version: 66.08
glider: 503
mission: 7
dive: 462
start: 12 28 110 13 15 25
data:
$ID,503
$MISSION,7
$DIVE,462
$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,-20073.551
$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,50
$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
$GPS1,281210,130937,-7609.549,17514.287,46,0.9,46,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.4
$GPS2,281210,131456,-7609.547,17514.236,13,1.9,13,123.5
$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,212.0,10541,-18.2,-13.333
$D_GRID,414
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-90.93,0.000,2,0.000,0.000,166,2786,3488,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.7,-8.1,15,135,9.05,1.62,-7.47,0.000,4,0.214,0.066,2519,3762,3856,0,0,0,0,0,0
$GC,386,-0.84,-219.0,63.6,-18.9,63,392,0.00,1.55,0.00,0.000,6,0.000,0.030,2518,2771,3860,0,0,0,0,0,0
$GC,528,-0.84,-219.0,89.7,-18.2,88,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3859,0,0,0,0,0,0
$GC,671,-0.84,-219.0,115.8,-18.5,106,675,0.00,1.62,0.00,0.000,4,0.000,0.050,2510,3791,3859,0,0,0,0,0,0
$GC,721,-0.84,-219.0,125.7,-19.2,110,728,0.00,1.58,0.00,0.000,6,0.000,0.030,2511,2785,3860,0,0,0,0,0,0
$GC,855,-0.84,-219.0,150.6,-18.4,123,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2785,3860,0,0,0,0,0,0
$GC,982,-0.84,-219.0,174.4,-18.5,135,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2785,3860,0,0,0,0,0,0
$GC,1110,-0.84,-219.0,198.0,-18.6,147,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2785,3860,0,0,0,0,0,0
$GC,1237,-0.84,-219.0,221.2,-17.9,159,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2785,3860,0,0,0,0,0,0
$GC,1365,-0.84,-219.0,244.0,-17.8,171,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2785,3860,0,0,0,0,0,0
$GC,1493,-0.84,-219.0,266.5,-17.8,183,1496,0.00,1.58,0.00,0.000,4,0.000,0.050,2503,3750,3860,0,0,0,0,0,0
$GC,1538,-0.84,-219.0,275.4,-19.3,187,1542,0.00,1.50,0.00,0.000,6,0.000,0.030,2503,2786,3860,0,0,0,0,0,0
$GC,1742,-0.84,-219.0,313.6,-18.8,206,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2786,3860,0,0,0,0,0,0
$GC,1933,-0.84,-219.0,348.0,-18.0,224,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2786,3861,0,0,0,0,0,0
$GC,2124,-0.84,-219.0,382.0,-18.1,242,2128,0.00,1.58,0.00,0.000,4,0.000,0.050,2495,3753,3860,0,0,0,0,0,0
$GC,2170,-0.84,-219.0,390.9,-19.9,246,2175,0.08,1.50,0.00,0.000,6,0.142,0.031,2522,2792,3861,0,0,0,0,0,0
$STATE,2309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2309,begin apogee
$GC,2315,-0.16,0.0,414.1,16.1,259,2496,0.68,0.00,175.18,0.993,4,0.120,0.000,2747,2685,2959,0,0,0,0,0,0
$STATE,2497,end apogee,CONTROL_FINISHED_OK
$STATE,2497,begin climb
$GC,2499,0.84,219.0,423.5,0.0,275,2699,0.98,2.38,191.52,0.940,4,0.072,0.032,3071,1307,2067,0,0,0,0,0,0
$GC,2807,0.86,237.0,398.3,12.6,303,2830,0.00,2.42,17.27,0.879,6,0.000,0.040,3071,2703,1993,0,0,0,0,0,0
$GC,3024,0.86,237.0,367.7,14.1,323,3028,0.00,2.33,0.00,0.000,4,0.000,0.034,3081,1313,1988,0,0,0,0,0,0
$GC,3190,0.86,237.0,344.2,13.5,337,3197,0.00,2.33,0.00,0.000,6,0.000,0.041,3082,2706,1987,0,0,0,0,0,0
$GC,3388,0.86,237.0,315.4,15.2,356,3392,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3763,1986,0,0,0,0,0,0
