version: 66.08
glider: 503
mission: 7
dive: 403
start: 12 24 110 21 8 6
data:
$ID,503
$MISSION,7
$DIVE,403
$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,-19996.465
$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,32
$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
$GPS1,241210,210255,-7630.178,17700.609,20,2.0,25,122.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-73.6
$GPS2,241210,210738,-7630.154,17700.678,12,1.7,12,122.3
$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,138.5,26235,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-89.62,0.000,2,0.000,0.000,185,2784,3448,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.4,-6.9,15,138,8.88,2.28,-8.62,0.000,4,0.215,0.044,2522,1370,3856,0,0,1,0,0,0
$GC,244,-0.84,-219.0,32.9,-16.3,38,252,0.00,2.30,0.00,0.000,6,0.000,0.044,2512,2774,3858,0,0,0,0,0,0
$GC,385,-0.84,-219.0,59.7,-19.6,63,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3859,0,0,0,0,0,0
$GC,527,-0.84,-219.0,86.8,-18.8,88,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3860,0,0,0,0,0,0
$GC,663,-0.84,-219.0,113.0,-19.1,107,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3860,0,0,0,0,0,0
$GC,791,-0.84,-219.0,137.8,-19.5,119,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3860,0,0,0,0,0,0
$GC,918,-0.84,-219.0,162.7,-19.5,131,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3860,0,0,0,0,0,0
$GC,1045,-0.84,-219.0,187.0,-18.6,143,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3860,0,0,0,0,0,0
$GC,1172,-0.84,-219.0,210.7,-19.1,155,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3861,0,0,0,0,0,0
$GC,1300,-0.84,-219.0,234.6,-18.8,167,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3860,0,0,0,0,0,0
$GC,1427,-0.84,-219.0,258.4,-18.6,179,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3860,0,0,0,0,0,0
$GC,1619,-0.84,-219.0,293.1,-17.6,197,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3860,0,0,0,0,0,0
$GC,1810,-0.84,-219.0,326.9,-17.4,215,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2774,3860,0,0,0,0,0,0
$STATE,1950,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1950,begin apogee
$GC,1956,-0.16,0.0,350.8,17.2,228,2136,0.70,0.00,173.68,0.952,4,0.124,0.000,2744,2688,2959,0,0,0,0,0,0
$STATE,2136,end apogee,CONTROL_FINISHED_OK
$STATE,2136,begin climb
$GC,2138,0.84,219.0,361.2,0.0,244,2336,1.00,2.38,189.45,0.901,4,0.076,0.033,3074,1304,2067,0,0,0,0,0,0
$GC,2519,0.85,232.2,326.3,12.8,277,2537,0.00,2.40,12.10,0.821,6,0.000,0.041,3074,2702,2013,0,0,0,0,0,0
$GC,2731,0.85,232.2,296.8,14.0,296,2735,0.00,2.33,0.00,0.000,4,0.000,0.034,3085,1302,2009,0,0,0,0,0,0
$GC,2910,0.85,232.2,272.3,13.3,311,2917,0.00,2.38,0.00,0.000,6,0.000,0.041,3085,2704,2008,0,0,0,0,0,0
$GC,3109,0.85,232.2,243.5,14.7,330,3112,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3765,2007,0,0,0,0,0,0
$GC,3155,0.85,232.2,235.8,17.2,334,3159,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2708,2007,0,0,0,0,0,0
$GC,3295,0.85,232.2,214.7,14.4,347,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2706,2006,0,0,0,0,0,0
$GC,3422,0.85,232.2,195.7,15.1,359,3426,0.00,1.75,0.00,0.000,4,0.000,0.049,3093,3763,2006,0,0,0,0,0,0
$GC,3468,0.85,232.2,187.9,17.9,363,3471,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2700,2005,0,0,0,0,0,0
$GC,3607,0.85,232.2,165.0,16.3,376,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2700,2005,0,0,0,0,0,0
$GC,3734,0.85,232.2,144.7,16.0,388,3738,0.00,1.70,0.00,0.000,4,0.000,0.050,3101,3763,2005,0,0,0,0,0,0
$GC,3791,0.85,232.2,134.7,18.4,393,3796,0.12,1.65,0.00,0.000,6,0.168,0.032,3076,2699,2004,0,0,0,0,0,0
$GC,3931,0.85,232.2,114.8,13.8,406,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2700,2005,0,0,0,0,0,0
$GC,4059,0.85,232.5,97.6,13.3,419,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2700,2004,0,0,0,0,0,0
$GC,4200,0.86,234.9,78.4,13.2,444,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2699,2004,0,0,0,0,0,0
$GC,4340,0.86,234.9,59.1,13.5,469,4348,0.00,1.75,0.00,0.000,4,0.000,0.049,3076,3787,2004,0,0,0,0,0,0
$GC,4377,0.86,234.9,53.7,15.4,475,4384,0.00,1.65,0.00,0.000,6,0.000,0.031,3083,2726,2004,0,0,1,0,0,0
$GC,4519,0.86,234.9,33.9,13.9,500,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2726,2004,0,0,0,0,0,0
$GC,4660,0.86,234.9,13.6,14.5,525,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2726,2004,0,0,0,0,0,0
$FREEZE,8.46,-0.324,-1.895,2,1,0
$FREEZE,7.74,-0.322,-1.895,2,1,0
$FREEZE,7.01,-0.324,-1.894,2,1,0
$FREEZE,6.22,-0.323,-1.894,2,1,0
$FREEZE,5.54,-0.320,-1.893,2,1,0
$FREEZE,4.86,-0.320,-1.893,2,1,0
$FREEZE,4.12,-0.323,-1.892,2,1,0
$FREEZE,3.23,-0.321,-1.891,2,1,0
$FREEZE,2.55,-0.325,-1.891,2,1,0
$STATE,4736,end climb,SURFACE_DEPTH_REACHED
$STATE,4737,begin surface coast
$FREEZE,1.62,-0.325,-1.890,2,1,0
$FREEZE,0.93,-0.323,-1.890,2,1,0
$FREEZE,0.07,-0.379,-1.893,2,1,0
$FINISH,0.1,1.027708
$STATE,4755,end surface coast,CONTROL_FINISHED_OK
$STATE,4755,begin surface
$SM_CCo,4771,41.70,0.101,0,0,1654,320.11
$SM_GC,0.82,0.00,0.00,41.70,0.000,0.000,0.101,179,2804,1654,-8.19,0.68,320.11
$IRIDIUM_FIX,-7545.40,17655.35,241210,191939
$TT8_MAMPS,0.027713
$HUMID,52.75
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.2
$ALTIM_BOTTOM_PING,350.8,7.4
$24V_AH,22.5,37.293
$10V_AH,10.0,14.609
$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,18.225,27.750,375.225,41.700,0.000,29.719,36.962,105.288,1.500,0.000,15.555,1334.872,2018.054,465.609,1146.145,145.215,0.000,1014.788,0.000,904.014,0.000,13.302,0.000
$DEVICE_MAMPS,214.965,94.095,951.660,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.591,709.502,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258192
$DATA_FILE_SIZE,37003,542
$CAP_FILE_SIZE,69925,0
$CFSIZE,260165632,233033728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.079, 19.0,1
$GPS,241210,222937,-7630.086,17657.682,37,0.9,38,122.4