version: 66.08
glider: 503
mission: 7
dive: 453
start: 12 27 110 23 2 18
data:
$ID,503
$MISSION,7
$DIVE,453
$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,1
$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,-20060.756
$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,45
$R_STBD_OVSHOOT,26
$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
$GPS1,271210,225624,-7614.671,17528.533,28,1.3,45,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-73.8
$GPS2,271210,230149,-7614.669,17528.516,7,2.0,12,123.5
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$TGT_RADIUS,4000.000
$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,208.9,21955,-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,-88.07,0.000,2,0.000,0.000,183,2778,3422,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.1,-5.6,15,137,8.93,2.30,-9.30,0.000,4,0.213,0.045,2524,1365,3857,0,0,0,0,0,0
$GC,388,-0.84,-219.0,56.5,-15.4,64,395,0.00,2.33,0.00,0.000,6,0.000,0.043,2513,2786,3860,0,0,0,0,0,0
$GC,531,-0.84,-219.0,82.4,-18.5,89,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3859,0,0,0,0,0,0
$GC,671,-0.84,-219.0,108.4,-18.9,110,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2786,3861,0,0,0,0,0,0
$GC,799,-0.84,-219.0,132.0,-18.4,122,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3861,0,0,0,0,0,0
$GC,926,-0.84,-219.0,155.7,-18.8,134,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3861,0,0,0,0,0,0
$GC,1054,-0.84,-219.0,179.4,-18.8,146,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3861,0,0,0,0,0,0
$GC,1181,-0.84,-219.0,203.3,-18.9,158,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3861,0,0,0,0,0,0
$GC,1308,-0.84,-219.0,226.9,-18.5,170,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3860,0,0,0,0,0,0
$GC,1436,-0.84,-219.0,249.8,-17.9,182,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3861,0,0,0,0,0,0
$GC,1563,-0.84,-219.0,272.3,-17.8,194,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3861,0,0,0,0,0,0
$GC,1755,-0.84,-219.0,305.8,-16.9,212,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3861,0,0,0,0,0,0
$GC,1946,-0.84,-219.0,338.3,-16.7,230,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3861,0,0,0,0,0,0
$GC,2137,-0.84,-219.0,370.6,-17.4,248,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2786,3861,0,0,0,0,0,0
$STATE,2166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2166,begin apogee
$GC,2172,-0.16,0.0,376.1,16.9,251,2351,0.70,0.00,174.20,0.966,4,0.123,0.000,2744,2681,2960,0,0,0,0,0,0
$STATE,2352,end apogee,CONTROL_FINISHED_OK
$STATE,2352,begin climb
$GC,2354,0.84,219.0,385.2,0.0,267,2559,1.00,2.35,190.70,0.915,4,0.073,0.032,3075,1308,2066,0,0,0,0,0,0
$GC,2698,0.86,238.0,355.6,12.6,297,2720,0.00,2.40,17.83,0.857,6,0.000,0.040,3075,2700,1989,0,0,0,0,0,0
$GC,2916,0.86,238.0,326.4,13.6,317,2920,0.00,2.33,0.00,0.000,4,0.000,0.034,3086,1313,1985,0,0,1,0,0,0
$GC,3094,0.88,253.5,302.6,12.7,332,3114,0.00,2.30,14.48,0.858,6,0.000,0.041,3086,2706,1925,0,0,1,0,0,0
