2.35,189.43,0.899,4,0.073,0.032,3074,1311,2067,0,0,0,0,0,0
$GC,2445,0.87,247.5,331.3,12.2,271,2478,0.00,2.40,26.48,0.858,6,0.000,0.040,3074,2703,1950,0,0,0,0,0,0
$GC,2677,0.87,247.5,294.9,15.2,293,2681,0.00,2.33,0.00,0.000,4,0.000,0.034,3085,1312,1944,0,0,0,0,0,0
$GC,2862,0.87,247.5,268.6,14.4,309,2866,0.00,2.30,0.00,0.000,6,0.000,0.041,3085,2707,1943,0,0,1,0,0,0
$GC,3060,0.87,247.5,238.7,15.1,327,3063,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3765,1942,0,0,0,0,0,0
$GC,3109,0.87,247.5,230.3,18.1,331,3116,0.00,1.67,0.00,0.000,6,0.000,0.031,3092,2722,1941,0,0,0,0,0,0
$GC,3243,0.87,247.5,209.5,15.1,344,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2721,1941,0,0,0,0,0,0
$GC,3370,0.87,247.5,190.0,15.8,356,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2722,1940,0,0,0,0,0,0
$GC,3498,0.87,247.5,170.5,15.1,368,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2722,1940,0,0,0,0,0,0
$GC,3625,0.87,247.5,151.6,14.7,380,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2722,1940,0,0,0,0,0,0
$GC,3753,0.87,247.5,133.2,14.1,392,3756,0.00,1.67,0.00,0.000,4,0.000,0.048,3093,3772,1939,0,0,0,0,0,0
$GC,3802,0.87,247.5,125.3,16.0,396,3810,0.00,1.67,0.00,0.000,6,0.000,0.030,3101,2710,1939,0,0,0,0,0,0
$GC,3937,0.87,247.5,105.5,15.2,409,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2710,1939,0,0,0,0,0,0
$GC,4069,0.87,247.5,85.6,14.9,429,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2710,1939,0,0,0,0,0,0
$GC,4212,0.87,247.5,64.1,14.7,454,4219,0.00,1.73,0.00,0.000,4,0.000,0.050,3102,3762,1939,0,0,0,0,0,0
$GC,4264,0.87,247.5,55.1,16.7,463,4271,0.00,1.65,0.00,0.000,6,0.000,0.031,3110,2721,1938,0,0,0,0,0,0
$GC,4406,0.87,247.5,31.8,16.2,488,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2722,1938,0,0,0,0,0,0
$FREEZE,8.88,-0.604,-1.897,2,1,0
$FREEZE,8.02,-0.609,-1.897,2,1,0
$GC,4551,0.87,247.5,8.0,17.2,513,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2721,1939,0,0,0,0,0,0
$FREEZE,5.43,-0.588,-1.895,2,1,0
$FREEZE,4.56,-0.586,-1.895,2,1,0
$FREEZE,3.80,-0.587,-1.894,2,1,0
$FREEZE,3.01,-0.586,-1.894,2,1,0
$FREEZE,2.20,-0.585,-1.893,2,1,0
$STATE,4584,end climb,SURFACE_DEPTH_REACHED
$STATE,4584,begin surface coast
$FREEZE,1.18,-0.582,-1.892,2,1,0
$FREEZE,0.38,-0.582,-1.892,2,1,0
$FREEZE,-0.07,-0.617,-1.014,2,1,0
$FINISH,-0.1,1.014991
$STATE,4601,end surface coast,CONTROL_FINISHED_OK
$STATE,4601,begin surface
$SM_CCo,4618,33.95,0.103,0,0,1654,320.11
$SM_GC,0.86,0.00,0.00,33.95,0.000,0.000,0.103,178,2806,1654,-8.20,0.74,320.11
$IRIDIUM_FIX,-7545.40,17750.68,241210,000054
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.4
$ALTIM_BOTTOM_PING,351.9,6.7
$24V_AH,22.6,35.707
$10V_AH,10.0,14.019
$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,18.200,27.400,389.475,33.950,0.000,30.478,35.854,105.107,1.500,0.000,31.653,1266.995,1968.688,472.552,1115.611,140.296,0.000,1006.524,0.000,863.765,0.000,13.428,0.000
$DEVICE_MAMPS,214.965,100.215,951.660,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.907,685.527,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,33656,522
$CAP_FILE_SIZE,68258,0
$CFSIZE,260165632,233607168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.239,244.8,1
$GPS,241210,025556,-7631.284,17734.670,9,1.7,9,121.6