$GC,3424,0.86,237.0,309.8,16.9,359,3427,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2707,1985,0,0,0,0,0,0
$GC,3628,0.86,237.0,277.5,16.0,378,3632,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3761,1985,0,0,0,0,0,0
$GC,3677,0.86,237.0,268.5,17.5,382,3686,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2718,1985,0,0,1,0,0,0
$GC,3876,0.86,237.0,237.0,15.6,401,3879,0.00,1.67,0.00,0.000,4,0.000,0.049,3098,3763,1984,0,0,0,0,0,0
$GC,3925,0.86,237.0,227.9,18.5,405,3932,0.00,1.65,0.00,0.000,6,0.000,0.031,3107,2726,1984,0,0,0,0,0,0
$GC,4060,0.86,237.0,206.1,16.4,418,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2726,1984,0,0,0,0,0,0
$GC,4187,0.86,237.0,185.6,16.0,430,4191,0.00,1.70,0.00,0.000,4,0.000,0.050,3107,3758,1984,0,0,0,0,0,0
$GC,4231,0.86,237.0,177.8,18.1,434,4236,0.12,1.62,0.00,0.000,6,0.170,0.033,3081,2699,1984,0,0,1,0,0,0
$GC,4372,0.86,237.0,157.9,13.8,447,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2698,1984,0,0,0,0,0,0
$GC,4499,0.86,237.0,140.6,13.5,459,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2699,1984,0,0,0,0,0,0
$GC,4626,0.86,237.0,123.2,14.0,471,4630,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3769,1984,0,0,0,0,0,0
$GC,4673,0.86,237.0,116.1,16.3,475,4677,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2737,1984,0,0,0,0,0,0
$GC,4808,0.86,237.0,96.4,14.4,489,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2736,1984,0,0,0,0,0,0
$GC,4951,0.86,237.0,76.2,13.9,514,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2736,1984,0,0,0,0,0,0
$GC,5093,0.86,237.0,56.3,13.8,539,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2736,1984,0,0,0,0,0,0
$GC,5234,0.86,237.0,36.2,14.6,564,5241,0.00,1.67,0.00,0.000,4,0.000,0.050,3088,3760,1984,0,0,0,0,0,0
$GC,5281,0.86,237.0,29.1,15.4,572,5287,0.00,1.60,0.00,0.000,6,0.000,0.031,3096,2741,1983,0,0,0,0,0,0
$FREEZE,8.39,-0.252,-1.894,2,1,0
$GC,5423,0.86,237.0,8.4,14.8,597,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2742,1983,0,0,0,0,0,0
$FREEZE,6.02,-0.294,-1.892,2,1,0
$FREEZE,5.22,-0.298,-1.891,2,1,0
$FREEZE,4.51,-0.302,-1.891,2,1,0
$FREEZE,3.58,-0.304,-1.890,2,1,0
$FREEZE,2.78,-0.317,-1.889,2,1,0
$STATE,5457,end climb,SURFACE_DEPTH_REACHED
$STATE,5457,begin surface coast
$FREEZE,1.73,-0.320,-1.889,2,1,0
$FREEZE,0.94,-0.321,-1.888,2,1,0
$FREEZE,0.04,-0.320,-1.887,2,1,0
$FINISH,0.0,1.027629
$STATE,5475,end surface coast,CONTROL_FINISHED_OK
$STATE,5475,begin surface
$SM_CCo,5492,40.42,0.103,0,0,1654,320.11
$SM_GC,0.73,0.00,0.00,40.42,0.000,0.000,0.103,179,2796,1654,-8.19,0.45,320.11
$IRIDIUM_FIX,-7528.04,17512.69,281210,111112
$TT8_MAMPS,0.028462
$HUMID,52.67
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.7
$24V_AH,22.4,44.049
$10V_AH,10.0,17.236
$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,18.550,42.100,383.975,40.425,0.000,23.501,36.471,141.937,1.500,0.000,15.910,1501.603,2420.220,480.529,1285.295,176.567,0.000,1095.848,0.000,1017.205,0.000,12.291,0.000
$DEVICE_MAMPS,214.200,113.220,992.970,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.789,756.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,40594,606
$CAP_FILE_SIZE,80750,0
$CFSIZE,260165632,230572032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.039,205.6,1
$GPS,281210,144900,-7608.814,17512.834,42,1.1,42,123.5