$GC,3307,0.88,253.5,272.6,14.4,352,3311,0.00,1.70,0.00,0.000,4,0.000,0.049,3086,3763,1924,0,0,0,0,0,0
$GC,3352,0.88,253.5,265.0,16.3,356,3356,0.00,1.62,0.00,0.000,6,0.000,0.031,3094,2712,1923,0,0,1,0,0,0
$GC,3556,0.88,253.5,233.6,15.8,375,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2711,1922,0,0,0,0,0,0
$GC,3682,0.88,253.5,212.8,16.3,387,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2711,1922,0,0,0,0,0,0
$GC,3810,0.88,253.5,192.2,16.3,399,3813,0.00,1.70,0.00,0.000,4,0.000,0.050,3095,3772,1922,0,0,0,0,0,0
$GC,3859,0.88,253.5,183.1,17.8,403,3866,0.00,1.67,0.00,0.000,6,0.000,0.030,3103,2715,1922,0,0,0,0,0,0
$GC,3993,0.88,253.5,161.2,16.0,416,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2715,1921,0,0,0,0,0,0
$GC,4121,0.88,253.5,140.7,15.8,428,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2715,1921,0,0,0,0,0,0
$GC,4249,0.88,253.5,120.9,15.2,440,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2715,1921,0,0,0,0,0,0
$GC,4376,0.88,253.5,101.4,15.4,452,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2715,1921,0,0,0,0,0,0
$GC,4509,0.88,253.5,81.4,14.8,475,4516,0.00,1.70,0.00,0.000,4,0.000,0.050,3103,3755,1921,0,0,0,0,0,0
$GC,4562,0.88,253.5,72.8,16.8,484,4570,0.00,1.62,0.00,0.000,6,0.000,0.031,3111,2728,1921,0,0,0,0,0,0
$GC,4708,0.88,253.5,49.7,16.4,509,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2728,1920,0,0,0,0,0,0
$GC,4850,0.88,253.5,26.5,15.6,534,4857,0.00,1.67,0.00,0.000,4,0.000,0.050,3111,3754,1920,0,0,0,0,0,0
$GC,4903,0.88,253.5,17.0,18.2,543,4910,0.10,1.60,0.00,0.000,6,0.145,0.031,3085,2724,1920,0,0,1,0,0,0
$FREEZE,8.69,-0.328,-1.895,2,1,0
$FREEZE,7.84,-0.306,-1.894,2,1,0
$FREEZE,7.07,-0.302,-1.894,2,1,0
$FREEZE,6.30,-0.286,-1.893,2,1,0
$FREEZE,5.65,-0.282,-1.892,2,1,0
$FREEZE,4.86,-0.284,-1.892,2,1,0
$FREEZE,4.04,-0.284,-1.891,2,1,0
$FREEZE,3.28,-0.276,-1.891,2,1,0
$FREEZE,2.31,-0.297,-1.890,2,1,0
$STATE,4999,end climb,SURFACE_DEPTH_REACHED
$STATE,4999,begin surface coast
$FREEZE,1.20,-0.293,-1.889,2,1,0
$FREEZE,0.43,-0.288,-1.889,2,1,0
$FREEZE,0.04,-0.289,-1.423,2,1,0
$FREEZE,-0.11,-0.310,-1.044,2,1,0
$FINISH,-0.1,1.015443
$STATE,5021,end surface coast,CONTROL_FINISHED_OK
$STATE,5021,begin surface
$SM_CCo,5038,31.90,0.103,0,0,1655,320.11
$SM_GC,1.05,0.00,0.00,31.90,0.000,0.000,0.103,176,2797,1655,-8.21,0.51,320.11
$IRIDIUM_FIX,-7536.68,17536.77,271210,212159
$TT8_MAMPS,0.026964
$HUMID,53.38
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.0
$24V_AH,22.5,42.998
$10V_AH,9.9,16.816
$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,18.325,27.525,397.200,31.900,0.000,28.472,37.586,146.481,1.000,0.000,15.429,1382.320,2200.364,468.112,1192.198,166.263,0.000,1027.163,0.000,924.307,0.000,7.758,0.000
$DEVICE_MAMPS,212.670,95.625,966.195,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.008,719.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,36979,564
$CAP_FILE_SIZE,72122,0
$CFSIZE,260165632,230965248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.066,245.8,1
$GPS,281210,002750,-7614.024,17526.229,22,1.7,22,123.5